Unmanned aerial vehicle transport system

Abstract

To realize a transport system with a high transport efficiency.SOLUTION: A transport system comprises a control device that controls an unmanned aircraft 20 and a transport vehicle 40. The control device outputs a move command for designating a destination T1 of the unmanned aircraft 20 to both the transport vehicle 40 and the unmanned aircraft 20 held in the transport vehicle 40. Upon receiving the move command, the transport vehicle 40 travels to a corresponding stop position P1, which is a stop position set correspondingly to the destination T1, on a travel route R, and then stops at the corresponding stop position P1, and the unmanned aircraft 20 takes off from an aircraft holding unit and moves to the destination T1 under the condition that the transport vehicle 40 stops at the corresponding stop position P1.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transportation system for an unmanned aerial vehicle. [Background technology]

[0002] BACKGROUND ART Unmanned aerial vehicle transport systems are known. Patent Document 1 discloses an unmanned aerial vehicle transport system for transporting goods.

[0003] The unmanned aircraft of the transport system disclosed in Patent Document 1 flies along commercial power lines and is charged using the commercial power flowing through the lines. This means that the movement of the unmanned aircraft is interrupted while it is charging. In particular, when transporting heavy objects, the number of times the unmanned aircraft is charged increases. Furthermore, if there are no-fly zones indoors or outdoors, the unmanned aircraft must bypass those zones. These factors have led to the problem of reduced efficiency in transporting objects and unmanned aircraft. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-20529 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, it is desirable to realize a transport system with high transport efficiency. [Means for solving the problem]

[0006] In view of the above, the characteristic configuration of the transport system is as follows: a transport vehicle that includes an unmanned aerial vehicle, an aircraft holding unit that holds the unmanned aerial vehicle, and that travels along a specified travel route; and a control device that controls the unmanned aerial vehicle and the transport vehicle; the unmanned aerial vehicle includes an article holding unit that is capable of holding an article and releasing the hold; The control device determines a destination of the unmanned aerial vehicle. The recipient who receives the goods as Movement command specifying The receiving move command isto both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle, Receipt The transport vehicle that has received the movement command travels to a corresponding stop position on the travel route that is a stop position set corresponding to the destination, and stops at the corresponding stop position; Receipt Upon receiving the movement command, the unmanned aerial vehicle takes off from the aircraft holding unit and moves to the destination. Recipient Go to and receive the goods. .

[0007] According to this configuration, the transport vehicle Recipient The unmanned aerial vehicle can be transported to a corresponding stop position, and from the corresponding stop position Recipient The unmanned aerial vehicle can fly up to a certain distance. Therefore, for example, when a heavy object is transported by an unmanned aerial vehicle and a transport vehicle, the flight distance and flight time of the unmanned aerial vehicle can be reduced. Also, for example, a plurality of unmanned aerial vehicles can be transported together by a transport vehicle, and even in areas where unmanned aerial vehicles cannot fly, unmanned aerial vehicles can be used to move the unmanned aerial vehicles. Therefore, the efficiency of transporting goods and unmanned aerial vehicles can be improved. Also, in places where no travel route is set, Recipient Even if it becomes Recipient Since it can reach up to the target, the travel route of the transport vehicle can be assumed. Recipient This eliminates the need to install the transport vehicle in close proximity to all of the above, thereby reducing the cost of installing the travel route. In addition, since the unmanned aircraft takes off with the transport vehicle stopped at the corresponding stopping position, it is easier to accurately perform the takeoff of the autonomously flying unmanned aircraft.

[0008] Another characteristic configuration of the transport system is as follows: a transport vehicle that includes an unmanned aerial vehicle, an aircraft holding unit that holds the unmanned aerial vehicle, and that travels along a specified travel route; and a control device that controls the unmanned aerial vehicle and the transport vehicle; the unmanned aerial vehicle includes an article holding unit that is capable of holding an article and releasing the hold; The control device determines a destination of the unmanned aerial vehicle. The recipient who receives the goods as Movement command specifying The receiving move command is to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle, A state in which the unmanned aerial vehicle holds the item by the item holding unit is defined as an item holding state, and a state in which the unmanned aerial vehicle does not hold the item by the item holding unit is defined as an item non-holding state, The aforementioned ReceiptThe transport vehicle that receives the movement command With the unmanned aerial vehicle in the article-unholding state held in the aircraft holding section, On the travel route, Recipient The vehicle travels to a corresponding stop position, which is a stop position set corresponding to the vehicle, and stops at the corresponding stop position. Receipt Upon receiving the movement command, the unmanned aerial vehicle, with the transport vehicle stopped at the corresponding stop position, While the item is not being held Taking off from the aircraft holding section Recipient Go to The goods are then received by the goods holding unit at the destination and returned to the aircraft holding unit.

[0009] Furthermore, a characteristic configuration of yet another conveyance system is as follows: The system comprises an unmanned aerial vehicle, a transport vehicle having an aircraft holding unit for holding the unmanned aerial vehicle and traveling along a specified travel route, and a control device for controlling the unmanned aerial vehicle and the transport vehicle, wherein the control device outputs a movement command specifying a destination of the unmanned aerial vehicle to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle, and the transport vehicle that receives the movement command travels to a corresponding stop position on the travel route that is a stop position set corresponding to the destination, and stops at the corresponding stop position. configured to Upon receiving the movement command, the unmanned aerial vehicle takes off from the aircraft holding unit and moves to the destination while the transport vehicle is stopped at the corresponding stop position. It is configured as , The unmanned aerial vehicle is equipped with an item holding section that is capable of holding an item and releasing that holding, and a state in which the unmanned aerial vehicle holds an item using the item holding section is referred to as an item holding state, and a state in which the unmanned aerial vehicle does not hold an item using the item holding section is referred to as a non-item holding state.The transport vehicle is equipped with multiple aircraft holding sections, and is configured so that each aircraft holding section can hold the unmanned aerial vehicle in either the item holding state or the non-item holding state.

[0010] Furthermore, a characteristic configuration of yet another conveyance system is as follows: The system comprises an unmanned aerial vehicle, a transport vehicle having an aircraft holding unit for holding the unmanned aerial vehicle and traveling along a specified travel route, and a control device for controlling the unmanned aerial vehicle and the transport vehicle, wherein the control device outputs a movement command specifying a destination of the unmanned aerial vehicle to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle, the transport vehicle having received the movement command travels to a corresponding stop position on the travel route that is a stop position set corresponding to the destination and stops at the corresponding stop position, and the unmanned aerial vehicle having received the movement command takes off from the aircraft holding unit and travels to the destination with the transport vehicle stopped at the corresponding stop position. The control device includes an operation receiving unit that receives operation input from an operator, and is configured to be switchable between an automatic mode in which the destination is automatically set in accordance with a predetermined program, and a manual mode in which the unmanned aerial vehicle and the transport vehicle are controlled in accordance with the operation input, and in the automatic mode, flying of the unmanned aerial vehicle is prohibited while the transport vehicle is traveling, and in the manual mode, the transport vehicle is driven in accordance with the operation input, and the unmanned aerial vehicle is driven in accordance with the operation input regardless of whether the transport vehicle is traveling or stopped. . [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing a transportation system for an unmanned aerial vehicle according to a first embodiment; [Figure 2] Side view of the unmanned aerial vehicle and carrier vehicle in Figure 1 [Figure 3] Block diagram of the transport system in Figure 1 [Figure 4] Flowchart of the unmanned aircraft transportation process by the transportation system in Figure 1 [Figure 5] FIG. 10 is a diagram showing a transportation system for an unmanned aerial vehicle according to a second embodiment. [Figure 6] Flowchart of unmanned aerial vehicle transportation process by the transportation system of Figure 5 DETAILED DESCRIPTION OF THE INVENTION

[0012] [First embodiment] A transportation system 10 for an unmanned aerial vehicle 20 according to this embodiment will be described below with reference to the drawings. FIG. 1 is a diagram illustrating the transportation system 10 for an unmanned aerial vehicle 20 according to this embodiment. The transportation system 10 includes the unmanned aerial vehicle 20 and a transportation vehicle 40 that travels along a specified travel route R. Here, the vertical direction is defined as the up-down direction Z, the direction along the travel route R is defined as the travel direction X, and the direction perpendicular to the travel direction X when viewed from the up-down direction is defined as the width direction Y. In this embodiment, the transportation system 10 includes multiple unmanned aerial vehicles 20 and multiple transportation vehicles 40. The numbers of unmanned aerial vehicles 20 and transportation vehicles 40 included in the transportation system 10 can be set as appropriate. In this embodiment, the travel route R is configured to pass through a no-fly area A1 in which flight of the unmanned aerial vehicle 20 is prohibited.

[0013] Examples of the unmanned aerial vehicle 20 include fixed-wing aircraft and rotary-wing aircraft capable of remote control or autonomous flight. In this embodiment, the unmanned aerial vehicle 20 is an electric rotary-wing aircraft capable of vertical takeoff and landing. Preferably, the unmanned aerial vehicle 20 is a multicopter (a so-called drone) capable of autonomous flight. Also preferably, the unmanned aerial vehicle 20 is a wired rotary-wing aircraft that receives power from a power supply unit 63 provided in the transport vehicle 40 via a power supply line 62 described below. The unmanned aerial vehicle 20, for example, receives an item W from a destination T1, which is the recipient, and transports the item W to a destination T2 or T3, which is the transport destination.

[0014] Examples of the transport vehicle 40 include an unmanned transport vehicle that is capable of remote control or autonomous travel and travels along a travel route R on an indoor or outdoor passageway, and a rail-guided vehicle that travels along a travel route R formed by rails installed on the floor or ceiling. In this embodiment, the transport vehicle 40 is a ceiling transport vehicle that travels along a travel route R installed along the ceiling of a room.

[0015] In this embodiment, a corresponding stop position P is set on the travel route R, which is a stop position set corresponding to the destination T. Furthermore, the corresponding stop position P is set in a location where there are no obstacles B1 that would hinder the unmanned aerial vehicle 20 from taking off from the aircraft holding unit 44. In the illustrated example, stop positions P1, P2, and P3 are corresponding stop positions P that are set in advance for the destinations T1, T2, and T3, respectively. Furthermore, the corresponding stop position P is set in a location that is not within the no-fly area A1. Examples of obstacles B1 include exhaust ducts and tunnels. Preferably, the corresponding stop position P is a stop position set in a double-track section on the travel route R. In this way, even if a guided vehicle 40 is stopped at the corresponding stop position P, other guided vehicles 40 can overtake it.

[0016] FIG. 2 is a side view of the unmanned aerial vehicle 20 and the transport vehicle 40. In this embodiment, the unmanned aerial vehicle 20 is equipped with an item holding unit 21 that is capable of holding and releasing an item W. The unmanned aerial vehicle 20 also has a main body unit 22 that is located above the item W held by the item holding unit 21. The main body unit 22 is a part that realizes the flight function of the unmanned aerial vehicle 20. The main body unit 22 is provided with a mechanism that generates propulsion and lift. The main body unit 22 includes, for example, a rotor and an electric motor that drives the rotor. The item holding unit 21 is also configured to hold the item W in a suspended state. Here, a state in which the unmanned aerial vehicle 20 holds the item W by the item holding unit 21 is referred to as an item holding state, and a state in which the unmanned aerial vehicle 20 does not hold the item W by the item holding unit 21 is referred to as a non-item holding state.

[0017] In this embodiment, the transport vehicle 40 is equipped with an aircraft holding section 44 that holds the unmanned aerial vehicle 20. The aircraft holding section 44 is configured to be able to hold the unmanned aerial vehicle 20 in either an item-holding state or an item-unholding state, and to be able to take off and land the unmanned aerial vehicle 20 in either an item-holding state or an item-unholding state. In the illustrated example, the transport vehicle 40 is equipped with multiple aircraft holding sections 44 (two in FIG. 2).

[0018] In this embodiment, the transport vehicle 40 is provided with a storage section 45 that stores the unmanned aerial vehicle 20 held in the aircraft holding section 44. This storage section 45 is located below the traveling section 42. In the illustrated example, the storage section 45 has openings 46 on both sides in the traveling direction X and on both sides in the width direction Y, through which the unmanned aerial vehicle 20 passes when taking off and landing.

[0019] In this embodiment, the aircraft holding section 44 of the transport vehicle 40 is equipped with a support member 50 that supports the main body 22 from below, above the article W held in the article holding section 21. In this embodiment, as shown in FIG. 2, the support member 50 is inclined so that the tip side of the support member 50, which is the side that the unmanned aircraft 20 enters and exits during takeoff and landing, is higher. The support member 50 may be a single insertion member or a pair of insertion members. The support member 50 may also be a lifting hanger that suspends the main body 22 of the unmanned aircraft 20.

[0020] In this embodiment, the transport vehicle 40 includes a travel unit 42 having wheels 41. The travel unit 42 of the transport vehicle 40 includes wheels 41 and an electric motor 48 that drives the wheels 41. The transport vehicle 40 also includes a regenerative power recovery unit 49 that recovers power obtained by regenerative braking of the electric motor 48 while the travel unit 42 is decelerating, and a power supply unit 60 that supplies power to the unmanned aerial vehicle 20 held in the aircraft holding unit 44. The power recovered by the regenerative power recovery unit 49 is supplied from the power supply unit 60 to the unmanned aerial vehicle 20. In this embodiment, the transport vehicle 40 also includes a power supply line 62 having a connection unit 61 connected to the unmanned aerial vehicle 20, a power supply unit 63 that supplies power to the unmanned aerial vehicle 20 via the power supply line 62, and a winding device 64 that winds and unwinds the power supply line 62. The winding device 64 limits the unwinding length of the power supply line 62 to a predetermined length. In this way, by supplying power to the unmanned aerial vehicle 20 via the power supply line 62, it is possible to constantly supply power to the unmanned aerial vehicle 20, thereby ensuring a long flight time of the unmanned aerial vehicle 20. In the illustrated example, the connection part 61, the power supply line 62, the power supply part 63, and the winding device 64 make up the power supply part 60.

[0021] In this embodiment, the transport vehicle 40 is provided with a fall prevention member 70 that is positioned below the article W held in the article holding unit 21 and overlaps the article W in a vertical view, and that prevents the article W from falling. As shown in Figure 2, the transport vehicle 40 is provided with an attitude change mechanism 72 that changes the attitude of the fall prevention member 70 between a restrictive attitude D1 that prevents the article W held by the article holding unit 21 of the unmanned aerial vehicle 20 from falling, and a retracted attitude D2 that does not interfere with the unmanned aerial vehicle 20 when the unmanned aerial vehicle 20 takes off or lands.

[0022] In this embodiment, the position change mechanism 72 changes the position of the fall restriction member 70 between the restriction position D1 and the retracted position D2 by moving the fall restriction member 70 in the vertical direction Z. In this manner, it is easy to prevent articles W of different heights from falling. In the example shown in FIG. 2 , the fall restriction member 70 is separated from the article W in the restriction position D1, but the fall restriction member 70 may also abut the article W in the restriction position D1. Furthermore, the position of the fall restriction member 70 may be changed between the restriction position D1 and the retracted position D2 by moving or rotating in a horizontal direction instead of the vertical direction Z. In addition to or instead of the fall restriction member 70, a holding member may be provided that holds the article W by clamping the side surface thereof.

[0023] FIG. 3 is a block diagram of the conveyance system 10. In this embodiment, the conveyance system 10 includes a control device 100 that controls the unmanned aerial vehicle 20 and the conveyance vehicle 40. In this embodiment, the control device 100 includes an arithmetic processing device such as a CPU (Central Processing Unit) and a main storage device accessible by the arithmetic processing device, such as a RAM (Random Access Memory) or a ROM (Read Only Memory). Each function of the control device 100 is realized by cooperation between hardware included in the control device 100 and a program executed on the hardware, such as the arithmetic processing device. Specifically, each function of the control device 100 is realized by the control device 100 executing a program stored in a storage device (such as a main storage device or a separately provided storage unit). In other words, a program (e.g., a conveyance control program) for causing a computer to realize each function of the control device 100 is stored in a storage device accessible by the computer. This program is provided, for example, by a storage medium or via a communication network. The provided program is then stored in a storage device accessible by the computer. In this embodiment, the control device 100 (specifically, the arithmetic processing device provided in the control device 100) functions as a "computer." Preferably, the control device 100 is a host control device installed in a control facility (not shown), but the control device 100 may also be provided in the transport vehicle 40 or the unmanned aerial vehicle 20. Furthermore, when the control device 100 includes multiple pieces of hardware separated so as to be able to communicate with each other, some of the hardware may be provided in the unmanned aerial vehicle 20 or the transport vehicle 40, and the remaining hardware may be installed in a control facility (not shown).

[0024] In this embodiment, the control device 100 includes a movement command unit 101 that outputs movement commands to a plurality of unmanned aerial vehicles 20 and a plurality of transport vehicles 40. The movement command unit 101 specifies, as the destination T in the movement command, at least one of a receiving destination (e.g., destination T1) where the item W is to be received and a transport destination (e.g., destination T2) where the item W is to be transported.

[0025] In this embodiment, each of the multiple unmanned aerial vehicles 20 includes an aircraft control unit 121 that controls the unmanned aerial vehicle 20. The aircraft control unit 121 controls the takeoff, flight, and landing of the unmanned aerial vehicle 20. The aircraft control unit 121 also controls the holding of an item W in the unmanned aerial vehicle 20 and the release of that holding. In this embodiment, each of the multiple unmanned aerial vehicles 20 includes an aircraft position information acquisition unit 122 that acquires aircraft position information, which is position information of the unmanned aerial vehicle 20. The aircraft position information acquisition unit 122 acquires, for example, coordinate information of the unmanned aerial vehicle 20. Examples of the aircraft position information include GPS (Global Positioning System), RTK (Realtime Kinematic), and coordinate information obtained by processing images captured by an imaging device (not shown) provided to the unmanned aerial vehicle 20, the transport vehicle 40, the facility, etc.

[0026] In this embodiment, each of the multiple transport vehicles 40 includes a travel control unit 141 that controls the transport vehicle 40. The travel control unit 141 controls the travel and stopping of the transport vehicle 40. The travel control unit 141 also controls the attitude change mechanism 72. In this embodiment, each of the multiple transport vehicles 40 includes a transport vehicle position information acquisition unit 142 that acquires transport vehicle position information, which is position information of the transport vehicle 40. The transport vehicle position information acquisition unit 142 acquires, for example, coordinate information of the transport vehicle 40 as the transport vehicle position information. Examples of the transport vehicle position information include GPS, RTK, and coordinate information obtained by processing images captured by an imaging device (not shown) provided in the unmanned aerial vehicle 20, the transport vehicle 40, the facility, etc.

[0027] In this embodiment, the control device 100 outputs a first movement command specifying a destination T of the unmanned aerial vehicle 20 to both the transport vehicle 40 and the unmanned aerial vehicle 20 held by the transport vehicle 40. The control device 100 also specifies, as the destination T in the first movement command, at least one of the destination to which the item W is to be transported and the destination to receive the item W. In the example shown in FIG. 3, the control device 100 includes a movement command unit 101, and the movement command unit 101 outputs the first movement command to both a traveling control unit 141 included in the transport vehicle 40 and an air control unit 121 included in the unmanned aerial vehicle 20.

[0028] In this embodiment, upon receiving the first movement command, the guided vehicle 40 travels to a corresponding stop position P, which is a stop position set corresponding to the destination T, on the travel route R, and stops at the corresponding stop position P. In the example shown in FIG. 3, the travel control unit 141 of the guided vehicle 40 travels and stops the guided vehicle 40 at the corresponding stop position P. Furthermore, the guided vehicle 40 stops at the corresponding stop position P until the unmanned aerial vehicle 20 returns from the destination T and lands in the aircraft holding unit 44 of the guided vehicle 40. In the example shown in FIG. 3, the travel control unit 141 of the guided vehicle 40 stops the guided vehicle 40 at the corresponding stop position P until the unmanned aerial vehicle 20 lands in the aircraft holding unit 44.

[0029] In this embodiment, upon receiving the first movement command, the unmanned aerial vehicle 20 takes off from the aircraft holding unit 44 and moves to destination T while the transport vehicle 40 is stopped at the corresponding stopping position P. In the example shown in Figure 3, the aircraft control unit 121 of the unmanned aerial vehicle 20 causes the unmanned aerial vehicle 20 to take off from the aircraft holding unit 44 of the transport vehicle 40 while it is stopped at the corresponding stopping position P and move to destination T.

[0030] In this embodiment, the control device 100 includes an operation reception unit 102 that receives operation input from an operator. The control device 100 is configured to be switchable between an automatic mode, in which the destination T is automatically set according to a predetermined program, and a manual mode, in which the unmanned aerial vehicle 20 and the transport vehicle 40 are controlled in accordance with the operation input. The operation reception unit 102 is configured to receive, wirelessly or via a wired connection, an operation input from the operator that has been converted into an input signal by an input operation device 90, such as a mobile terminal, keyboard, microphone, or smartphone. The control device 100 is also configured to be switchable between the automatic mode and the manual mode based on the input signal from the input operation device 90.

[0031] In the automatic mode, the unmanned aerial vehicle 20 is prohibited from flying while the transport vehicle 40 is moving. In this embodiment, the transport system 10 includes multiple unmanned aerial vehicles 20, and the unmanned aerial vehicles 20 held in the aircraft holding units 44 of the transport vehicles 40 are prohibited from flying while the transport vehicles 40 are moving. In the manual mode, the transport vehicles 40 are driven in response to operational inputs from the operator, and the unmanned aerial vehicles 20 are flown in response to operational inputs from the operator, regardless of whether the transport vehicles 40 are moving or stopped. In this manner, in the manual mode, the operator can operate both the transport vehicles 40 and the unmanned aerial vehicles 20. Therefore, for example, it is possible to restore the transport vehicles 40 or the unmanned aerial vehicles 20 that have fallen into an abnormal state to a normal state. In addition, the unmanned aerial vehicles 20 can be used to inspect the tops of rails installed on floors and ceilings for dirt or misalignment, inspect the environment within a factory, inspect fan filter units and ducts, and so on. Preferably, in the automatic mode, the unmanned aerial vehicle 20 is prohibited from flying while the transport vehicle 40 is stopped at a position other than a predetermined stopping position (e.g., the corresponding stopping position P or the target stopping position Pm described below) and while the transport vehicle 40 is moving, and in the manual mode, the transport vehicle 40 moves in accordance with the operator's operation input, and the unmanned aerial vehicle 20 flies in accordance with the operator's operation input regardless of whether the position of the transport vehicle 40 while moving or stopped is other than a predetermined stopping position (e.g., the corresponding stopping position P or the target stopping position Pm described below).

[0032] The unmanned aerial vehicle transport process S10 for transporting the unmanned aerial vehicle 20 will be described below with reference to the flowchart shown in FIG.

[0033] In this embodiment, the movement command unit 101 of the control device 100 executes a transport vehicle selection process S11 to select the unmanned aerial vehicle 20 and transport vehicle 40 to which the movement command is to be output. Next, the movement command unit 101 executes a first movement command output process S12 to output a first movement command specifying the destination T of the unmanned aerial vehicle 20 to both the travel control unit 141 provided in the selected transport vehicle 40 and the flight control unit 121 provided in the unmanned aerial vehicle 20 held by the transport vehicle 40.

[0034] The travel control unit 141, to which the first movement command has been input, executes a first travel control process S13 in which the guided vehicle 40 travels to a corresponding stop position P, which is a stop position set corresponding to the destination T on the travel route R. Next, the travel control unit 141 executes a first arrival determination process S14 in which it determines whether the guided vehicle 40 has arrived at the corresponding stop position P, based on the guided vehicle position information acquired by the guided vehicle position information acquisition unit 142.

[0035] If the result of the first arrival determination process S14 is negative, the travel control unit 141 of the guided vehicle 40 repeats the first travel control process S13 and the first arrival determination process S14.

[0036] If the first arrival determination process S14 is affirmative, the travel control unit 141 of the transport vehicle 40 executes a first stop process S15 to stop the transport vehicle 40. Preferably, the stop state is a travel prohibition state in which the transport vehicle 40 is prohibited from traveling.

[0037] When the transport vehicle 40 is brought to a stopped state at the corresponding stop position P, the aviation control unit 121 of the unmanned aerial vehicle 20 executes a movement process S16 to cause the unmanned aerial vehicle 20 to take off from the aircraft holding unit 44 and move to the destination T. When the unmanned aerial vehicle 20 arrives at the destination T, the aviation control unit 121 executes an item delivery process S17 to deliver the item W. Next, the aviation control unit 121 executes a return process S18 to move the unmanned aerial vehicle 20 to the transport vehicle 40 and return it.

[0038] Next, the travel control unit 141 of the transport vehicle 40 executes a return determination process S19 to determine whether all unmanned aircraft 20 that took off in the movement process S16 have returned and been accommodated in the transport vehicle 40, based on the aircraft position information acquired by the aircraft position information acquisition unit 122 of the unmanned aircraft 20.

[0039] If the return determination process S19 is negative, the travel control unit 141 of the guided vehicle 40 repeats the return determination process S19.

[0040] If the return determination process S19 is positive, the travel control unit 141 of the transport vehicle 40 executes a travel preparation process S20 to release the stopped state so that the transport vehicle 40 can travel, and ends the unmanned aerial vehicle transport process S10. Preferably, the travel preparation process S20 releases the travel prohibition state of the transport vehicle 40 and places the transport vehicle 40 in a travel permitted state in which the transport vehicle 40 can move from the corresponding stop position P. In this way, the transport vehicle 40 waits at the corresponding stop position P until the unmanned aerial vehicle 20 returns from the destination T and lands in the aircraft holding unit 44, making it easier to accurately return and land the automatically flying unmanned aerial vehicle 20 from the destination T.

[0041] Second Embodiment The following describes a transport system 10 for an unmanned aerial vehicle 20 according to a second embodiment with reference to the drawings. This embodiment differs from the first embodiment in that the control device 100 selectively outputs a first movement command and outputs a second movement command and a third movement command. The following description will focus on the differences from the first embodiment. Note that points not specifically described are the same as those in the first embodiment.

[0042] FIG. 5 is a diagram illustrating a transportation system 10 for an unmanned aerial vehicle 20 according to this embodiment. FIG. 6 is a flowchart of an unmanned aerial vehicle transportation process S10 according to this embodiment. In this embodiment, stop positions P1, P2, and P3 do not have to be set corresponding to each of destinations T1, T2, and T3. In the example illustrated in FIG. 5, stop position P1 is shown as the target stop position Pm for the transportation vehicle 40, but stop position P2 or stop position P3 may also be the target stop position Pm. In this embodiment, the target stop position Pm is set in a location where there is no obstacle B1 that would hinder the unmanned aerial vehicle 20 from taking off from the aircraft holding section 44. Preferably, the target stop position Pm is a stop position located in a double-track section on the travel route R.

[0043] In this embodiment, the control device 100 selectively outputs a first movement command, and outputs a second movement command and a third movement command. The second movement command is a movement command that is output to the guided vehicle 40 by specifying a target stopping position Pm of the guided vehicle 40 set on the travel route R. The third movement command is a movement command that is output to the unmanned aerial vehicle 20 by specifying a destination T of the unmanned aerial vehicle 20. For example, the control device 100 selects and executes output of the first movement command when the destination T of the unmanned aerial vehicle 20 has been determined, and selects and executes output of the second and third movement commands when the destination T of the unmanned aerial vehicle 20 has not been determined and the target stopping position Pm of the guided vehicle 40 has been determined.

[0044] In this embodiment, the control device 100 is configured to be able to output the first movement command described above, as well as to be able to output a second movement command to the guided vehicle 40 and to output a third movement command to the unmanned aerial vehicle 20. Upon receiving the second movement command, the guided vehicle 40 travels to the target stopping position Pm and stops at the target stopping position Pm.

[0045] In this embodiment, the control device 100 outputs a second movement command to the transport vehicle 40, and then outputs a third movement command to the unmanned aerial vehicle 20 held by the transport vehicle 40. Upon receiving the third movement command, the unmanned aerial vehicle 20 takes off from the aircraft holding unit 44 and moves to destination T, with the transport vehicle 40 stopped at the destination stopping position Pm. For example, the output of the third movement command is executed after the second movement command is output and the transport vehicle 40 starts traveling to the destination stopping position Pm. The output of the third movement command may be while the transport vehicle 40 is traveling, or may be after the transport vehicle 40 has stopped at the destination stopping position Pm.

[0046] Hereinafter, the unmanned aerial vehicle transport process S10 for transporting the unmanned aerial vehicle 20 in this embodiment will be described with reference to the flowchart shown in FIG.

[0047] In this embodiment, the movement command unit 101 of the control device 100 executes a vehicle selection process S11 to select the unmanned aerial vehicle 20 and the vehicle 40 to which the movement command is to be output. Next, the movement command unit 101 executes a command selection process S101 to select either the output of the first movement command or the output of the second movement command and the third movement command.

[0048] In the command selection process S101, if output of the first movement command is selected, the control device 100 executes the above-mentioned first movement command output process S12 to travel preparation process S20, and ends the unmanned aerial vehicle transport process S10.

[0049] In the command selection process S101, if the output of the first movement command is not selected, i.e., if the output of the second movement command and the third movement command is selected, the movement command unit 101 executes the second movement command output process S102, which outputs a second movement command specifying the target stopping position Pm of the transport vehicle 40 to the travel control unit 141 provided in the selected transport vehicle 40.

[0050] The travel control unit 141, to which the second movement command has been input, executes a second travel control process S103 in which the transport vehicle 40 travels to the target stop position Pm of the transport vehicle 40 set on the travel route R. Next, the travel control unit 141 executes a second arrival determination process S104 in which it determines whether the transport vehicle 40 has arrived at the corresponding stop position P based on the transport vehicle position information acquired by the transport vehicle position information acquisition unit 142.

[0051] If the result of the second arrival determination process S104 is negative, the travel control unit 141 of the guided vehicle 40 repeats the second travel control process S103 and the second arrival determination process S104.

[0052] If the second arrival determination process S104 is positive, the travel control unit 141 of the transporting vehicle 40 executes a second stop process S105 to stop the transporting vehicle 40. Preferably, the stop state is a travel prohibition state in which the transporting vehicle 40 is prohibited from traveling.

[0053] When the transport vehicle 40 is brought to a stopped state at the corresponding stop position P, the movement command unit 101 executes a third movement command output process S106 to output a third movement command specifying the destination T of the unmanned aerial vehicle 20 to the flight control unit 121 provided in the unmanned aerial vehicle 20 held by the selected transport vehicle 40. When the third movement command is output, the control device 100 executes the above-mentioned movement process S16 to travel preparation process S20, and ends the unmanned aerial vehicle transport process S10.

[0054] Other Embodiments Next, other embodiments of the transport system 10 for the unmanned aerial vehicle 20 will be described.

[0055] (1) In the above embodiment, the unmanned aerial vehicle 20 is described as a wired rotorcraft. However, the present invention is not limited to such an example. For example, the unmanned aerial vehicle 20 may not include the connection unit 61, the power supply line 62, and the winding device 64, and power may be supplied wirelessly from the power supply unit 63 of the transport vehicle 40 to the storage battery included in the unmanned aerial vehicle 20.

[0056] (2) In the above embodiment, an example has been described in which the unmanned aerial vehicle 20 is provided with an item holding unit 21. However, the present invention is not limited to such an example, and may be configured, for example, such that the unmanned aerial vehicle 20 does not transport an item W, but rather the transport vehicle 40 transports an unmanned aerial vehicle 20 for inspection.

[0057] (3) In the above embodiment, an example has been described in which the transport vehicle 40 stops at the corresponding stop position P or the target stop position Pm until all unmanned aerial vehicles 20 have been accommodated. However, without being limited to such an example, for example, when an unmanned aerial vehicle 20 lands in the aircraft holding section 44 outside the accommodation section 45, the transport vehicle 40 may be configured to stop at the corresponding stop position P or the target stop position Pm until all unmanned aerial vehicles 20 have returned and landed, and the unmanned aerial vehicles 20 may be accommodated in the accommodation section 45 after the transport vehicle 40 departs. Furthermore, for example, the transport vehicle 40 may be configured to stop at the corresponding stop position P or the target stop position Pm until all wired unmanned aerial vehicles 20 have returned and landed.

[0058] (4) In the above embodiment, an example has been described in which the transport vehicle 40 stops at the corresponding stop position P or the target stop position Pm until the unmanned aerial vehicle 20 returns. However, without being limited to such an example, for example, the transport vehicle 40 may move to a position other than the corresponding stop position P on the travel route R, and the unmanned aerial vehicle 20 may land at the destination. Also, for example, the transport vehicle 40 from which the unmanned aerial vehicle 20 took off may move from the corresponding stop position P, and the unmanned aerial vehicle 20 may land on another transport vehicle 40 that has stopped at the corresponding stop position P. Also, for example, the unmanned aerial vehicle 20 may land on the next corresponding stop position P, the next target stop position Pm, another facility, a transport vehicle 40 that is moving slowly, etc.

[0059] (5) In the above embodiment, an example has been described in which the corresponding stop position P is set in advance for each destination T. However, the present invention is not limited to such an example, and for example, the corresponding stop position P may be set each time to a position on the travel route R that is closest to the destination T.

[0060] (6) In the above embodiment, an example has been described in which the unmanned aerial vehicle 20 includes the flight control unit 121 and the aircraft position information acquisition unit 122, and the transport vehicle 40 includes the travel control unit 141 and the transport vehicle position information acquisition unit 142. However, the present invention is not limited to such an example, and for example, the control device 100 may be configured to include the flight control unit 121 and the travel control unit 141 and perform centralized control.

[0061] (7) In the above embodiment, the control device 100 is configured to be switchable between an automatic mode and a manual mode. However, the present invention is not limited to such an example. For example, the control device 100 may be configured to have only the automatic mode.

[0062] (8) In the above embodiment, an example has been described in which the corresponding stop position P or the target stop position Pm is set in a location where there are no obstacles B1 that would hinder the unmanned aerial vehicle 20 from taking off from the aircraft holding section 44. However, without being limited to such an example, for example, the unmanned aerial vehicle 20 may be transported to a position from which it can take off by a transport device provided at the corresponding stop position P or the target stop position Pm.

[0063] (9) In the second embodiment described above, an example has been described in which the command selection process S101 is performed after the guided vehicle selection process S11. However, the present invention is not limited to such an example. For example, after the command selection process S101 is performed, the unmanned aerial vehicle 20 and the guided vehicle 40 may be selected by the guided vehicle selection process S11. Furthermore, for example, only the guided vehicle 40 may be selected in the guided vehicle selection process S11.

[0064] (10) In the second embodiment described above, an example was given in which the third movement command output process S106 is executed after the second stop process S105. However, without being limited to such an example, for example, the third movement command output process S106 may be executed after the second movement command output process S102 and before the second stop process S105. Furthermore, for example, the third movement command output process S106 may be executed simultaneously with the second movement command output process S102.

[0065] (11) In the second embodiment described above, an example was described in which control device 100 selects and executes output of a first movement command when destination T of unmanned aerial vehicle 20 has been determined, and selects and executes output of a second movement command and a third movement command when destination T of unmanned aerial vehicle 20 has not been determined. However, without being limited to such an example, for example, control device 100 may be configured to include operation reception unit 102 that receives operation input from an operator, and to selectively output the first movement command and the second and third movement commands based on the operation input from the operator. Furthermore, for example, in a case in which destinations T of unmanned aerial vehicle 20 are multiple locations, control device 100 may be configured to start traveling of transport vehicle 40 in response to a second movement command before the first destination T is determined.

[0066] (12) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0067] [Summary of the above embodiment] The above-described unmanned aerial vehicle transport system will now be described.

[0068] The transportation system of the present disclosure comprises an unmanned aerial vehicle, an aircraft holding unit that holds the unmanned aerial vehicle and that travels along a specified travel route, and a control device that controls the unmanned aerial vehicle and the transport vehicle, wherein the control device outputs a movement command specifying the destination of the unmanned aerial vehicle to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle, and the transport vehicle that receives the movement command travels to a corresponding stop position on the travel route that is a stopping position set corresponding to the destination and stops at the corresponding stop position, and the unmanned aerial vehicle that receives the movement command takes off from the aircraft holding unit and travels to the destination with the transport vehicle stopped at the corresponding stop position.

[0069] According to this configuration, an unmanned aerial vehicle can be transported to a corresponding stopping position corresponding to the destination by a transport vehicle, and the unmanned aerial vehicle can fly from the corresponding stopping position to the destination. This reduces the flight distance and flight time of the unmanned aerial vehicle, for example, when transporting heavy objects using an unmanned aerial vehicle and a transport vehicle. Furthermore, for example, a transport vehicle can transport multiple unmanned aerial vehicles together, or a transport vehicle can be used to move unmanned aerial vehicles even in areas where unmanned aerial vehicles cannot fly. This improves the efficiency of transporting goods and unmanned aerial vehicles. Furthermore, even if a destination is a location where no travel route has been established, the unmanned aerial vehicle can reach the destination. This eliminates the need to set up a travel route for the transport vehicle close to all potential destinations, thereby reducing the cost of setting up a travel route. Furthermore, because the unmanned aerial vehicle takes off while the transport vehicle is stopped at the corresponding stopping position, it is easier to accurately perform takeoff of autonomously flying unmanned aerial vehicles.

[0070] In one embodiment, the movement command specifying the destination of the unmanned aerial vehicle is a first movement command, and the control device selectively executes output of the first movement command, a second movement command, and a third movement command, and the second movement command is a movement command output to the transport vehicle specifying a destination stopping position of the transport vehicle set on the travel route, and the third movement command is a movement command output to the unmanned aerial vehicle specifying the destination of the unmanned aerial vehicle, and the control device is configured to be able to output the third movement command to the unmanned aerial vehicle held by the transport vehicle after outputting the second movement command to the transport vehicle, and the transport vehicle that receives the second movement command travels to the destination stopping position and stops at the destination stopping position, and the unmanned aerial vehicle that receives the third movement command takes off from the aircraft holding unit and moves to the destination with the transport vehicle stopped at the destination stopping position.

[0071] According to this configuration, the unmanned aerial vehicle can be transported to the destination stopping position by the transport vehicle, and while the transport vehicle is traveling to the destination stopping position or while the transport vehicle is stopped at the destination stopping position, the control device can output a third movement command specifying the destination of the unmanned aerial vehicle. Therefore, for example, even if the destination of the unmanned aerial vehicle or the destination of the article has not been specifically determined, the transport vehicle can start traveling, making it easier to improve the efficiency of transporting the unmanned aerial vehicle and the article.

[0072] In one aspect, the transport vehicle preferably stops at the corresponding stopping position until the unmanned aerial vehicle returns from the destination and lands in the aircraft holding section.

[0073] According to this configuration, the transport vehicle remains stopped at the corresponding stopping position until the unmanned aircraft returns and lands, making it easier for the automatically flying unmanned aircraft to return and land from its destination with high accuracy.

[0074] In one aspect, the unmanned aerial vehicle is equipped with an item holding unit that is capable of holding an item and releasing that holding, and it is preferable that the control device specifies at least one of the destination to which the item is to be transported and the destination to which the item is to be received as the destination in the movement command.

[0075] According to this configuration, the transport of an item from a transport vehicle to a destination can be performed by an unmanned aerial vehicle, so that the item can be transported to a destination that is far from the travel route of the transport vehicle. Conversely, since it is not necessary to set up the travel route of the transport vehicle close to all of the expected destinations, the cost of installing the travel route can be reduced and the efficiency of transporting items and unmanned aerial vehicles by the transport vehicle can be increased. Furthermore, by retaining the unmanned aerial vehicle again after transporting the item to the destination, the unmanned aerial vehicle can be transported to another location.

[0076] In one aspect, the control device is equipped with an operation reception unit that receives operation input from an operator, and is configured to be switchable between an automatic mode in which the destination is automatically set according to a predetermined program, and a manual mode in which the unmanned aerial vehicle and the transport vehicle are controlled in accordance with the operation input, and in the automatic mode, flying of the unmanned aerial vehicle is prohibited while the transport vehicle is moving, and in the manual mode, the transport vehicle is moved in accordance with the operation input, and the unmanned aerial vehicle is flown in accordance with the operation input regardless of whether the transport vehicle is moving or stopped.

[0077] According to this configuration, in the manual mode, the operator can operate both the guided vehicle and the unmanned aerial vehicle, which makes it possible to, for example, restore an abnormally operating guided vehicle or unmanned aerial vehicle to a normal state, or to perform an inspection or other similar task.

[0078] In one aspect, it is preferable that the corresponding stopping position is set in a location where there are no obstacles that could hinder the unmanned aerial vehicle from taking off from the aircraft holding section.

[0079] According to this configuration, the unmanned aerial vehicle can take off properly. [Explanation of symbols]

[0080] 10:Transportation system 20:Unmanned aerial vehicle 21: Article holding part 40: Transport vehicle 44:Aircraft holding part 100: Control device 102: Operation reception unit

Claims

1. Unmanned aerial vehicles and a transport vehicle that includes an aircraft holding unit that holds the unmanned aerial vehicle and travels along a specified travel route; a control device that controls the unmanned aerial vehicle and the transport vehicle; Equipped with the unmanned aerial vehicle includes an article holding unit that is capable of holding an article and releasing the hold; the control device outputs a receipt movement command, which is a movement command specifying a destination to receive the item as a destination of the unmanned aerial vehicle, to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle; The transport vehicle that has received the reception movement command travels to a corresponding stop position on the travel route, which is a stop position set corresponding to the destination, and stops at the corresponding stop position; Upon receiving the receiving movement command, the unmanned aircraft takes off from the aircraft holding unit and moves to the receiving destination while the transport vehicle is stopped at the corresponding stopping position, thereby receiving the item.

2. Unmanned aerial vehicles and a transport vehicle that includes an aircraft holding unit that holds the unmanned aerial vehicle and travels along a specified travel route; a control device that controls the unmanned aerial vehicle and the transport vehicle; Equipped with the unmanned aerial vehicle includes an article holding unit that is capable of holding an article and releasing the hold; the control device outputs a receipt movement command, which is a movement command specifying a destination to receive the item as a destination of the unmanned aerial vehicle, to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle; A state in which the unmanned aerial vehicle holds the item by the item holding unit is defined as an item holding state, and a state in which the unmanned aerial vehicle does not hold the item by the item holding unit is defined as an item non-holding state, Upon receiving the receiving movement command, the transport vehicle, while holding the unmanned aerial vehicle not holding an article in the aircraft holding section, travels to a corresponding stop position on the travel route, which is a stop position set corresponding to the recipient, and stops at the corresponding stop position; Upon receiving the receiving movement command, the unmanned aircraft takes off from the aircraft holding unit without holding the item and moves to the receiving destination, while the transport vehicle is stopped at the corresponding stopping position, whereupon the unmanned aircraft receives the item using the item holding unit and returns to the aircraft holding unit.This is an unmanned aircraft transport system.

3. The unmanned aircraft transportation system described in claim 1 or 2, wherein the control device outputs, in addition to the receiving movement command, a transportation movement command which is a movement command specifying the destination to which the item is to be transported as the destination.

4. Unmanned aerial vehicles and a transport vehicle that includes an aircraft holding unit that holds the unmanned aerial vehicle and travels along a specified travel route; a control device that controls the unmanned aerial vehicle and the transport vehicle; Equipped with the control device outputs a movement command specifying a destination of the unmanned aerial vehicle to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle; the transport vehicle that has received the movement command is configured to travel to a corresponding stop position on the travel route, which is a stop position set corresponding to the destination, and stop at the corresponding stop position; The unmanned aerial vehicle that has received the movement command is configured to take off from the aircraft holding unit and move to the destination while the transport vehicle is stopped at the corresponding stop position, the unmanned aerial vehicle includes an article holding unit that is capable of holding an article and releasing the hold; A state in which the unmanned aerial vehicle holds the item by the item holding unit is defined as an item holding state, and a state in which the unmanned aerial vehicle does not hold the item by the item holding unit is defined as an item non-holding state, An unmanned aerial vehicle transportation system in which the transport vehicle has multiple aircraft holding sections, and each aircraft holding section is configured to hold the unmanned aerial vehicle in either the item holding state or the item non-holding state.

5. The unmanned aerial vehicle transportation system according to claim 4 , wherein the control device specifies at least one of a destination to which the item is to be transported and a receiving destination to receive the item as the destination in the movement command.

6. the control device includes an operation receiving unit that receives an operation input from an operator, and is configured to be switchable between an automatic mode in which the destination is automatically set in accordance with a predetermined program, and a manual mode in which the unmanned aerial vehicle and the transport vehicle are controlled in accordance with the operation input; In the automatic mode, the unmanned aerial vehicle is prohibited from flying while the transport vehicle is traveling; An unmanned aerial vehicle transport system as described in any one of claims 1, 2 and 4, wherein in the manual mode, the transport vehicle is driven in accordance with the operation input, and the unmanned aerial vehicle is flown in accordance with the operation input regardless of whether the transport vehicle is moving or stopped.

7. The receiving movement command specifying the receiving destination is a first movement command, the control device selectively outputs the first movement command, and outputs the second movement command and the third movement command; the second movement command is a movement command that specifies a target stopping position of the transporting vehicle set on the travel route and is output to the transporting vehicle, the third movement command is a movement command that specifies the recipient and is output to the unmanned aerial vehicle, the control device is configured to output the third movement command to the unmanned aerial vehicle held by the transport vehicle after outputting the second movement command to the transport vehicle; The transport vehicle that has received the second movement command travels to the target stopping position and stops at the target stopping position, The unmanned aircraft transport system described in claim 1 or 2, wherein the unmanned aircraft, upon receiving the third movement command, takes off from the aircraft holding section, moves to the recipient, and receives the item while the transport vehicle is stopped at the target stopping position.

8. the movement command specifying the destination of the unmanned aerial vehicle is a first movement command; the control device selectively outputs the first movement command, and outputs the second movement command and the third movement command; the second movement command is a movement command that specifies a target stopping position of the transporting vehicle set on the travel route and is output to the transporting vehicle, the third movement command is a movement command that specifies the destination of the unmanned aerial vehicle and is output to the unmanned aerial vehicle, the control device is configured to output the third movement command to the unmanned aerial vehicle held by the transport vehicle after outputting the second movement command to the transport vehicle; The transport vehicle that has received the second movement command travels to the target stopping position and stops at the target stopping position, The unmanned aircraft transportation system described in claim 4, wherein the unmanned aircraft that receives the third movement command takes off from the aircraft holding section and moves to the destination while the transport vehicle is stopped at the target stopping position.

9. The unmanned aerial vehicle transportation system according to claim 1 , wherein the transport vehicle stops at the corresponding stopping position until the unmanned aerial vehicle returns and lands in the aircraft holding section.

10. An unmanned aerial vehicle transportation system as described in any one of claims 1, 2, and 4, wherein the corresponding stopping position is set in a location where there are no obstacles that would hinder the unmanned aerial vehicle from taking off from the aircraft holding section.

11. Unmanned aerial vehicles and a transport vehicle that includes an aircraft holding unit that holds the unmanned aerial vehicle and travels along a specified travel route; a control device that controls the unmanned aerial vehicle and the transport vehicle; Equipped with the control device outputs a movement command specifying a destination of the unmanned aerial vehicle to both the transport vehicle and the unmanned aerial vehicle held by the transport vehicle; The transport vehicle that has received the movement command travels to a corresponding stop position on the travel route, which is a stop position set corresponding to the destination, and stops at the corresponding stop position; Upon receiving the movement command, the unmanned aerial vehicle takes off from the aircraft holding unit and moves to the destination while the transport vehicle is stopped at the corresponding stop position; the control device includes an operation receiving unit that receives an operation input from an operator, and is configured to be switchable between an automatic mode in which the destination is automatically set in accordance with a predetermined program, and a manual mode in which the unmanned aerial vehicle and the transport vehicle are controlled in accordance with the operation input; In the automatic mode, the unmanned aerial vehicle is prohibited from flying while the transport vehicle is traveling; In the manual mode, the transport vehicle is driven in accordance with the operation input, and the unmanned aircraft is flown in accordance with the operation input regardless of whether the transport vehicle is moving or stopped, in this unmanned aircraft transport system.

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