JP2020040798A - Conveying system - Google Patents

Abstract

To provide a conveying system which allows a placing table to be drawn out of a rack just before a workpiece is received from or delivered to the placing table by an unmanned flying vehicle.SOLUTION: A conveying system comprises a rack 3 and an unmanned flying vehicle 1 which holds a workpiece W and conveys it by flight. The rack 3 comprises a plurality of storage spaces 30 for storing the workpiece W, a placing table 32 on which the workpiece W is placed, and a moving mechanism 33 for moving the placing table 32 between the storage space 30 and a front area 3a. The unmanned flying vehicle 1 performs a cargo handling operation for receiving and delivering the workpiece W from and to the placing table 32. The conveying system further comprises a flying vehicle detecting unit for detecting the arrival of the unmanned flying vehicle 1 at the rack 3, and a placing table control unit for moving the placing table 32 related to the cargo handling operation of the unmanned flying vehicle 1 from a first position to a second position by the moving mechanism 33 when the flying vehicle detecting unit detects the arrival of the unmanned flying vehicle 1 at the rack 3.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a transfer system used to transfer a work.

  Unmanned aerial vehicles have been developed in which a workpiece is gripped releasably without human assistance and transported by flight (for example, Patent Documents 1-3). This type of unmanned aerial vehicle is used in a transport system such as an automatic warehouse (for example, Patent Document 1).

  The unmanned aerial vehicle includes an airframe that can fly by a plurality of rotors, a gripper provided to fly with the airframe, and a power mechanism that operates the gripper. The unmanned aerial vehicle flies just above the workpiece, and grips and lifts the workpiece from above using a gripping tool.

  In such an unmanned aerial vehicle that grips the work from directly above, it is very difficult to receive the work placed on the shelf mounting table.

  The transfer system of Patent Literature 1 includes a plurality of unmanned aerial vehicles (drones) and a plurality of shelves. Each shelf includes a plurality of mounting tables (cells) on which the work is mounted, and a robot module for taking each mounting table in and out of the shelf.

  When a cargo handling operation is assigned to the unmanned aerial vehicle, the platform associated with the cargo handling operation is taken out of the shelf by the robot module. The unmanned aerial vehicle flies to a position directly above the mounting table taken out of the shelf, and grips the work on the mounting table with the gripping tool. Then, the unmanned aerial vehicle picks up the work from the mounting table, receives the work, and flies to a target transfer location.

  By unloading the mounting table from the shelf, the unmanned aerial vehicle can easily receive or transfer the work to or from the mounting table without interfering with the frame of the shelf.

  In Patent Literature 1, the mounting table is taken out of the shelf as soon as cargo handling work is assigned to the unmanned aerial vehicle. However, it is preferable that the mounting table is taken out of the shelf shortly before the unmanned aerial vehicle receives or transfers the work to or from the mounting table. This is because, for example, if the platform is removed from the shelf too soon, the platform may interfere with the flight of other unmanned vehicles.

JP 2018-509357 A JP 2018-114822 A JP 2018-47866 A

  The present invention provides a transport system that allows a mounting table to be taken out of a shelf shortly before an unmanned aerial vehicle receives or transfers a work to or from a mounting table.

The present invention relates to a transport system, wherein the transport system comprises:
A shelf on which the work is stored,
An unmanned aerial vehicle having a gripper and gripping the work releasably with a front gripper and transporting the work by flying,
The shelf is
A plurality of storage spaces for storing the work,
A mounting table provided for each of the storage spaces and on which the work is mounted,
The work table mounted on the mounting table is provided for each of the mounting tables, the work table mounted on the mounting table includes a first position where the work mounted on the mounting table is located in the storage space. And a moving mechanism for moving between a second position located outside the storage space and the second position.
The unmanned aerial vehicle performs a cargo handling operation for receiving or transferring the work with the holding table between the unmanned aerial vehicle and the holding table.
The transport system,
A flying object detection unit that detects the arrival of the shelf of the unmanned flying object,
When the flying object detection unit detects the arrival of the shelf of the unmanned aerial vehicle, the mounting table associated with the cargo handling operation of the unmanned aerial vehicle is moved from the first position to the second position by the moving mechanism. And a mounting table control unit for performing the operation.

  In one embodiment, the flying object detection unit may be configured to detect that the unmanned flying object has entered the front area of the shelf.

In one embodiment, the flying object detection unit includes:
An imaging unit for imaging the front area,
A processing unit that processes the imaging data from the imaging unit to detect the unmanned aerial vehicle.

  In one embodiment, a plurality of the unmanned aerial vehicles may be provided, and a plurality of the shelves may be provided.

In one embodiment, the transport system comprises:
When the flying object detection unit detects the arrival of the shelf of the unmanned aerial vehicle, a relevance determination unit that determines whether the shelf includes the mounting table related to the cargo handling operation of the unmanned aerial vehicle. May be further provided,
The mounting table control unit, when it is determined by the relevance determination unit that the shelf includes the mounting table related to the unloading work of the unmanned aerial vehicle, the mounting table by the moving mechanism the said rack. The first position may be moved to the second position.

In one embodiment, the flying object detection unit includes:
A position detection unit provided on the unmanned aerial vehicle and acquiring position information of the unmanned aerial vehicle,
An arrival determination unit provided on the unmanned aerial vehicle and determining whether or not the unmanned aerial vehicle has arrived at the shelf based on position information from the position detection unit.
The transport system,
A command unit provided on the unmanned aerial vehicle and transmitting a command to the mounting table controller when the arrival determination unit determines that the unmanned aerial vehicle has arrived at the shelf may be further included.
Upon receiving the command, the mounting table control unit moves the mounting table related to the cargo handling work of the unmanned aerial vehicle from the first position to the second position by the moving mechanism.

  With the above configuration, the transport system according to the present invention removes the mounting table from the shelf shortly before the unmanned aerial vehicle receives or transfers the work to or from the mounting table.

1 is a plan view schematically showing a transport system according to one embodiment. FIG. 2A schematically illustrates an unmanned aerial vehicle, FIG. 2A is a front view, and FIG. 2B is a side view. It is a side view which shows the shelf of the transport system of FIG. 1 schematically. FIG. 4 is a front view schematically showing a storage space of a shelf in FIG. 3. It is a perspective view which shows roughly the moving mechanism of a mounting table. FIG. 2 is a block diagram illustrating the transport system of FIG. 1. It is a block diagram showing a transportation system concerning another embodiment.

  Hereinafter, an embodiment of a transport system according to the present invention will be described with reference to the drawings.

<First embodiment>
The transport system is applied to an automatic warehouse. As shown in the plan view of FIG. 1, the transport system includes a plurality of unmanned aerial vehicles 1 that grip the work releasably without human assistance and transport the work by flying. The transport system further includes a plurality of shelves 3 in which the works W are stored. The shelves 3 are arranged side by side in the warehouse.

  As shown in FIGS. 2A and 2B, the unmanned aerial vehicle 1 includes an airframe 10, a plurality of arms 11, a plurality of motors 12, and a plurality of rotors 13. The airframe 10 is provided at the center of the unmanned aerial vehicle 1. The arms 11 extend horizontally from the body 10 and are arranged at equal angular intervals around the body 10. The motor 12 is arranged at the tip of each arm 11. The rotary wings 13 are connected to each motor 12. The unmanned aerial vehicle 1 can fly by the rotating wings 13 being rotated by the motor 12. In this embodiment, four arms 11, four motors 12, and four rotors 13 are provided.

  The unmanned aerial vehicle 1 further includes a plurality of skids (legs) 14 provided on both sides of the airframe 10 and extending downward from the airframe 10. In this embodiment, two skids 14 are provided.

  The unmanned aerial vehicle 1 is provided so as to fly with the airframe 10, and further includes a gripper 15 for gripping the work W. The gripper 15 has a gripper head 16 and a pair of gripper fingers 17 movably attached to the gripper head 16 and facing each other.

  The unmanned aerial vehicle 1 further includes a vertical actuator 18 for moving the gripper 15 up and down. The vertical actuator 18 is supported by the body 10 and extends downward from the body 10. A gripper head 16 of the gripper 15 is supported at a lower end of a vertical actuator 18. When the vertical actuator 18 expands and contracts, the gripper 15 moves up and down (see arrow e).

  The unmanned aerial vehicle 1 further includes a power mechanism 19 for operating the gripper 15 and gripping the workpiece W with the gripper 15. The power mechanism 19 is disposed in the gripper head 16, and the pair of gripper fingers 17 are connected to the power mechanism 19. The power mechanism 19 has the same configuration as that of Patent Document 1 and a well-known one is employed, and therefore, detailed description thereof is omitted. The pair of gripper fingers 17 are moved toward and away from each other by the power mechanism 19 (see arrow f).

  Therefore, when the work W mounted on the mounting table 32 is located between the pair of gripper fingers 17 and the pair of gripper fingers 17 approach each other by the power mechanism 19, the work W is moved to the pair of gripper fingers. 17. Further, when the pair of gripper fingers 17 are separated from each other by the power mechanism 19, the grip of the work W is released.

  The shelf 3 will be described with reference to FIGS. 3 to 5, X indicates the front-back direction of the shelf 3, Y indicates the left-right direction of the shelf 3, and Z indicates the vertical direction of the shelf 3, which are orthogonal to each other. FIG. 3 schematically shows two shelves 3 arranged opposite each other. FIG. 4 partially shows the shelf 3 as viewed from the front.

  The shelf 3 includes a plurality of storage spaces 30 for storing the work W. The storage space 30 is formed by the frame 31 of the shelf 3 in the vertical direction Z and the horizontal direction Y. A forward area 3a is provided in front of each of the shelves 3 for the unmanned aerial vehicle 1 to fly and for performing a cargo handling operation for receiving or transferring the work W between the unmanned aerial vehicle 1 and the shelves 3.

  The shelf 3 is provided for each of the storage spaces 30, and further includes a mounting table 32 on which the work W is mounted. The shelf 3 is provided for each of the mounting tables 32 and further includes a moving mechanism 33 that moves the mounting table 32. As shown in FIG. 4, the moving mechanism 33 includes a linear guide 34 that supports the mounting table 32 and is extendable in the front-rear direction X of the shelf 3 and a horizontal actuator 35 (for example, a cylinder) that expands and contracts the linear guide 34. Have.

  FIG. 5 shows the linear guide 34 in the extended state. The linear guide 34 includes a pair of bases 340 fixed to the frame 31 (FIGS. 3 and 4), a pair of first sliders 341 provided slidably with respect to the pair of bases 340, and a pair of first sliders 341. And a pair of second sliders 342 slidably provided with respect to the slider 341. The mounting table 32 is supported by the second slider 342. Therefore, when the linear guide 34 expands and contracts by the horizontal actuator 35, the mounting table 32 moves in the front-rear direction X of the shelf 3.

  With the above-described configuration, the moving mechanism 33 moves the mounting table 32 to the first position (see the dashed line in FIG. 5) where the work W mounted on the mounting table 32 is located in the storage space 30. Is moved to and from a second position (see the solid line in FIG. 5) located in the front area 3a outside the storage space 30.

  As shown in FIG. 4, a mark 36 is provided for each of the storage spaces 30, and is arranged at a predetermined position. The mark 36 is used for positioning the unmanned aerial vehicle 1 and the storage space 30. The marks 36 are also unique to the storage space 30 and are used to identify the storage spaces 30 respectively. The mark 36 may have, for example, a two-dimensional code.

  FIG. 6 schematically shows a block diagram of the transport system. As illustrated in FIG. 6, the unmanned aerial vehicle 1 further includes a control device 2 electrically connected to each motor 12, the vertical actuator 18, and the power mechanism 19 of the unmanned aerial vehicle 1.

  The control device 2 includes a position detection unit 20 provided in the unmanned aerial vehicle 1 and acquiring position information of the unmanned aerial vehicle 1. The position detection unit 20 may include, for example, a GPS reception sensor. In addition, the position detection unit 20 may include a magnetic sensor or an optical sensor that detects a mark indicating position information placed in an area where the unmanned aerial vehicle 1 flies in a non-contact manner, and further detects the flying height of the mark. May be provided with an ultrasonic sensor or an optical sensor.

  Control device 2 further includes a posture detection unit 21 that detects the posture of unmanned aerial vehicle 1. The posture detection unit 21 may include a gyro sensor and an acceleration sensor.

  The control device 2 further includes a work position detection unit 22 for positioning the unmanned aerial vehicle 1 with respect to the storage space 30 when the unmanned aerial vehicle 1 receives or transfers the work W to or from the storage space 30. The work position detector 22 has a wide-angle camera 220 (FIG. 2A) that is provided on one surface of the machine body 10 and detects the mark 36 (FIG. 4). Note that the camera 220 may function as the position detection unit 20 described above.

  The control device 2 further includes a gripper detection unit 23 that detects the vertical position of the gripper 15 with respect to the body 10 and whether or not the gripper 15 is gripping the work W. The gripper detection unit 23 measures the amount of movement (stroke amount) of the vertical actuator 18 to detect the vertical position of the gripper 15 and the pressure applied to the gripper 15, thereby measuring the gripper. 15 may have a pressure sensor for detecting whether or not the workpiece W is gripped.

  The control device 2 further includes a flight control unit 24. The flight control unit 24 calculates the rotation speed of each motor 12 based on the information from each detection unit 20-23, and drives each motor 12 at the calculated rotation speed. Thereby, the flight control unit 24 controls the speed, direction, and altitude of the flight of the unmanned aerial vehicle 1. By the flight control unit 24, the unmanned aerial vehicle 1 can hover while maintaining its attitude, can fly along the flight path of cargo handling work, and can be positioned with respect to the storage space 30. it can.

  The control device 2 further includes a gripper control unit 25. The gripper controller 25 controls the vertical actuator 18 and the power mechanism 19 based on the detection information from the gripper detector 23 to operate the gripper 15. The gripper control unit 25 allows the unmanned aerial vehicle 1 to perform a cargo handling operation. The flight control unit 24 and the gripper control unit 25 are configured by a CPU and programs executed by the CPU.

  The control device 2 further includes a storage unit 26. The storage unit 26 may include a storage medium such as a hard disk housed in the body 10. The contents of the cargo handling work performed by the unmanned aerial vehicle 1 are stored in the storage unit 26. The work content includes information about the flight path, information about the shelf 3 and its mounting table 32, information about the work W, and the like.

  The control device 2 further includes a transmission / reception unit 27 for communicating with the shelf management device 4 and the management server 5 described below. The transmission / reception unit 27 may include wireless communication means such as WiFi (registered trademark).

  The transport system further includes a shelf management device 4. In the embodiment, the shelf management device 4 is provided for each of the shelves 3 and independently controls each mounting table 32 of the corresponding shelf 3. Each moving mechanism 33 of the shelf 3 is electrically connected to the shelf management device 4.

  The shelf management device 4 includes a storage unit 45. Information on the assignment of cargo handling work to each unmanned aerial vehicle 1 by the management server 5 and the contents of the work are stored in the storage unit 45. The shelf management device 4 further includes a transmission / reception unit 46 for communicating with each unmanned aerial vehicle 1 and the management server 5.

  The shelf management device 4 further includes a work detection unit 40 provided for each of the mounting tables 32 and configured to detect whether or not the work W is mounted on the mounting table 32. In the embodiment, the work detector 40 includes a load sensor 400 attached to the mounting table 32, as shown in FIG. Instead, the work detection unit 40 may include an optical sensor that optically detects the work W.

  Shelf management device 4 further includes a flying object detection unit that detects that unmanned aerial vehicle 1 has arrived at shelf 3. In the embodiment, the flying object detection unit is configured to detect that the unmanned flying object 1 has entered the front area 3a of the shelf 3.

  The flying object detection unit of the embodiment includes an imaging unit 41 that captures an image of the front area 3a, and a processing unit 42 that processes the imaging data from the imaging unit 41 and detects the unmanned aerial vehicle 1. As shown in FIG. 3, the imaging unit 41 includes a camera 410 provided for each of the shelves 3 and attached to the ceiling of the warehouse so that the front area 3a is included in the imaging range. This camera 410 may be mounted on the shelf 3. An identifier is provided for each unmanned aerial vehicle 1 so that the processing unit 42 can identify and detect each unmanned aerial vehicle 1. In the embodiment, the identifier is provided on the upper surface of the airframe 10 of the unmanned aerial vehicle 1 and is a mark (not shown) unique to the unmanned aerial vehicle 1.

  The shelf management device 4 further includes a relevancy determination unit 43. When the arrival of the unmanned aerial vehicle 1 on the shelf 3 is detected by the flying object detection unit, the relevancy determination unit 43 sets the shelf 3 related to the cargo handling work assigned to the unmanned aerial vehicle 1 on the mounting table 32. Is determined. This determination is based on the detection result of the flying object detection unit and the contents of the cargo handling operation stored in the storage unit 45.

  The shelf management device 4 further includes a mounting table control unit 44. When the arrival of the unmanned aerial vehicle 1 to the shelf 3 is detected by the flying object detection unit, the mounting table control unit 44 controls the mounting table 32 via the moving mechanism 33 based on the determination result of the relevancy determination unit 43. Control.

  Specifically, when the relevance determination unit 43 determines that the shelf 3 includes the mounting table 32 related to the cargo handling operation of the unmanned aerial vehicle 1, the mounting table control unit 44 activates the moving mechanism 33. Then, the mounting table 32 related to the cargo handling operation is moved from the first position to the second position, that is, from the storage space 30 to the front area 3a (see FIG. 3). On the other hand, the mounting table control unit 44 does not operate any of the moving mechanisms 33 when the relevancy determination unit 43 determines that the shelf 3 does not include the mounting table 32 related to the unloading operation of the unmanned aerial vehicle 1. . That is, the mounting table 32 is kept at the first position.

  In addition, when the work detection unit 40 detects that the reception or the transfer of the work W with the mounting table 32 is completed, the mounting table control unit 44 activates the moving mechanism 33 to move the mounting table 32. It is moved from the second position to the first position and returned to the storage space 30.

  The processing unit 42, the relevancy determination unit 43, and the mounting table control unit 44 are configured by a CPU, a program executed by the CPU, and the like.

  The transport system further includes a management server 5. The management server 5 assigns the cargo handling work to each of the unmanned aerial vehicles 1, and transmits the contents of the cargo handling work assigned to the unmanned aerial vehicle 1 to the unmanned aerial vehicle 1. The work content is stored in the storage unit 26. In addition, the management server 5 transmits to the shelf management device 4 information on the assignment of the cargo handling work to each unmanned aerial vehicle 1 and the contents of the work. The assignment result and the work content are stored in the storage unit 45.

  The operation of the transport system will be described. Upon receiving the work content from the management server 5, each unmanned aerial vehicle 1 flies to the target mounting table 32 along the flight path according to the work content.

  As shown in FIG. 1, for example, the unmanned aerial vehicle 1 (A) flies along the flight path L (A) to the mounting table 32 of the target shelf 3 (A) according to the work content. At this time, the flying object detection unit (the imaging unit 41 and the processing unit 42) detects that the unmanned aerial vehicle 1 has arrived at the shelf 3 (A) (enters the front area 3a of the shelf 3 (A)). I do.

  Then, the relevancy determination unit 43 determines that the shelf 3 (A) includes the mounting table 32 related to the cargo handling work assigned to the unmanned aerial vehicle 1 (A).

  Next, based on the determination result, the mounting table control unit 44 operates the moving mechanism 33 to move the mounting table 32 of the shelf 3 (A) related to the cargo handling operation from the first position to the second position, that is, to store the table. It is moved from the space 30 to the front area 3a.

  Further, for example, the unmanned aerial vehicle 1 (B) flies along the flight path L (B) to the mounting table 32 of the target shelf 3 (B) according to the work content. At this time, first, the flying object detection unit of the shelf management device 4 of the shelf 3 (C) detects that the unmanned flying object 1 (B) has entered the front area 3a of the shelf 3 (C). At this time, the relevancy determination unit 43 of the shelf management device 4 of the shelf 3 (C) does not include the mounting table 32 in which the shelf 3 (C) is associated with the cargo handling work assigned to the unmanned aerial vehicle 1 (B). Is determined. Therefore, the mounting table control unit 44 of the shelf management device 4 of the shelf 3 (C) does not put the mounting table 32 of the shelf 3 (C) in the front area 3a. That is, when the unmanned aerial vehicle 1 (B) passes through the front area 3a of the shelf 3 (C) which is not related to its own cargo handling work, the shelf 3 (C) related to the cargo handling work of another unmanned aerial vehicle 1 Of the mounting table 32 is prevented from accidentally coming out of the front area 3a.

  Next, when the unmanned aerial vehicle 1 (B) arrives at the shelf 3 (B), the mounting table 32 of the shelf 3 (B) related to the unloading operation of the unmanned aerial vehicle 1 (B) is moved to the front area by the above-described method. Come out at 3a.

  Next, as shown in FIG. 3, the unmanned aerial vehicle 1 flies to a position directly above the mounting table 32 placed in the front area 3a. Then, the unmanned aerial vehicle 1 is positioned with respect to the storage space 30, and hovering in that state. This positioning is achieved by the camera 220 and the mark 36.

  Next, the unmanned aerial vehicle 1 receives or transfers the work W to and from the mounting table 32. When receiving the workpiece W, the unmanned aerial vehicle 1 lowers the gripper 15 by the vertical actuator 18, operates the gripper 15 by the power mechanism 19, grips the work W with the gripper 15, and holds the gripper 15 and the work W Is lifted from the mounting table 32 by the vertical actuator 18.

  When delivering the work W, the unmanned aerial vehicle 1 lowers the gripper 15 and the work W gripped by the gripper 15 by the vertical actuator 18, places the work W on the mounting table 32, and moves the gripper 15 to the power mechanism 19. To release the gripping of the gripper 15, and lift the gripper 15 by the vertical actuator 18 to separate it from the mounting table 32 and the workpiece W.

  Thereafter, the unmanned aerial vehicles 1 (A) and 1 (B) respectively fly to predetermined locations along the flight paths L '(A) and L' (B) according to the work content.

<Second embodiment>
Hereinafter, the second embodiment will be described. The same or similar components as those of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

  In the first embodiment, the flying object detection unit for detecting the arrival of the unmanned aerial vehicle 1 on the shelf 3 includes the imaging unit 41 and the processing unit 42. In the second embodiment illustrated in FIG. 7, the flying object detection unit includes a position detection unit 20 provided in the unmanned aerial vehicle 1 and an arrival determination unit 28. The position detector 20 is the same as in the first embodiment.

  The arrival judging unit 28 moves the unmanned aerial vehicle 1 to the target shelf 3 based on the position information of the unmanned aerial vehicle 1 from the position detecting unit 20 and the flight path included in the work content stored in the storage unit 26. It is determined whether or not it has arrived (in the embodiment, it has entered the front area 3a of the target shelf 3).

  The transport system further includes a command unit 29. The command unit 29 is provided in each unmanned aerial vehicle 1. When the arrival determination unit 28 determines that the unmanned aerial vehicle 1 has arrived at the shelf 3, the command unit 29 sends a command to the mounting table control unit 44 of the shelf management device 4 of the shelf 3 via the transmission / reception unit 27. Send. This command includes information on the mounting table 32 of the shelf 3 related to the cargo handling work assigned to the unmanned aerial vehicle 1. On the other hand, the command unit 29 does not transmit a command when the arrival determination unit determines that the unmanned aerial vehicle 1 has not arrived at the shelf 3. The arrival determination unit 28 and the command unit 29 are configured by a CPU and a program executed by the CPU.

  Similarly, in the second embodiment, the unmanned aerial vehicle 1 flies along the flight path to the mounting table 32 of the target shelf 3 according to the work content. In this flight, when the unmanned aerial vehicle 1 enters the front area 3a of the target shelf 3, the arrival determination unit 28 of the unmanned aerial vehicle 1 determines that the unmanned aerial vehicle 1 has arrived at the target shelf 3. . Then, based on the result of the determination, the command unit 29 transmits a command from the unmanned aerial vehicle 1 to the mounting table control unit 44 of the shelf management device 4 via the transmission / reception unit 27.

  When receiving the command via the transmission / reception unit 46, the mounting table control unit 44 operates the moving mechanism 33 in accordance with the instruction to move the mounting table 32 related to the cargo handling operation of the unmanned aerial vehicle 1 from the first position to the first position. It is moved to two positions, that is, from the storage space 30 to the front area 3a. As described above, in the second embodiment, when the unmanned aerial vehicle 1 sends a command to the shelf management device 4, a desired mounting table 32 is put out of the storage space 30 to the front area 3a.

  Then, similarly to the first embodiment, the unmanned aerial vehicle 1 receives or transfers the work W between the unmanned aerial vehicle 1 and the mounting table 32 that is placed in the front area 3a. Subsequent steps are the same as those in the first embodiment, and a description thereof will be omitted.

  As described above, in the transport system of each embodiment, when the flying object detection unit detects the arrival of the unmanned aerial vehicle 1, the mounting table control unit 44 moves the mounting table 32 related to the unloading operation of the unmanned aerial vehicle 1 to the second position. From one position (storage space 30) to the second position (front area 3a). That is, the mounting table 32 is taken out of the shelf 3 shortly before the unmanned aerial vehicle 1 receives or transfers the work W to and from the mounting table 32.

  In the transport system, a plurality of unmanned aerial vehicles 1 may fly. If the mounting table 32 is taken out of the shelf 3 too early, there is a possibility that the unmanned aerial vehicle 1 may be in a hindrance to flight. In the transport system according to the present invention, the mounting table 32 is taken out of the shelf 3 shortly before the unmanned aerial vehicle 1 performs the cargo handling operation. Is avoided.

  As described above, the preferred embodiments of the present invention have been described, but the present invention is not limited to the above embodiments.

  In the embodiment in which the shelf management device 4 detects the arrival of the unmanned aerial vehicle 1, the flying object detector includes an identifier provided on the unmanned aerial vehicle 1 and an identifier detector for detecting the identifier in the front area 3a. If it is provided, it is not limited to the first embodiment. That is, the flying object detection unit is not limited to the configuration for optically detecting a unique mark provided on the unmanned flying object 1 as in the first embodiment. The configuration may be such that the IC tag is magnetically detected.

REFERENCE SIGNS LIST 1 unmanned aerial vehicle 15 gripper 2 control device 20 position detection unit 27 transmission / reception unit 28 arrival determination unit 29 command unit 3 shelf 3 a front region 30 of shelf 3 storage space 32 mounting table 33 moving mechanism 4 shelf management device 40 work detection unit 41 imaging Unit 42 processing unit 43 relevance determination unit 44 mounting table control unit 5 management server W work

The present invention relates to a transport system, wherein the transport system comprises:
A shelf on which the work is stored,
An unmanned aerial vehicle having a gripper and gripping the work releasably with a front gripper and transporting the work by flying,
The shelf is
A plurality of storage spaces for storing the work,
A mounting table provided for each of the storage spaces and on which the work is mounted,
The work table mounted on the mounting table is provided for each of the mounting tables, the work table mounted on the mounting table includes a first position where the work mounted on the mounting table is located in the storage space. A movement mechanism for moving between a second position located in a front area of the shelf outside the storage space, and
In a transport system in which the unmanned aerial vehicle performs a cargo handling operation between the mounting table and the receiving or receiving the work by the gripper,
An imaging unit for imaging the front area, and a processing unit for processing the imaging data from the imaging unit to detect the unmanned aerial vehicle, that the unmanned aerial vehicle has entered the front area of the shelf. A flying object detection unit that detects the arrival of the unmanned aerial vehicle to the shelf by detecting the
When the flying object detection unit detects that the unmanned aerial vehicle has entered the front area of the shelf, whether or not the shelf includes the mounting table related to the unloading operation of the unmanned aerial vehicle. A relevance determining unit for determining
When the shelf is determined to contain a mounting table before associated with the cargo handling operation of the unmanned air vehicle by the relationship determination unit, said moving the mounting table associated with the loading and unloading of the unmanned air vehicle And a mounting table control unit configured to move from the first position to the second position by a mechanism.

In one embodiment, the imaging unit may include a camera mounted on a ceiling of a warehouse such that the front area is included in the imaging range.

In one embodiment, the imaging unit may include a camera mounted on the shelf such that the front area is included in the imaging range.

In one embodiment, a plurality of the shelves may be provided, and the camera may be provided for each of the shelves.

In one embodiment, a plurality of the unmanned aerial vehicles may be provided, and an identifier may be provided on each of the unmanned aerial vehicles so that the processing unit can identify and detect each of the unmanned aerial vehicles.

The present invention relates to a transport system, wherein the transport system comprises:
A shelf on which the work is stored,
An unmanned aerial vehicle having a gripper and gripping the work releasably with a front gripper and transporting the work by flying,
The shelf is
A plurality of storage spaces for storing the work,
A mounting table provided for each of the storage spaces and on which the work is mounted,
The work table mounted on the mounting table is provided for each of the mounting tables, the work table mounted on the mounting table includes a first position where the work mounted on the mounting table is located in the storage space. A movement mechanism for moving between a second position located in a front area of the shelf outside the storage space, and
In the transfer system in which the unmanned aerial vehicle performs a cargo handling operation between the mounting table and the receiving or receiving the workpiece by the gripping tool,
An imaging unit for imaging the front area, and a processing unit for processing the imaging data from the imaging unit to detect the unmanned aerial vehicle, that the unmanned aerial vehicle has entered the front area of the shelf. A flying object detection unit that detects the arrival of the unmanned aerial vehicle to the shelf by detecting the
When the flying object detection unit detects that the unmanned aerial vehicle has entered the front area of the shelf, whether or not the shelf includes the mounting table related to the unloading operation of the unmanned aerial vehicle. A relevance determining unit for determining
When the relevance determination unit determines that the shelf includes the mounting table related to the unloading operation of the unmanned aerial vehicle, moves the mounting table related to the unloading operation of the unmanned aerial vehicle. further example Bei and a table control unit for moving into the second position from the first position by a mechanism,
The imaging unit includes a camera mounted on a ceiling of a warehouse so that the front area is included in the imaging range.

Claims (6)

A shelf on which the work is stored,
An unmanned aerial vehicle having a gripper and gripping the work releasably with a front gripper and transporting the work by flying,
The shelf is
A plurality of storage spaces for storing the work,
A mounting table provided for each of the storage spaces and on which the work is mounted,
The work table mounted on the mounting table is provided for each of the mounting tables, the work table mounted on the mounting table includes a first position where the work mounted on the mounting table is located in the storage space. A movement mechanism for moving between a second position located outside the storage space, and
In the transfer system in which the unmanned aerial vehicle performs a cargo handling operation between the mounting table and the receiving or receiving the workpiece by the gripping tool,
A flying object detection unit that detects the arrival of the shelf of the unmanned flying object,
When the flying object detection unit detects the arrival of the shelf of the unmanned aerial vehicle, the mounting table associated with the cargo handling operation of the unmanned aerial vehicle is moved from the first position to the second position by the moving mechanism. And a mounting table control unit,
A transport system characterized by the above. The flying object detection unit is configured to detect that the unmanned flying object has entered the front area of the shelf,
The transport system according to claim 1, wherein: The flying object detection unit,
An imaging unit for imaging the front area,
A processing unit that processes the imaging data from the imaging unit to detect the unmanned aerial vehicle,
The transport system according to claim 2, wherein: The unmanned aerial vehicle is provided in plurality,
A plurality of shelves are provided;
The transport system according to any one of claims 1 to 3, wherein: When the flying object detection unit detects the arrival of the shelf of the unmanned aerial vehicle, a relevance determination unit that determines whether the shelf includes the mounting table related to the cargo handling operation of the unmanned aerial vehicle. Further comprising
The mounting table control unit, when it is determined by the relevance determination unit that the shelf includes the mounting table related to the unloading work of the unmanned aerial vehicle, the mounting table by the moving mechanism the said rack. Moving from a first position to the second position,
The transport system according to claim 4, wherein: The flying object detection unit,
A position detection unit provided on the unmanned aerial vehicle and acquiring position information of the unmanned aerial vehicle,
An arrival determination unit that is provided in the unmanned aerial vehicle and determines whether or not the unmanned aerial vehicle has arrived at the shelf based on position information from the position detection unit.
The transport system,
A command unit that is provided on the unmanned aerial vehicle and further includes a command unit that transmits a command to the mounting table control unit when the arrival determination unit determines that the unmanned aerial vehicle has arrived at the shelf,
Upon receiving the command, the mounting table control unit moves the mounting table related to the cargo handling work of the unmanned aerial vehicle from the first position to the second position by the moving mechanism,
The transport system according to claim 1, wherein:

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