JP2021128681A - Indoor conveyance system and building structure - Google Patents

Abstract

To provide a conveyance system that is able to achieve the efficiency of parcel conveyance in a building.SOLUTION: A system for conveying a parcel 50 within a building, comprises: an unmanned moving body 12 including a position information detection unit in which a floor map in the building is recorded and that acquires current position information on the floor map, and serving to hold and convey the parcel 50; and operation means 14 capable of displaying the floor map in the building and capable of outputting a command signal for moving the unmanned moving body 12 to a position specified on the floor map. Based on the floor map, the unmanned moving body 12 obtains a moving route by recognizing the current position and a position specified via the operation means 14, moves back and forth, via a moving-body entrance and exit, between an indoor space composing a floor and an attic space, and uses the attic space to move on the floor.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport system suitable for transporting cargo and the like, particularly suitable for transporting cargo to the hands of an employee in a building such as an office building, and a building structure to which this system can be applied.

In recent years, the number of cargo transported has increased due to the expansion of online shopping, and the shortage of personnel responsible for transporting cargo has become a problem. Therefore, a proposal has been made to improve the efficiency of the last mile of home delivery (from the distribution center to the front door of the house). For example, Patent Document 1 discloses a system in which an autonomous mobile body is run on a patrol route, is directed to the client's house by contact from the client, and is transported to a destination. Here, the autonomous mobile body is equipped with various sensors and the like, and the luggage compartment on which the luggage is loaded is equipped with a lock mechanism so as to prevent the luggage from being taken out or stolen during transportation or at a place other than the destination. ing.

On the other hand, such a transport system using an autonomous mobile body carries out a transport act from a distribution center such as a courier company or from a client to the front door of a destination, and in a building such as a building, luggage is carried. It will take more time to get it. Under such circumstances, Patent Document 2 states that in factories, warehouses, etc., a drone (unmanned mobile body) is flown into a building, an autonomous moving body moving in the building is guided, and luggage transportation in the building is supported. Is disclosed.

JP-A-2019-119537 Japanese Patent No. 6628296

Certainly, if there is guidance etc., it may be possible for autonomous mobiles to move inside the building. However, the building disclosed in Patent Document 2 is a place where a relatively flat environment is secured, such as a factory or a warehouse. On the other hand, general buildings such as buildings are not built on the premise that autonomous mobile objects such as robots operate. For this reason, it is not possible to handle steps such as stairs as well as elevators and intercoms.

In addition, the drone used for mobility support was only made available because a relatively large space such as a warehouse and a factory was secured and there was little traffic. For this reason, it is practically difficult to transport luggage by drone in a manned environment where people are mixed.

Therefore, the present invention provides a transport system capable of improving the efficiency of transporting luggage in a building, a beam structure of the building to which this transport system can be applied, and an opening / closing structure of a moving body entrance / exit of the building. The purpose.

The transport system according to the present invention for achieving the above object is a system for transporting luggage in a building, in which a floor map in the building is recorded and current position information in the floor map is acquired. An unmanned moving body that holds and transports the luggage and a floor map in the building can be displayed, and the unmanned moving body is moved to a position specified by the floor map. The unmanned moving body has an operating means capable of outputting a command signal, and the unmanned moving body recognizes a current position and a designated position determined via the operating means based on the recorded floor map, and moves a route. The floor is configured to move back and forth between the indoor space and the attic space constituting the floor through the entrance and exit of the moving body, and the attic space is used for movement on the floor.

Further, in the transport system having the above-mentioned characteristics, the unmanned moving body moves with the moving body entrance / exit located at the position closest to the designated position as the first destination, and arrives at the first destination. The door is opened by transmitting a signal based on the above to the entrance / exit of the moving body. According to having such a feature, the mobile entrance / exit can be opened at the timing when an unmanned mobile body arrives near the mobile entrance / exit which is the first destination.

Further, in the transport system having the above-mentioned characteristics, the moving body entrance / exit is provided with a unique position specifying means, and the unmanned moving body is provided with a reading means for reading the position specifying means. The arrival-based signal is a signal indicating that the position specifying means has been recognized. With such a feature, the recognition of the position specifying means by the unmanned moving body can be used as a trigger for the opening timing of the entrance / exit of the moving body.

Further, the beam structure of the building to which the transport system according to the present invention for achieving the above object can be applied uses an unmanned moving body that moves using the attic space when transporting luggage in the building. It is a beam structure when a transport system is applied, and is characterized in that a through hole for passing the unmanned moving body is provided in the beam ceiling of the beam.

Further, in a beam structure of a building to which a transport system having the above characteristics can be applied, the through hole is provided near the center in the longitudinal direction of the beam. By having such a feature, the influence on the design strength can be reduced.

Further, the beam structure of the building to which the transport system having the above-mentioned characteristics can be applied is characterized in that the shape of the through hole is a mansard type. By having such a feature, it is possible to increase the opening area of the opening while ensuring the structural strength.

Further, the opening / closing structure of the moving body entrance / exit of the building to which the transport system according to the present invention for achieving the above object can be applied performs mobile flight using the attic space when transporting luggage in the building. A drive unit that opens and closes the door by receiving a signal based on the arrival of an unmanned moving object, which is an opening / closing structure when applying a transport system that uses a moving body entrance / exit to move between the attic space and the room. It is characterized by having.

Further, in the opening / closing structure of the moving body entrance / exit of the building to which the transport system having the above-mentioned characteristics can be applied, the side surface of the door on the ceiling space side is provided with a unique positioning means for each moving body entrance / exit. It is characterized by being. With such a feature, the recognition of the position specifying means by the unmanned moving body can be used as a trigger for the opening timing of the entrance / exit of the moving body.

According to the transport system having the above-mentioned characteristics, it is possible to improve the efficiency of transporting luggage in the building. Further, according to the beam structure having the above-mentioned characteristics and the opening / closing structure of the entrance / exit of the moving body, the transport system according to the invention can be applied.

It is a figure which shows the structure of the transport system which concerns on embodiment. It is a figure which shows the arrangement structure of the beam in the attic space. It is a figure which shows the shape (structure) of the through hole provided in a beam. It is a figure which shows an example of the attic space on a floor. It is a top view which shows the structure of a moving body entrance. It is a side sectional view which shows the structure of a moving body entrance / exit. This is a flow for explaining an operation example of the transport system according to the embodiment. It is a figure which shows the part provided in the through hole provided in the beam. It is a flow for demonstrating the operation example of the through hole transport system which concerns on embodiment.

Hereinafter, the transfer system of the present invention, the beam structure of the building to which the transfer system can be applied, and the embodiment relating to the opening / closing structure of the moving body entrance / exit of the building will be described in detail with reference to the drawings. It is assumed that the stage for transporting the luggage in the transport system according to the present embodiment is in a building such as a building.

[Transport system]
First, the configuration of the transport system 10 according to the present embodiment will be described with reference to FIG. The transport system 10 according to the present embodiment includes at least an unmanned moving body 12 (including an unmanned moving vehicle and the like in addition to a flying object such as a so-called drone), an operating means 14, and a position information specifying means 16.

The unmanned mobile body 12 is a mobile body that holds and transports the luggage 50. When the unmanned aerial vehicle 12 is used as a drone, in addition to the control unit for flight, a storage unit, a position information detection unit (specifically, an IMU unit (acceleration sensor) and LiDAR: none of which are shown), and luggage. It suffices to include a holding mechanism 12a and a detection means 12b such as a camera. The control unit is an element for controlling the rotation of a propeller or the like, creating a flight route, and determining when various signals are received. In addition, the floor map in the building and programs required for various processes are recorded in the storage unit. In the floor map recorded in the storage unit of the unmanned moving body 12, the flightable route in the attic space, which will be described in detail later, is also recorded.

The position information detection unit may be an element capable of detecting its own position information based on the radio waves output from the position information specifying means 16 whose details will be described later. This is because by projecting the self-position information detected by the position information detection unit on the floor map recorded in the storage unit, the self-position can be recognized and autonomous movement (flying) becomes possible.

The luggage holding mechanism 12a does not limit the details as long as it has a structure capable of holding the luggage 50 to be transported. For example, a hook may be provided at the bottom of the machine body.

Further, as the detection means 12b provided in the unmanned moving body 12, an ultrasonic sensor or the like may be added in addition to the camera to provide an obstacle avoidance function during autonomous flight.

The operating means 14 is a means for outputting an instruction to transport the luggage 50 to the unmanned moving body 12. Specifically, in addition to a personal computer, a terminal having a communication function, an input function, a display function, and the like, such as a high-performance mobile phone (so-called smartphone) and a tablet terminal, may be used.

In addition to the above functions, the operating means 14 includes at least a storage unit and a calculation unit (both not shown), and records a floor map of the building, application software for performing processing necessary for transport instructions, and the like. At the same time, it is possible to start the application software, perform control processing according to the input contents, and output commands.

With the operation means 14 having such a function and configuration, it is possible to start the application software, display the floor map, specify the position where the luggage 50 is desired to be transported, and refer to the unmanned moving body 12. It is possible to specify and output the position information of the transport destination.

The position information identifying means 16 is the position of a person (worker: a person who operates the operating means 14) who requests the transportation of the unmanned moving body 12 or the luggage 50 in a building where GPS (Global Positioning System) radio waves are difficult to reach. Any element may be used as long as the information can be specified (in the following embodiments, the position information specifying means 16 is not used to specify the position information of the unmanned moving body 12).

As an example, it is advisable to adopt a transmitter that outputs radio waves for short-range wireless communication such as Beacon. By installing the Beacon at a plurality of locations (at least three locations) where the position information can be specified in the building, the position of the operating means 14 can be specified by the principle of three-point surveying.

Further, when an example is given as a means for specifying the position information of the unmanned moving body 12, the self-position estimation by estimating the movement amount of the X, Y, Z axes by the IMU unit (acceleration sensor) provided in the unmanned moving body 12 or An environmental map is created by measuring the distance to walls and obstacles by infrared irradiation of the LiDAR sensor, and position information is calculated by the SLAM method (abbreviation of Simultaneous Localization And Mapping) that estimates the self-position from the environmental map. It becomes possible.

[Action]
In the transport system 10 having such a configuration, the operator activates the application software via the operation means 14 and specifies a specific location on the floor map, so that the unmanned moving body 12 sends the luggage 50 to the designated location. It becomes possible to carry.

[Beam structure]
In the transport system 10 according to the present invention, the attic space located above the indoor space constituting the floor of the building is used as the moving space of the unmanned moving body 12 on each floor. In buildings such as buildings these days, where the interior space is becoming more pillar-free, the span between pillars tends to increase, and the beam length tends to increase. Therefore, the gap between the ceiling and the beam is narrowed. Further, as shown in FIG. 2 (A), a plurality of small beams 24 are arranged between the large beams 22 which are bridged between the columns 20. For this reason, the attic space is generally a difficult space to secure a free moving space.

In the present embodiment, when the transfer system 10 having the above configuration is applied, as shown in FIG. 2B, the beam 24 is arranged in parallel with the beam 22 having a large span. This is because such a configuration can reduce the number of beam 24 while maintaining the strength, and can contribute to securing a moving space.

Further, in the present embodiment, as shown in FIG. 3, a through hole 26 is provided in the beam beam so that the unmanned moving body 12 can pass through. The through hole 26 may be provided near the center in the longitudinal direction of the beam. Generally, the stress acting on the beam can be divided into a long-term stress caused by gravity and a sudden (short-term) stress caused by an earthquake or wind. For long-term stresses, the bending moment is said to have a large effect on the ends and center of the beam. Further, it is said that the shearing force is large at the end of the beam and small at the center. On the other hand, in the stress acting in the short term, it is said that the bending moment acts large at the end of the beam and small at the center. Moreover, it is said that the shearing force becomes uniform over the entire beam.

Here, providing the through hole 26 in the beam reduces the shear strength of the beam. Therefore, by providing the through hole 26 in the vicinity of the center of the beam, which is said to have a small shearing force due to stress acting over a long period of time, the influence on the proof stress in design can be reduced. Even when the through hole 26 is provided near the center of the beam, the cross-sectional structure is such that the shearing force is transmitted to the left and right of the beam when a short-term stress such as an earthquake is applied.

The shape of the through hole 26 may be such that the unmanned moving body 12 carrying the luggage 50 can pass through, but in order to secure both a large opening and maintenance of proof stress, a mansard type opening structure is used. It is desirable to do. As shown in FIG. 3, the mansard-shaped opening can effectively secure both the opening area and the proof stress by the pentagonal opening and the reinforcing structure (reinforcing flange 28) around the opening. ..

Further, in the vicinity of the through hole 26, when there are a plurality of unmanned moving bodies 12 trying to pass through the through hole 26 from both sides, a so-called "signal" function for controlling intrusion and stop on the road is required. Therefore, the approach of the unmanned moving body 12 is detected by the moving body detecting device 42 that detects that the unmanned moving body 12 has approached the vicinity of the through hole 26. (Refer to the flow of FIGS. 8 and 9) The moving body detection device 42 detected that the learned shape became a certain size or more by learning the shape of the moving body in advance with, for example, an image sensor. In this case, it may be possible to perform processing such as determining that the unmanned moving body 12 has approached the vicinity of the through hole 26.

For the detection of the unmanned moving body 12 by the moving body detecting device 42, the time when the unmanned moving body 12 is detected as “Yes” is recorded and the through hole passage control is performed in the order of the detected time, or the unmanned moving body 12 is used. Priority may be given and through-hole passage control may be performed in the order of priority. As a result, priority control is possible even when a plurality of unmanned moving bodies 12 are detected or when unmanned moving bodies 12 are detected on both sides of the through holes 26 (large beam 22 and small beam 24). Become.

When a learning shape of a certain size or larger is detected as the unmanned moving body 12 "Yes", a signal provided on the opposite side of the through hole 26 with respect to the moving body detecting device 42 determined to be the unmanned moving body 12 "Yes". A "standby" signal is output from the transmitter 44. A directional antenna may be used for the signal transmitting device 44 so that the output signal is not transmitted to both side surfaces through the through hole 26.

By performing such a process, the unmanned moving body 12 approaching the opposite side of the through hole 26 stops by receiving the "standby" signal. When stopped, it is necessary to secure a certain distance between the through hole 26 and its own body so that the movement flow line of the unmanned moving body 12 passing from the opposite side of the through hole 26 can be secured. Therefore, it is preferable to measure the distance between the unmanned moving body 12 and the through hole 26 by the moving body detecting device 42, and output a “standby” signal when the unmanned moving body 12 approaches a predetermined distance. If the "standby" signal is not output, a marker indicating a stop line may be installed.

As a result, the unmanned moving body 12 (the unmanned moving body 12 having a high priority of passing) that was about to pass through the through hole 26 becomes the unmanned moving body 12 (the unmanned moving body 12 having a low priority) existing on the opposite side of the through hole 26. In response to the fact that 12) is in the standby state, the movement is started. When the passage of the through hole 26 by the unmanned moving body 12 is completed, the moving body detecting device 42 determines that the passing of the through hole 26 is completed because the unmanned moving body 12 detected in the vicinity of the through hole 26 is not detected. , Outputs a "passable" signal to the unmanned mobile body 12 waiting on the opposite side of the through hole 26. As a result, even when a plurality of unmanned moving bodies 12 approach the same through hole 26, the through hole passage control becomes possible.

Further, regardless of the size of the through hole 26, even if the through hole 26 is large enough to allow a plurality of unmanned moving bodies 12 to pass through at the same time, a plurality of unmanned moving bodies 12 are present on the same side of the through hole 26. It may exist. In such a case, the flow is the case where the "quantity of moving bodies" in FIG. 9 is "plurality", and the "size of moving bodies" is detected for the plurality of unmanned moving bodies 12.

Among the unmanned moving bodies 12 whose size has been detected, the signal on the detection side is output to (A) as "passable" for the moving body (A) determined to have the largest size. The signal output by the signal transmitting device 44 on the opposite side of the through hole 26 is defined as "standby". Further, the signal transmission device 44 outputs a "standby" signal to the mobile group (B) other than the mobile group (A) on the detection side. As a result, even when a plurality of unmanned moving bodies 12 are detected on the same side of the through hole 26, the through hole passage control becomes possible.

[Opening and closing structure of mobile doorway]
Further, in the present embodiment, the opening used when the unmanned moving body 12 moves back and forth between the indoor space and the attic space is the moving body entrance / exit 30 (see the schematic configuration of the attic space shown in FIG. 4). This is because the mobile entrance / exit 30 is an element that is always provided on the floor where the space behind the ceiling is provided.

In the present embodiment, the structure of the moving body entrance / exit 30 is a sliding door type as shown in FIGS. 5 and 6. This is because if the door opens downward, the door may come into contact with a person when there is a person directly under the door. As the structure of the moving body entrance / exit 30 according to the embodiment, a pair of rails 34 are provided in parallel with each of the pair of opposite sides of the opening 32. The length of the rail 34 in the longitudinal direction is longer than the length of the side of the opening 32, and preferably about twice the length of the side of the opening 32. This is because when the door 36 is opened, the overlapping portion between the opening 32 and the door 36 can be eliminated in a plan view, and the opening area of the opening 32 can be maximized.

The door 36 may be provided with sliders and wheels (not shown) on the surface facing the rail 34 so that the door 36 can slide along the rail 34. Further, the mobile entrance / exit 30 according to the embodiment is provided with a drive unit, a control unit, and a drive communication control means 38 having a communication unit.

It is necessary for the worker to manually open and close the door 36 by transmitting and receiving signals to and from the unmanned moving body 12 via the communication unit and having the control unit operate the drive unit to open and close the door 36. Is gone. Further, the door 36 may be provided with a unique position specifying means 40 on the surface opposite to the side surface facing the opening 32, that is, the side surface on the ceiling space side.

When the unmanned moving body 12 approaches the moving body entrance / exit 30, the detection means 12b reads the position specifying means 40 and outputs a signal to the communication unit of the drive communication control means 30 to the effect that the position specifying means 40 is recognized. The unit can operate the drive unit and open the door 36. Here, the position specifying means 40 may be a tag that enables short-range wireless communication such as RFID or Beacon, in addition to a symbol such as a two-dimensional code. When the position specifying means 40 is used as a short-range wireless communication tag, it is preferable that the unmanned moving body 12 is provided with a receiving means.

In the above embodiment, the arrangement position of the position information specifying means (for example, Beacon) 16 is not particularly limited, but when there are three or more moving body entrances / exits 30 on the floor, each moving body entrance / exit 30 is used. The position information specifying means 16 may be arranged. Further, as a matter of course, the position information identifying means 16 may be arranged at any plurality of places on the floor within the range where the short-range radio signal can reach.

[Operation of transport system]
When the transport system 10 according to the embodiment is operated in a building having the above-mentioned beam structure and the structure of the moving body entrance / exit 30, the flow is as shown in FIG.
First, the worker who requests the transportation of the luggage 50 activates the application software via the operation means 14 (step 10). Next, according to the instruction of the application software, the receiving position of the baggage 50 is specified (step 20). The receiving position can be specified by specifying on the floor map, but when the worker is at the receiving position, it can also be specified by positioning the position information of the operating means 14. Therefore, the worker selects which method is used to specify the receiving position (step 30).

First, when the receiving position is specified from the floor map, the worker selects the receiving position on the floor map displayed on the operating means 14 (step 40). When the receiving position is specified, the calculation unit of the operating means 14 calculates the position of the moving body entrance / exit 30 closest to the receiving position on the floor map, sets the moving body entrance / exit 30 as the first destination, and moves unmanned. With respect to the body 12, the position information of the moving body entrance / exit 30 defined as the first destination (coordinate position on the floor map) and the position information of the receiving position on the floor map (coordinate position: second destination). Is transmitted, and the first destination is determined on the unmanned mobile side (step 70).

Upon receiving the position information of the first destination, the unmanned moving object 12 estimates its current position, compares the position information of the first destination, and determines the flight route according to the flight enable rule (see, for example, FIG. 4). After calculation, it flies to the first destination by autonomous flight (step 90).

After designating the receiving position, the operating means 14 side issues a receiving marker (position specifying means for receiving) as an authentication code for receiving the package 50 (step 80). When the unmanned moving body 12 reaches the vicinity of the moving body entrance / exit 30 designated as the first destination, the unmanned moving body 12 reads the position identifying means 40 displayed on the door 36 and causes the position identifying means 40 to the drive communication control means 38. A signal indicating that it has been recognized is output (step 100).

The mobile entrance / exit 30 that has received the recognition signal operates the drive unit to open the door 36. As a result, the unmanned moving body 12 can move into the indoor space (step 110).

The unmanned moving body 12 that has moved to the indoor space moves to the position designated as the receiving position (coordinate position on the floor map), and recognizes the receiving marker displayed on the operating means 14 owned by the worker. It descends and delivers the luggage (step 120).

On the other hand, when it is specified that the position information of the operation means 14 is to be positioned when the receiving position is specified, the position information on the floor map is displayed by short-range wireless communication such as three or more (for example, four) Beacon arranged on the floor. A survey is performed to obtain the position information of the operating means 14 (step 50). When the survey using the short-range wireless communication is completed, the position information (coordinate position on the floor map) of the operating means 14 on the floor map is calculated (step 60).

After the position information of the operating means 14, that is, the position information of the receiving position is obtained, the position of the moving body entrance / exit 30 closest to the receiving position is calculated in the same manner as the designation of the receiving position on the floor map described above. The position information (coordinate position on the floor map) of the mobile entrance / exit 30 defined as the first destination for the unmanned mobile body 12 and the receiving position on the floor map, with the mobile entrance / exit 30 as the first destination. The coordinate position (second destination) is transmitted (step 70).

Subsequent processing related to the transportation and receipt of luggage is omitted because it is the same as the case where the reception position is specified on the floor map described above.

[effect]
According to the transport system 10 as described above, it is possible to transport the package to an arbitrary position in the building designated by a person (worker) instead of a specific position such as in front of a post or a door. In addition, by using positioning technology that uses sensors such as Beacon, the person (worker) who requests the transportation of luggage can perform intuitive operations without being aware of his or her current position. Become. Furthermore, by making it possible to specify an arbitrary position as the receiving position using the floor map, it is desirable even if the person (worker) requesting the transportation of the luggage 50 is not there. You can request the location to carry the luggage 50.

Further, by flying the unmanned moving body 12 using the attic space having the structure of the beams (girder 22 and girder 24) as described above, it is possible to prevent the transport path from being mixed in the indoor space. Can be done. Therefore, it is possible to avoid causing harm to a person due to a trouble or the like of the unmanned moving body 12.

In addition, a mobile entrance / exit 30 is used to move between the indoor space and the attic space, and the mobile entrance / exit 30 closest to the receiving position is used to intervene in the indoor space, thereby providing a transport route in the indoor space. It can be minimized, and safe and quick transportation can be expected. Further, since the opening of the moving body entrance / exit 30 automatically opens and closes in the indoor space without the door portion popping out to the indoor side, a person who passes under the moving body entrance / exit 30 even when the transport system 10 is applied. There is no feeling of oppression on the door.

Further, by adopting a sliding door type opening / closing mechanism as the structure of the moving body entrance / exit 30, it is possible to avoid a situation in which the door 36 protrudes into the indoor space at the time of opening / closing. As a result, the person (worker) passing under the moving body entrance / exit 30 is not anxious.

Further, by adopting the sliding door type opening / closing mechanism, it is possible to make the maximum use of the size of the opening (doorway opening) through which the unmanned moving body 12 moves.

10 ……… Transport system, 12 ……… Unmanned mobile body, 12a ……… Luggage holding mechanism, 12b ……… Detection means, 14 ……… Operating means, 16 ……… Position information identification means, 20 ……… Pillars, 22 ……… Girders, 24 ……… Small beams, 26 ……… Through holes, 30 ……… Mobile doorways, 32 ……… Openings, 34 ……… Rails, 36 ……… Doors, 38 ……… Drive communication control means, 40 ……… Position identification means, 42 ……… Mobile detection device, 44 ……… Signal transmission device, 50 ……… Luggage.

Claims (8)

It is a system that transports luggage inside the building.
An unmanned moving body that records the floor map in the building, has a position information detection unit for acquiring the current position information on the floor map, and is responsible for holding and transporting the luggage.
It has an operating means capable of displaying a floor map in the building and outputting a command signal for moving the unmanned moving body to a position specified in the floor map.
Based on the recorded floor map, the unmanned moving body recognizes the current position and the designated position determined via the operating means to obtain a moving route.
A transport system characterized in that the indoor space constituting the floor and the attic space are moved back and forth through a moving body entrance / exit, and the attic space is used for movement on the floor. The unmanned moving body moves with the moving body entrance / exit located at the position closest to the designated position as the first destination.
The transport system according to claim 1, wherein the door is opened by transmitting a signal based on the arrival at the first destination to the moving body entrance / exit. A unique positioning means is attached to the entrance / exit of the moving body.
The unmanned moving body is provided with a reading means for reading the positioning means.
The transport system according to claim 2, wherein the signal based on the arrival is a signal indicating that the position specifying means has been recognized. It is a beam structure when applying a transportation system that uses an unmanned moving body that moves using the space behind the ceiling when transporting luggage in the building.
A beam structure of a building to which a transport system can be applied, characterized in that a through hole for passing the unmanned moving body is provided in the beam beam of the beam. The beam structure of a building to which the transport system according to claim 4, wherein the through hole is provided near the center in the longitudinal direction of the beam. A beam structure of a building to which the transport system according to claim 4 or 5 can be applied, wherein the shape of the through hole is a mansard type. It is an opening / closing structure when moving luggage in the building using the attic space and applying a transportation system that uses the entrance / exit of the moving body to move between the attic space and the room. ,
An opening / closing structure for moving body entrances and exits of buildings to which a transport system can be applied, which is characterized by having a drive unit that opens the door by receiving a signal based on the arrival of an unmanned moving body. A moving body entrance / exit of a building to which the transport system according to claim 7, wherein a unique positioning means is provided for each moving body entrance / exit on the side surface of the door on the ceiling space side. Opening and closing structure.

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