阅读说明：本技术 货物接收保管装置及货物接收保管方法 (Cargo receiving and keeping device and cargo receiving and keeping method ) 是由 田爪敏明 周清楠 于 2018-12-26 设计创作，主要内容包括：本发明的货物接收保管装置(10)具有：载台(26),用来供卸载由无人航空器(12)运输过来的货物(14)；收纳库(32),为了收纳货物(14),而与载台(26)邻接,且具有至少沿铅直方向排列的多个收纳空间(36)；升降器(46),用来使载台(26)升降；推杆(52),能以在载台(26)上推动货物(14)的方式移动；及致动器(62),用来移动推杆(52)。控制升降器(46)被以将载台(26)从货物(14)的卸货位置(48)下降到与选自多个收纳空间(36)的1个收纳空间(36)对应的收纳位置(50)的方式加以控制。致动器(62)被以为了使货物(14)向选自多个收纳空间(36)的1个收纳空间(36)滑行移动,而水平移动推杆(52)的方式加以控制。(A cargo receiving and storing device (10) of the present invention comprises: a carrier (26) for unloading the cargo (14) transported by the unmanned aerial vehicle (12); a storage box (32) which is adjacent to the carrier (26) for storing the goods (14) and has a plurality of storage spaces (36) arranged at least in the vertical direction; a lifter (46) for lifting the stage (26); a push rod (52) that can move so as to push the load (14) on the carrier (26); and an actuator (62) for moving the push rod (52). The control lifter (46) is controlled to lower the carrier (26) from a discharge position (48) of the load (14) to a storage position (50) corresponding to 1 storage space (36) selected from the plurality of storage spaces (36). The actuator (62) is controlled so as to horizontally move the push rod (52) in order to slide the load (14) to 1 storage space (36) selected from the plurality of storage spaces (36).)

1. A cargo receiving and keeping device is characterized by comprising:

a carrier for unloading cargo transported by the unmanned aerial vehicle;

a storage box adjacent to the stage and having a plurality of storage spaces arranged at least in a vertical direction;

a lifter for lifting the carrier;

a push rod movable in a manner of pushing the goods on the carrier; and

an actuator for moving the push rod; and is

The lifter is controlled to lower the stage from a discharge position of the load to a storage position corresponding to 1 storage space selected from the plurality of storage spaces;

the actuator is controlled to horizontally move the push rod in order to slide the cargo to 1 storage space selected from the plurality of storage spaces.

2. The cargo receiving and keeping apparatus according to claim 1, wherein:

the carrier has a broad extent to which the unmanned aerial vehicle can take off and land.

3. The cargo receiving and keeping apparatus according to claim 1, wherein:

the storage is disposed around the stage.

4. The cargo receiving and keeping apparatus according to claim 3, wherein:

the storage room surrounds the stage without a gap.

5. The cargo receiving and keeping apparatus according to claim 3, wherein:

the plurality of storage spaces each have a carrying-in port that can be adjacent to an outer edge of the stage, and an ejection port that is opposite to the carrying-in port.

6. The cargo receiving and keeping apparatus according to claim 5, wherein:

the adjacent receiving spaces are physically isolated, and

the removal opening can be locked and unlocked.

7. The cargo receiving and keeping apparatus according to claim 6, wherein:

the take-out port is controlled to be locked when the load is stored.

8. The cargo receiving and keeping apparatus according to claim 6, wherein:

the take-out port has a door that can be opened and closed.

9. The cargo receiving and storage device according to any one of claims 1 to 8, wherein:

the carrying platform is provided with a conveying surface for unloading the goods and sliding the goods,

the plurality of storage spaces have storage surfaces for storing the goods, respectively, and

the lifter is controlled to make the conveying surface at a position higher than the storage surface when the goods are made to slide and move;

at least one of the storage and the stage has an inclined surface that descends in a direction from the transport surface toward the storage surface between the transport surface and the storage surface.

10. The cargo receiving and storage device according to any one of claims 1 to 8, wherein:

the push rod comprises a 1 st rod extending along the 1 st direction to enable the goods to abut against the side surface and a 2 nd rod extending along the 2 nd direction crossed with the 1 st direction to enable the goods to abut against the side surface, and

the actuator includes a 1 st slider that holds the 1 st rod and is movable in a direction intersecting the 1 st direction, and a 2 nd slider that holds the 2 nd rod and is movable in a direction intersecting the 2 nd direction.

11. The cargo receiving and storage device according to claim 10, wherein:

the 1 st slide block can move along the 2 nd direction, and

the 2 nd slider is movable in the 1 st direction.

12. The cargo receiving and storage device according to claim 10, wherein:

the actuator comprises a 1 st motor for moving the 1 st sliding block and a 2 nd motor for moving the 2 nd sliding block.

13. The cargo receiving and storage device according to claim 10, wherein:

the push rod comprises a 3 rd rod extending along the 1 st direction to enable the goods to abut against the side surface and a 4 th rod extending along the 2 nd direction to enable the goods to abut against the side surface, and

the actuator includes a 3 rd slider that holds the 3 rd rod and is movable in a direction intersecting the 1 st direction, and a 4 th slider that holds the 4 th rod and is movable in a direction intersecting the 2 nd direction.

14. The cargo receiving and storage device according to claim 13, wherein:

the 3 rd sliding block can move along the 2 nd direction, and

the 4 th slider is movable in the 1 st direction.

15. The cargo receiving and storage device according to claim 13, wherein:

the actuator includes a 3 rd motor for moving the 3 rd slider and a 4 th motor for moving the 4 th slider.

16. The cargo receiving and storage device according to claim 13, wherein:

the actuator is controlled in the following manner: while the load is being unloaded, the 1 st and 3 rd bars are positioned outside the conveyance surface and on opposite sides to each other, and the 2 nd and 4 th bars are positioned outside the conveyance surface and on opposite sides to each other.

17. The cargo receiving and storage device according to claim 16, wherein:

the actuator is controlled in the following manner: before unloading the load, the 1 st and 3 rd bars are moved to the outside of the conveying surface, and the 2 nd and 4 th bars are moved to the outside of the conveying surface.

18. The cargo receiving and storage device according to claim 17, wherein:

in order to push the cargo, one of the 1 st and 3 rd bars and one of the 2 nd and 4 th bars are used, and

at least 1 of the remaining rods not used to push the load is used as a guide for the sliding movement of the load.

19. The cargo receiving and keeping apparatus according to claim 1, wherein:

the elevator is controlled so that the carrier is in the unloading position during unloading of the cargo.

20. The cargo receiving and storage device according to claim 19, wherein:

the lifter is controlled to raise the carrier at the storage position to the unloading position before unloading the load.

21. The cargo receiving and storage device according to claim 20, wherein:

the lift is controlled to raise the carrier to the unloading position when the unmanned aerial vehicle approaches.

22. The cargo receiving and keeping apparatus according to claim 1, wherein:

the actuator is controlled in such a way that the sliding movement of the load is started after the unloading of the load is completed.

23. The cargo receiving and storage device according to claim 22, wherein:

the unmanned aerial vehicle is controlled in such a manner that it lands on the carrier and takes off after the unloading of the cargo is completed, and

the actuator is controlled in such a way that a taxiing movement of the cargo is initiated after takeoff of the unmanned aerial vehicle.

24. The cargo receiving and keeping apparatus according to claim 1, wherein:

there is also a processor that controls the drive of the elevator and the actuator.

25. The cargo receiving and storage device according to claim 24, wherein:

the processor selects 1 storage space from the plurality of storage spaces based on the information of which of the plurality of storage spaces is empty.

26. The cargo receiving and storage device according to claim 24, wherein:

the plurality of receiving spaces include receiving spaces of different sizes, and

the processor selects 1 storage space from the plurality of storage spaces based on information of sizes of the plurality of storage spaces.

27. A cargo receiving and keeping method is characterized by comprising the following steps:

unloading goods transported by the unmanned aerial vehicle to a carrier;

controlling a lifter capable of lifting the stage in the following manner: lowering the stage from the unloading position of the goods to a storage position corresponding to 1 storage space selected from a plurality of storage spaces which are adjacent to the stage and are arranged at least in a vertical direction; and

controlling an actuator capable of moving the push rod in the following manner: the load is pushed on the carrier by the horizontal movement of the pusher, and is slid and moved to the 1 storage space selected from the plurality of storage spaces.

28. The cargo receiving and keeping method according to claim 27, wherein:

the plurality of receiving spaces each have a carrying-in port adjacent to an outer edge of the stage and an extracting port opposite to the carrying-in port, and

the take-out port is controlled so as to be locked when the load is stored.

29. The cargo receiving and keeping method according to claim 27, wherein:

the lift is controlled so that the carrier at the storage position is raised to the unloading position before the cargo is unloaded.

30. The cargo receiving and keeping method according to claim 29, further comprising:

the lift is controlled so that the carrier is raised to the unloading position when the unmanned aerial vehicle approaches.

31. A cargo receiving and keeping method according to any one of claims 27 to 30, wherein:

controlling the actuator in such a way that the gliding movement of the load is started after the unloading of the load is completed.

32. A cargo receiving and keeping method according to any one of claims 27 to 30, wherein:

the unmanned aerial vehicle is controlled in such a manner that it lands on the carrier and takes off after the unloading of the cargo is completed, and

controlling the actuator in such a way that the taxiing movement of the cargo is initiated after takeoff of the unmanned aerial vehicle.

Technical Field

The present invention relates to a cargo receiving and keeping apparatus and a cargo receiving and keeping method.

Background

In recent years, facilities called express boxes, express cabinets, and the like, which can receive goods even when a receiver is not present, have become widespread. The express box is installed not only in a concentrated residential area but also in a public place such as a train station, and is used by an unspecified large number of users. Recently, unmanned distribution using unmanned aerial vehicles (unmanned aerial vehicles) is under study.

Disclosure of Invention

[ problems to be solved by the invention ]

In the known technology, in the case of receiving a plurality of cargos by a plurality of unmanned planes or keeping a plurality of cargos for a plurality of consignees, there are cases where efficiency is low or complicated mechanisms are required.

The purpose of the present invention is to receive and store a plurality of cargoes by a simple mechanism.

[ means for solving problems ]

(1) The cargo receiving and storing device of the present invention is characterized by comprising: a carrier for unloading cargo transported by the unmanned aerial vehicle; a storage box adjacent to the stage and having a plurality of storage spaces arranged at least in a vertical direction; a lifter for lifting the carrier; a push rod movable in a manner of pushing the goods on the carrier; and an actuator for moving the push rod; and the lifter is controlled to lower the stage from the unloading position of the goods to a storage position corresponding to 1 storage space selected from the plurality of storage spaces; the actuator is controlled to horizontally move the push rod in order to slide the cargo to 1 storage space selected from the plurality of storage spaces.

According to the present invention, the load can be stored in 1 storage space selected from a plurality of storage spaces with a simple structure including the stage shared by the unloading and sliding movement of the load and the horizontally moved push rod.

(2) The cargo receiving and keeping apparatus according to (1), wherein: the carrier has a broad extent to which the unmanned aerial vehicle can take off and land.

(3) The cargo receiving and keeping apparatus according to (1) or (2), wherein: the storage is disposed around the stage.

(4) The cargo receiving and keeping apparatus according to (3), wherein: the storage room surrounds the stage without a gap.

(5) The cargo receiving and storing apparatus according to (3) or (4), wherein: the plurality of storage spaces each have a carrying-in port that can be adjacent to an outer edge of the stage, and an ejection port that is opposite to the carrying-in port.

(6) The cargo receiving and keeping apparatus according to (5), wherein: the plurality of storage spaces are physically isolated from each other, and the taking-out opening can be locked and unlocked.

(7) The cargo receiving and keeping apparatus according to (6), wherein: the take-out port is controlled to be locked when the load is stored.

(8) The cargo receiving and keeping apparatus according to (6) or (7), wherein: the take-out port has a door that can be opened and closed.

(9) The cargo receiving and keeping apparatus according to any one of (1) to (8), wherein: the carrier has a conveying surface for unloading the goods and for sliding movement of the goods, the plurality of storage spaces each have a storage surface for storing the goods, and the lifter is controlled so that the conveying surface is positioned higher than the storage surface when the goods are slid and moved; at least one of the storage and the stage has an inclined surface that descends in a direction from the transport surface toward the storage surface between the transport surface and the storage surface.

(10) The cargo receiving and keeping apparatus according to any one of (1) to (9), wherein: the push rod comprises a 1 st rod extending along a 1 st direction to enable the goods to abut against a side surface and a 2 nd rod extending along a 2 nd direction crossed with the 1 st direction to enable the goods to abut against the side surface, and the actuator comprises a 1 st sliding block and a 2 nd sliding block, wherein the 1 st sliding block holds the 1 st rod and can move in the direction crossed with the 1 st direction, and the 2 nd sliding block holds the 2 nd rod and can move in the direction crossed with the 2 nd direction.

(11) The cargo receiving and keeping apparatus according to (10), wherein: the 1 st slider can move along the 2 nd direction, and the 2 nd slider can move along the 1 st direction.

(12) The cargo receiving and storing apparatus according to (10) or (11), wherein: the actuator comprises a 1 st motor for moving the 1 st sliding block and a 2 nd motor for moving the 2 nd sliding block.

(13) The cargo receiving and keeping apparatus according to any one of (10) to (12), wherein: the push rod includes a 3 rd rod extending in the 1 st direction to make the goods abut against a side surface, and a 4 th rod extending in the 2 nd direction to make the goods abut against a side surface, and the actuator includes a 3 rd slider holding the 3 rd rod and being movable in a direction crossing the 1 st direction, and a 4 th slider holding the 4 th rod and being movable in a direction crossing the 2 nd direction.

(14) The cargo receiving and keeping apparatus according to (13), wherein: the 3 rd slider is movable in the 2 nd direction, and the 4 th slider is movable in the 1 st direction.

(15) The cargo receiving and storing apparatus according to (13) or (14), wherein: the actuator includes a 3 rd motor for moving the 3 rd slider and a 4 th motor for moving the 4 th slider.

(16) The cargo receiving and keeping apparatus according to any one of (13) to (15), wherein: the actuator is controlled in the following manner: while the load is being unloaded, the 1 st and 3 rd bars are positioned outside the conveyance surface and on opposite sides to each other, and the 2 nd and 4 th bars are positioned outside the conveyance surface and on opposite sides to each other.

(17) The cargo receiving and storing apparatus according to (16), wherein: the actuator is controlled in the following manner: before unloading the load, the 1 st and 3 rd bars are moved to the outside of the conveying surface, and the 2 nd and 4 th bars are moved to the outside of the conveying surface.

(18) The cargo receiving and keeping apparatus according to (17), wherein: in order to push the cargo, one of the 1 st and 3 rd poles and one of the 2 nd and 4 th poles are used, and at least 1 of the remaining poles not used to push the cargo serves as a guide for sliding movement of the cargo.

(19) The cargo receiving and keeping apparatus according to any one of (1) to (18), wherein: the elevator is controlled so that the carrier is in the unloading position during unloading of the cargo.

(20) The cargo receiving and keeping apparatus according to (19), wherein: the lifter is controlled to raise the carrier at the storage position to the unloading position before unloading the load.

(21) The cargo receiving and keeping apparatus according to (20), wherein: the lift is controlled to raise the carrier to the unloading position when the unmanned aerial vehicle approaches.

(22) The cargo receiving and storing apparatus according to any one of (1) to (21), wherein: the actuator is controlled in such a way that the sliding movement of the load is started after the unloading of the load is completed.

(23) The cargo receiving and keeping apparatus according to (22), wherein: the unmanned aerial vehicle is controlled in such a way as to land on the carrier and take off after the unloading of the cargo is completed, and the actuator is controlled in such a way as to start the taxiing movement of the cargo after the unmanned aerial vehicle takes off.

(24) The cargo receiving and storing apparatus according to any one of (1) to (23), wherein: there is also a processor that controls the drive of the elevator and the actuator.

(25) The cargo receiving and keeping apparatus according to (24), wherein: the processor selects 1 storage space from the plurality of storage spaces based on the information of which of the plurality of storage spaces is empty.

(26) The cargo receiving and storing apparatus according to (24) or (25), wherein: the plurality of receiving spaces include receiving spaces having different sizes, and the processor selects 1 receiving space from the plurality of receiving spaces based on information on the sizes of the plurality of receiving spaces.

(27) The cargo receiving and keeping method of the present invention is characterized by comprising the steps of: unloading goods transported by the unmanned aerial vehicle to a carrier; controlling a lifter capable of lifting the stage in the following manner: lowering the stage from the unloading position of the goods to a storage position corresponding to 1 storage space selected from a plurality of storage spaces which are adjacent to the stage and are arranged at least in a vertical direction; and controlling an actuator capable of moving the push rod in the following manner: the load is pushed on the carrier by the horizontal movement of the pusher, and is slid and moved to the 1 storage space selected from the plurality of storage spaces.

According to the present invention, the carrier is used for unloading and sliding movement of the load, and the load can be stored in 1 storage space selected from the plurality of storage spaces by horizontally moving the push rod. Therefore, a plurality of cargos can be received and stored by a simple mechanism.

(28) The cargo receiving and storing method according to (27), wherein: the plurality of storage spaces each have a carrying-in port adjacent to an outer edge of the stage and an ejection port on the opposite side of the carrying-in port, and the ejection port is controlled so as to be locked when the load is stored.

(29) The cargo receiving and storing method according to (27) or (28), wherein: the lift is controlled so that the carrier at the storage position is raised to the unloading position before the cargo is unloaded.

(30) The cargo receiving and storing method according to (29), wherein: the lift is controlled so that the carrier is raised to the unloading position when the unmanned aerial vehicle approaches.

(31) The cargo receiving and keeping method according to any one of (27) to (30), wherein: controlling the actuator in such a way that the gliding movement of the load is started after the unloading of the load is completed.

(32) The cargo receiving and keeping method according to any one of (27) to (31), wherein: the unmanned aerial vehicle is controlled in such a manner as to land on the carrier and take off after the unloading of the cargo is completed, and the actuator is controlled in such a manner as to start the taxiing movement of the cargo after the unmanned aerial vehicle takes off.

Drawings

Fig. 1 is a side view of a cargo receiving and keeping apparatus according to an embodiment.

Fig. 2 is a perspective view of an unmanned aerial vehicle transporting cargo.

Fig. 3 is a plan view of the cargo receiving and storing device shown in fig. 1.

Fig. 4 is a sectional view taken along line IV-IV of the cargo receiving and keeping device shown in fig. 1.

Fig. 5 is a block diagram showing a distribution system including a cargo receiving and storing device.

Fig. 6 is a flowchart showing a process of the distribution system including the cargo receiving and storing device.

Fig. 7 is a flowchart showing the nano-descent preparation processing.

Fig. 8 is a view showing the storage of the previously transported cargo.

Fig. 9 is a diagram showing the cargo receiving and storing device in which the storage preparation is completed.

Fig. 10 is a flowchart showing a cargo storage process.

Fig. 11 is a diagram showing the stage lowered to the storage position.

Fig. 12 is a view showing the first sliding movement.

Fig. 13 is a diagram showing the final slide movement.

Fig. 14 is a view showing the cargo entered into the storage space.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. However, the present invention can be carried out in various ways without departing from the scope of the present invention, and the present invention should not be construed as being limited to the description of the embodiments illustrated below.

Fig. 1 is a side view of a cargo receiving and keeping apparatus according to an embodiment. Fig. 2 is a perspective view of an unmanned aerial vehicle transporting cargo. The cargo 14 transported by the unmanned aerial vehicle 12 is stored in the cargo receiving and storing device 10.

[ unmanned aircraft 12]

The unmanned aircraft 12 is an unmanned aircraft, and may be, for example, a battery-powered unmanned aircraft or an engine-powered unmanned aircraft. The unmanned aerial vehicle 12 includes a motor or a battery for rotating the propeller 16, and includes a control unit, a storage unit, a communication unit, and a sensing unit (not shown).

The unmanned aircraft 12 includes a cargo storage section 18. The cargo storage portion 18 includes a frame 20 having a space for storing the cargo 14. The frame 20 is sized to place and fix the load 14 therein. The cargo store 18 includes arms 22 that support the cargo 14 being dispensed from falling downward and stops 24 having a known locking mechanism. The load 14 is placed on the arm 22 and is secured against movement in the horizontal direction by locking the stop 24. The arm 22 is switched by rotation of a motor, not shown, and after the unmanned aerial vehicle 12 descends, the arm 22 is opened downward, so that the load 14 placed on the arm 22 falls by about several centimeters.

Fig. 3 is a plan view of the cargo receiving and storing device 10 shown in fig. 1. Fig. 4 is a sectional view taken along line IV-IV of the cargo receiving and keeping apparatus 10 shown in fig. 1.

[ carrying table ]

The cargo receiving and keeping apparatus 10 has a stage 26 for unloading the cargo 14 from the unmanned aircraft 12. The carrier 26 has a conveying surface 28 for unloading the load 14. The conveying surface 28 is also used for the sliding movement of the goods 14. The stage 26 has an inclined surface 30 that descends outward outside the conveying surface 28. Unmanned aircraft 12 is controlled in such a way that it lands on stage 26 and takes off after unloading of cargo 14 is complete. The carrier 26 has a wide range of capability for takeoff and landing of the unmanned aircraft 12.

[ storage case ]

The cargo receiving and storing device 10 includes a storage box 32 for storing the cargo 14. The storage 32 is adjacent to the stage 26. The storage 32 is disposed around the stage 26. The storage 32 surrounds the stage 26 without any gap to prevent intrusion. The storage 32 may be provided with a wall 34 as necessary.

The storage 32 has a plurality of storage spaces 36. A plurality of receiving spaces 36 are physically separated from each other. The plurality of housing spaces 36 include housing spaces 36A and 36B having different sizes. The plurality of housing spaces 36 are arranged in the vertical direction and further arranged in the horizontal direction.

Each of the plurality of storage spaces 36 has a storage surface 38 for storing the cargo 14. The holding surface 38 is adjacent to the inclined surface 30 of the stage 26. Between the conveying surface 28 and the storage surface 38, there is an inclined surface 30 that descends in a direction from the conveying surface 28 toward the storage surface 38. As a modification, the inclined surface may be provided in the storage box 32.

Each of the storage spaces 36 has a carrying-in port 40 that can be adjacent to the outer edge of the stage 26. Each storage space 36 has an outlet 42 on the opposite side of the loading port 40. The outlet 42 has a door 44 that can be opened and closed. The removal opening 42 can be locked and unlocked. The take-out port 42 is locked when the load 14 is stored.

[ Lift ]

The cargo receiving and storing apparatus 10 includes a lifter 46 for lifting and lowering the stage 26. The lifter 46 is a well-known lifting device using hydraulic pressure. The lifter 46 lowers the stage 26 from the unloading position 48 (see fig. 9) of the cargo 14 to the storage position 50 (see fig. 4) corresponding to 1 storage space 36 selected from the plurality of storage spaces 36.

When the stage 26 is at the storage position 50, the transfer surface 28 is at a position higher than the storage surface 38, but the transfer surface 28 is connected to the storage surface 38 by the inclined surface 30. Therefore, the loads 14 can slide from the conveying surface 28 to the storage surface 38, and the loads 14 can be stored in the storage space 36.

[ push rod ]

The cargo receiving and storing apparatus 10 includes a push rod 52 (a pushing aid) that can move so as to push the cargo 14 on the stage 26. The push rod 52 includes a 1 st rod 54 that extends in a 1 st direction D1 to urge the cargo 14 against the side. The push rod 52 includes a 2 nd rod 56 that extends in a 2 nd direction D2 that is crosswise (e.g., orthogonal) to the 1 st direction D1 to urge the cargo 14 against the side. The push rod 52 includes a 3 rd rod 58 that extends in the 1 st direction D1 to urge the cargo 14 against the side. The push rod 52 includes a 4 th rod 60 that extends in the 2 nd direction D2 to urge the cargo 14 against the side.

The cargo 14 pushed by the push rod 52 is slidingly moved in two dimensions (the 1 st direction D1 and the 2 nd direction D2). To push cargo 14 in direction D1, one of the 2 nd and 4 th bars 56, 60 is used. To push cargo 14 in direction 2D 2, one of 1 st rod 54 and 3 rd rod 58 is used. At least 1 of the remaining rods not used to push the cargo 14 may be used as a guide for the sliding movement of the cargo 14.

[ actuator ]

The cargo receiving storage apparatus 10 has an actuator 62 for moving the push rod 52. The actuator 62 moves the push rod 52 horizontally. This enables the cargo 14 to slide and move to 1 storage space 36 selected from the plurality of storage spaces 36.

The actuator 62 has a mechanism that converts rotational motion into linear motion. For example, the actuator 62 includes a 1 st motor 64. The 1 st motor 64 has a rotation shaft coupled to the 1 st screw 66. A 1 st slider 68 having a screw hole is fitted to the 1 st screw 66. Thereby, the rotational motion of the 1 st motor 64 can be converted into a linear motion to move the 1 st slider 68. The 1 st slider 68 is movable in a direction intersecting the 1 st direction D1 (e.g., the 2 nd direction D2). The 1 st slider 68 holds the 1 st rod 54.

The actuator 62 includes a 2 nd slider 70 movable in a direction crossing the 2 nd direction D2 (e.g., the 1 st direction D1). The 2 nd slider 70 holds the 2 nd rod 56. The actuator 62 includes a 2 nd motor 72. A 2 nd screw 74 is coupled to a rotation shaft of the 2 nd motor 72, and a 2 nd slider 70 having a screw hole is fitted to the 2 nd screw 74. Thereby, the 2 nd motor 72 moves the 2 nd slider 70.

The actuator 62 includes a 3 rd slider 76 movable in a direction crossing the 1 st direction D1 (e.g., the 2 nd direction D2). The 3 rd slider 76 holds the 3 rd rod 58. The actuator 62 includes a 3 rd motor 78. The 3 rd screw 80 is connected to the rotation shaft of the 3 rd motor 78, and the 3 rd slider 76 having a screw hole is fitted to the 3 rd screw 80. Thereby, the 3 rd motor 78 moves the 3 rd slider 76.

The actuator 62 includes a 4 th slider 82 movable in a direction crossing the 2 nd direction D2 (e.g., the 1 st direction D1). The 4 th slider 82 holds the 4 th rod 60. The actuator 62 includes a 4 th motor 84. The 4 th screw 86 is connected to the rotation shaft of the 4 th motor 84, and the 4 th slider 82 having a screw hole is fitted to the 4 th screw 86. Thereby, the 4 th motor 84 moves the 4 th slider 82.

According to the present embodiment, the load 14 can be stored in 1 storage space 36 selected from the plurality of storage spaces 36 with a simple configuration including the stage 26 common to the unloading and sliding movement of the load 14 and the horizontally moved push rod 52.

[ dispensing System ]

Fig. 5 is a block diagram showing a distribution system including the cargo receiving and storing device 10. The cargo storage device 10 includes a memory 88. The memory 88 stores information related to the unmanned aerial vehicle 12 [ a body identification code (ID), a delivery plan, and the like ] and information related to the cargo 14 [ a cargo identification code (ID), a size, a password, and the like ] in addition to the use state of the storage space 36.

The cargo receiving and keeping apparatus 10 includes a processor 90. The processor 90 is disposed, for example, inside the wall 34. The processor 90 includes a control unit 92 and an arithmetic unit 94. The processor 90 (control unit 92) controls the driving (ascending and descending) of the lifter 46. The processor 90 (control unit 92) controls the driving of the actuator 62 (the 1 st motor 64, the 2 nd motor 72, the 3 rd motor 78, and the 4 th motor 84). The processor 90 (control section 92) controls the safety device 96. The safety device 96 controls locking and unlocking of the ejection port 42 (door 44), and controls opening and closing of the carrying port 40 as necessary. The code required to unlock the removal port 42 (door 44) is input through a control panel 98 (fig. 1) attached to the wall 34.

The cargo receiving and keeping apparatus 10 has a wireless transceiver 100 to communicate with the unmanned aircraft 12. The cargo receiving and keeping apparatus 10 has a wired interface 104 to communicate with the management system 102. The communication is via a network 106. The unmanned aerial vehicle 12 and the cargo receiving and storing device 10 are connected via the network 106 to be able to transmit and receive data. A management system 102 for remotely operating the unmanned aircraft 12 is also connected to the network 106 to be able to transmit and receive data.

The Management system 102 is an aviation control system (UTM) of an Unmanned Aerial Vehicle (UAV) 12, and plays roles of managing flight routes and heights, managing and analyzing data, allowing flight, monitoring in real time, preventing intrusion into flight-prohibited areas, and the like.

The terminal 108 of the receiver of the cargo 14 is notified of information (a receiving place, a delivery plan, a storage space number, a password, and the like) necessary for receiving the cargo through the network 106. The terminal 108 is a mobile terminal (including a tablet type terminal and a smart phone) or a personal computer or the like operated by a consignee.

Fig. 6 is a flowchart showing a process of the distribution system including the cargo receiving and storing device 10. The management system 102 receives a flight request and sets a flight schedule. The flight application is submitted, for example, by the operator of the unmanned aircraft 12 (the shipper of the cargo 14). After the flight schedule is determined, the delivery information is transmitted to the cargo receiving custody apparatus 10. The delivery information includes information related to the unmanned aircraft 12 [ an organism identification code (ID), a delivery plan, etc. ] and information related to the cargo 14 [ a cargo identification code (ID), a size ].

[ cargo receiving and keeping schedule setting ]

In the cargo receiving and storing apparatus 10, a cargo receiving and storing schedule is set. In the cargo receiving and storing apparatus 10, the processor 90 (the arithmetic unit 94) selects 1 storage space 36 from the plurality of storage spaces 36 based on the information about which of the plurality of storage spaces 36 is empty. The processor 90 (computing unit 94) selects 1 storage space 36 from the plurality of storage spaces 36 based on the information on the sizes of the plurality of storage spaces 36. After the cargo receiving and keeping schedule is determined, the cargo receiving and keeping information is transmitted to the management system 102. The goods receiving and keeping information comprises the receiving and keeping time, the selected receiving space number and the password.

After the controlled system 102 permits the flight, the unmanned aerial vehicle 12 departs from the cargo receiving and keeping apparatus 10. If the unmanned aerial vehicle 12 travels smoothly and approaches the cargo receiving and keeping device 10, the cargo receiving and keeping device 10 receives a notification that the unmanned aerial vehicle 12 approaches. Specifically, the cargo receiving and storing device 10 may determine the approach of the unmanned aircraft 12 by the processor 90 (the arithmetic unit 94) based on the position information of the unmanned aircraft 12 received. If the unmanned aircraft 12 approaches, the cargo receiving and keeping device 10 is ready for storage.

[ preparation for descent ]

Fig. 7 is a flowchart showing the nano-descent preparation processing. Fig. 8 is a view showing the storage of the previously transported cargo 14.

When the previously transported cargo 14 is stored in the storage space 36, the pusher 52 is positioned above the conveyance surface 28. Therefore, the actuator 62 is controlled to move the pusher 52 to the outside of the conveying surface 28 before the unloading of the next load 14 is started. For example, the 1 st bar 54 and the 3 rd bar 58 are moved to the outside of the conveying surface 28, and the 2 nd bar 56 and the 4 th bar 60 are moved to the outside of the conveying surface 28. That is, when the pusher 52 is not outside the conveying surface 28, the pusher 52 is moved to stop the next unmanned aircraft 12 from landing.

The carrier 26 is in the storage position 50 at the moment when the previously transported cargo 14 is stored in the storage space 36. Therefore, when the stage 26 is not at the unloading position 48 (fig. 9), the stage 26 is raised. In this manner, the lifter 46 is controlled so as to raise the stage 26 at the storage position 50 to the unloading position 48 before unloading the next load 14. This control may be performed at the latest before the unloading of the next cargo 14 is started, or may be performed when the unmanned aircraft 12 approaches (when the approach is detected).

Fig. 9 is a diagram showing the cargo receiving and storing device 10 in which the storage preparation is completed. After the preparation for the stowage is completed, the cargo receiving and keeping device 10 notifies the unmanned aircraft 12 that the stowage is permitted. The notification may also be notified by the management system 102.

[ landing, take-off ]

Upon receiving the notification of permission to land, the unmanned aircraft 12 lands on the carrier 26. Cargo 14 transported by unmanned aircraft 12 is unloaded to a carrier 26. The unmanned aerial vehicle 12 lands on the stage 26 (transfer surface 28), but does not necessarily contact the stage 26. During unloading of the load 14, the 1 st bar 54 and the 3 rd bar 58 are located outside the conveying surface 28 and on opposite sides to each other, and the 2 nd bar 56 and the 4 th bar 60 are located outside the conveying surface 28 and on opposite sides to each other.

Unmanned aircraft 12 is controlled in such a way that it lands on stage 26 and takes off after unloading of cargo 14 is complete. After the unmanned aircraft 12 takes off and moves to the safe position, the cargo receiving and keeping device 10 is notified that the take-off is completed.

[ accommodation ]

Fig. 10 is a flowchart showing a process of storing the cargo 14. As described above, the storage space number for storing the cargo 14 is stored in the memory 88 (fig. 5), and the stage 26 is lowered to the corresponding storage position 50. Specifically, by controlling elevator 46, carrier 26 is lowered from unloading position 48 of cargo 14 to receiving position 50.

Fig. 11 is a diagram showing the stage 26 lowered to the storage position 50. The cargo 14 is then caused to slide. The gliding movement is performed by controlling the actuator 62. The control method depends on the storage space 36, and information thereof is stored in the memory 88 in advance.

Fig. 12 is a view showing the first sliding movement. By controlling the actuator 62, the push rod 52 is moved horizontally, thereby causing the cargo 14 to move in a sliding motion. This control is performed after unloading of the cargo 14 is completed (after takeoff of the unmanned aircraft 12), so the pusher 52 does not come into contact with the unmanned aircraft 12.

The load 14 slides and moves to the selected storage space 36 by moving two-dimensionally on the conveyance surface 28. Therefore, the unloaded cargo 14 is first slid to a position opposite to the carry-in port 40 of the selected storage space 36.

In the example shown in fig. 12, the 1 st bar 54 and the 3 rd bar are used to move the load 14 in the 2 nd direction D2, and the 1 st bar 54 is used downstream in the moving direction of the load 14. The 3 rd bar 58 is not used for the sliding movement of the cargo 14 but is used as a guide for guiding the cargo 14 into the receiving space 36. Excessive gliding movement or tilting of the load 14 can be limited by the 3 rd bar 58.

Fig. 13 is a diagram showing the final slide movement. The cargo 14 is slid toward the carry-in port 40 of the selected storage space 36. By controlling the actuator 62, the push rod 52 (e.g., the 2 nd rod 56) is horizontally moved. The 4 th lever 60 is not used, and is therefore always disposed outside the conveying surface 28.

Fig. 14 is a view showing the cargo 14 entering the storage space 36. The cargo 14 sliding by the horizontal movement of the push rod 52 enters 1 storage space 36 selected from the plurality of storage spaces 36. Since the carrier 26 has the inclined surface 30, the cargo 14 moves under the 4 th bar 60 that is not used. In this way, the cargo 14 is stored in the storage space 36. The outlet 42 is controlled so as to lock the outlet 42 of the storage space 36 when the cargo 14 is stored. For example, the door 44 is locked.

As shown in fig. 6, after completion of the storage, a notification that the storage is available is transmitted to the receiver (terminal 108). The consignee unlocks the door 44 by entering an electronic authentication means such as a password. Thus, safety can be ensured. For example, the consignee can unlock the takeout port 42 (door 44) by inputting a password to the cargo receiving and keeping apparatus 10 (control panel 98). Goods 14 can then be collected. When the outlet 42 of the storage space 36 is unlocked, the corresponding carry-in port 40 may be closed. In this way, a person can be prevented from entering or touching the stage 26 or another storage space 36 through the storage space 36.

According to the present embodiment, the stage 26 is used for unloading and sliding movement of the load 14, and by horizontally moving the push rod 52, the load 14 can be stored in 1 storage space 36 selected from the plurality of storage spaces 36. Therefore, a plurality of cargos 14 can be received and stored by a simple mechanism.

The present invention is not limited to the above embodiments, and various modifications are possible. For example, the configurations described in the embodiments may be replaced with substantially the same configurations, configurations that exhibit the same operational effects, or configurations that achieve the same objects.