JP7035113B2 - Systems, on-board equipment, management equipment, programs, and management methods - Google Patents

Description

The present invention relates to a system, an on-board device, a management device, a program, and a management method.

Patent Document 1 describes an article transporting material capable of communicating with a non-contact IC tag of an article loaded above the loading surface. Patent Document 2 describes a container with a battery. Patent Document 3 states, "From a flying object that flew at a place where an article is placed, a photographed image and photographing information indicating a photographing position are obtained, identification information of the article is detected from the photographed image, and the identification information and the photographed information are included. An information processing device provided with means for identifying the position of an article from the shooting position is described.
[Prior Art Document]
[Patent Document]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2006-076644 [Patent Document 2] International Publication No. 2019/0448666 [Patent Document 3] Japanese Patent Application Laid-Open No. 2020-09083

According to one embodiment of the invention according to the present disclosure, a system is provided. The system may include multiple on-board devices. The system may include a management device that manages a plurality of on-board devices. Each of the plurality of mounting devices may have a housing on which luggage can be loaded. Each of the plurality of mounted devices may have a lower terminal portion arranged on the lower side of the housing. Each of the plurality of mounted devices may have a lower terminal communication unit that communicates via the lower terminal unit. Each of the plurality of mounted devices may have an information storage unit for storing altitude-related information regarding the altitude of the own device received by the lower terminal communication unit. Each of the plurality of mounted devices may have a wireless communication unit that wirelessly transmits the altitude-related information stored in the information storage unit to the management device. The management device may have a placement management unit that manages the placement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices. The management device may have a cargo management unit that transmits a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of the cargo removal request.

The plurality of mounted devices may be stacked, and the altitude-related information may indicate the stage from which the own device is located from the bottom. The lower terminal communication unit may receive the altitude-related information via the connection between the terminal installed on the floor and the lower terminal unit. When the own machine is arranged above the other mounted device, the lower terminal communication unit may receive the altitude-related information from the other mounted device via the lower terminal unit. Each of the plurality of mounted devices may have an upper terminal portion arranged on the upper side of the housing and an upper terminal communication unit that communicates via the upper terminal portion, and the upper terminal communication unit may include the upper terminal communication unit. For other mounted devices arranged above the own machine, the altitude-related information related to the altitude of the other mounted device based on the altitude-related information of the own machine stored in the information storage unit is described above. It may be transmitted via the upper terminal portion.

Each of the plurality of mounted devices may include a battery for storing electric power supplied through the lower terminal portion. Each of the plurality of mounted devices may supply the power of the battery to other mounted devices arranged on the upper side of the housing via the upper terminal portion. Each of the plurality of mounted devices may supply the electric power supplied through the lower terminal portion to other mounted devices arranged on the upper side of the housing via the upper terminal portion. Each of the plurality of mounted devices may supply the power of the battery to the luggage. Each of the plurality of mounted devices may supply the power of the battery to the housing. The housing may have a temperature adjusting function for adjusting the temperature inside the housing by using the electric power of the battery. The housing may have a humidity adjusting function for adjusting the humidity inside the housing by using the electric power of the battery. The plurality of mounted devices may have an autonomous flight function, and each of the plurality of mounted devices is arranged on the floor based on an image captured by an image pickup unit that images the downward direction of the housing. It may have a flight control unit that executes autonomous flight so that the terminal arranged on the upper side of the terminal or other on-board device and the lower terminal portion are connected to each other. The plurality of mounted devices may be capable of loading different loads, and the arrangement management unit may determine the arrangement of the plurality of mounted devices based on the loads mounted by the plurality of mounted devices. .. Among the plurality of mounted devices, the arrangement management unit distributes the plurality of mounted devices in which the luggage or the housing generates heat by supplying the power of the battery to the luggage or the housing. The placement of the on-board equipment may be determined. Among the plurality of mounted devices, the arrangement management unit so as to position the plurality of mounted devices on which the luggage or the housing generates heat by supplying the power of the battery to the luggage or the housing. The arrangement of the plurality of mounted devices may be determined.

According to one embodiment of the invention according to the present disclosure, an on-board device is provided. The mounting device may include a housing on which luggage can be loaded. The mounting device may include a lower terminal portion arranged on the lower side of the housing. The on-board device may include a related information receiving unit that receives altitude-related information regarding the altitude of the own device via the lower terminal unit. The on-board device may include an information storage unit for storing altitude-related information.

According to one embodiment of the invention according to the present disclosure, a management device for managing a plurality of mounted devices is provided. The plurality of on-board devices may be stackable and may be capable of autonomous flight. Each of the plurality of mounted devices receives altitude-related information regarding the altitude of the own device via the housing in which the cargo can be loaded, the lower terminal portion arranged under the housing, and the lower terminal portion. It may have a related information receiving unit, an information storage unit that stores altitude-related information, and a related information transmitting unit that wirelessly transmits the altitude-related information stored in the information storage unit to the management device. The management device may include a placement management unit that manages the placement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices. The management device may include a cargo management unit that transmits a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of the cargo withdrawal request.

According to one embodiment of the invention according to the present disclosure, a program for making a computer function as the management device is provided.

According to one embodiment of the invention according to the present disclosure, there is provided a management method executed by a management device that manages a plurality of mounted devices. The plurality of on-board devices may be stackable and autonomously capable of flying. Each of the plurality of mounted devices receives altitude-related information regarding the altitude of the own device via the housing in which the cargo can be loaded, the lower terminal portion arranged under the housing, and the lower terminal portion. It may have a related information receiving unit, an information storage unit that stores altitude-related information, and a related information transmitting unit that wirelessly transmits the altitude-related information stored in the information storage unit to the management device. The management method may include a placement management step that manages the placement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices. The management method may include a transmission step of transmitting a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of the cargo removal request.

The outline of the above invention does not list all the necessary features of the present invention. A subcombination of these feature groups can also be an invention.

An example of the system 10 is shown schematically. An example of the configuration of the pallet 100 is schematically shown. An example of the functional configuration of the control device 150 is schematically shown. An example of the functional configuration of the management device 200 is schematically shown. It is explanatory drawing for demonstrating the taking-out of a baggage 300. An example of the configuration of the pallet 100 is schematically shown. An example of the configuration of the pallet 100 is schematically shown. An example of the hardware configuration of the computer 1200 that functions as the management device 200 is schematically shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 schematically shows an example of the system 10. FIG. 2 schematically shows an example of the configuration of the pallet 100.

The system 10 may include a plurality of pallets 100. The pallet 100 may be an example of a mounting device. The system 10 may include a management device 200 that manages a plurality of pallets 100.

The pallet 100 may be capable of carrying the luggage 300. The plurality of pallets 100 may be stacked with the luggage 300 loaded.

The pallet 100 may be provided with an autonomous flight function. For example, the pallet 100 may have the function of a drone. The pallet 100 may be able to fly with the luggage 300 loaded.

The pallet 100 may include a housing 102, a battery 104, a reader 106, a camera 108, a propeller unit 110, a lower terminal unit 120, an upper terminal unit 130, and a control device 150.

The housing 102 may be capable of mounting the luggage 300. The luggage 300 may be a case containing one or more articles and the like. The luggage 300 may be the article itself. The luggage 300 may be attached with the luggage ID 302 as an identifier for identifying the luggage 300.

The reader 106 may be arranged at a position where the luggage ID 302 attached to the luggage 300 can be read. For example, information that can identify the luggage 300 may be recorded in the luggage ID 302. The reader 106 may read the identification information of the luggage 300 from the luggage ID 302. The identification information may be, for example, a control number of the baggage 300, contents, a delivery address, a storage method, or the like. The luggage ID 302 may be, for example, an RFID (radio frequency identifie). That is, the luggage 300 may be attached with an RF tag. The luggage ID 302 is not particularly limited as long as the luggage 300 can be identified. The reader 106 may operate using the power of the battery 104.

The camera 108 may be arranged at a position where the downward direction of the pallet 100 can be imaged. The camera 108 may image the downward direction of the palette 100. The camera 108 may image the horizontal direction of the palette 100. The camera 108 may use the power of the battery 104. The camera 108 may be an example of an imaging unit.

The propeller portion 110 may be a multicopter. In the example shown in FIGS. 1 and 2, the propeller unit 110 may be a multicopter having four propellers. The propeller unit 110 may use the electric power of the battery 104.

The lower terminal portion 120 may be arranged on the lower side of the housing 102. The number of the lower terminal portions 120 may be one or a plurality. The upper terminal portion 130 may be arranged on the upper side of the housing 102. The number of the upper terminal portions 130 may be one or a plurality.

The control device 150 may execute various controls. The control device 150 may communicate with the management device 200 via the network 20. The network 20 may include, for example, a LAN (Local Area Network) in a warehouse in which a plurality of pallets 100 are arranged. The control device 150 may access the network 20 via, for example, a Wi-Fi® (Wireless Fidelity) access point. The network 20 may include the Internet.

The network 20 may include a mobile communication network. The control device 150 may access the network 20 by cellular communication. The control device 150 may access the network 20 via a radio base station or a Wi-Fi access point. The mobile communication network may conform to a 3G (3rd Generation) communication method. The mobile communication network may comply with the LTE (Long Term Evolution) communication method. The mobile communication network may also comply with the 5G (5th Generation) communication method. The mobile communication network may conform to the communication method after the 6G (6th Generation) communication method.

The management device 200 may indicate the landing position to the pallet 100. FIG. 1 illustrates a case where nine landing points on which the pallet 100 can land are prepared on the floor 40. The number of landing points is not limited to this, and may be any number. At the landing point, a recognition code 30 for the pallet 100 to recognize the landing position may be arranged. Further, the recognition code 30 may be arranged on the upper surface of the luggage 300 as well. When the housing 102 has a lid portion that covers the luggage 300, the recognition code 30 may be arranged on the lid portion. The recognition code may be, for example, a QR code (registered trademark). The recognition code 30 arranged at the landing point, the upper surface of the luggage 300, the lid portion covering the luggage 300, or the like may be the same code.

The management device 200 may instruct the pallet 100, for example, to set any one of the 3 × 3 landing points as the landing position. The pallet 100 may recognize a 3 × 3 landing point by imaging a plurality of recognition codes 30 from the sky, move to the designated landing position, and land. The pallet 100 may land on the floor 40 if no other pallet 100 is placed at the landing position. The pallet 100 may land on the other pallet 100 when another pallet 100 is arranged at the landing position.

A terminal 410 may be arranged at the landing point on the floor. When the pallet 100 lands on the floor 40, the recognition code 30 and the terminal portion 410 are imaged to recognize the position of the terminal portion 410 so that the lower terminal portion 120 is connected to the terminal portion 410. You may adjust the landing position.

The pallet 100 may communicate with the floor side device 400 via the connection between the lower terminal portion 120 and the terminal portion 410. The pallet 100 may receive, for example, altitude-related information about the altitude of the pallet 100 from the floorside device 400.

The altitude-related information may indicate which stage the pallet 100 is located from the bottom. The altitude-related information may directly represent the number of steps from the bottom of the pallet 100. The altitude-related information may indirectly represent the number of stages from the bottom of the pallet 100.

The altitude-related information transmitted by the floor-side appliance 400 may indicate that the source is the floor. As a result, the pallet 100 can recognize that it is arranged on the floor and is located on the first stage from the bottom. The altitude-related information may indicate that the destination is on the floor. Further, the altitude-related information may indicate that the transmission destination is located in the first stage from the bottom.

The pallet 100 may receive power from the floor side device 400 via the physical connection between the lower terminal portion 120 and the terminal portion 410. The lower terminal portion 120 may perform both communication and power receiving / receiving by one terminal. The lower terminal portion 120 may include a terminal for communication and a terminal for receiving and feeding power. The lower terminal unit 120 may have a wireless power receiving unit, and the pallet 100 may receive power from the floor side device 400 by the wireless power receiving unit of the lower terminal unit 120. The pallet 100 may store the received electric power in the battery 104.

When the pallet 100 lands on the other pallet 100, the recognition code 30 and the upper terminal portion 130 on the luggage 300 of the other pallet 100 or on the lid portion of the housing 102 are imaged, and the upper terminal portion The landing position may be adjusted so that the position of the 130 is recognized and the lower terminal 120 is connected to the upper terminal 130.

The pallet 100 may communicate with the lower pallet 100 via the connection between the lower terminal portion 120 and the upper terminal portion 130 of the lower pallet 100. The pallet 100 may receive, for example, altitude-related information about the altitude of the pallet 100 from the pallet 100 below.

The altitude-related information transmitted by the lower pallet 100 may indicate the altitude of the lower pallet 100. When the lower pallet 100 is the first stage from the bottom, the altitude-related information may indicate that the source is the first stage. As a result, the pallet 100 can recognize that it is located in the second stage by grasping that the pallet 100 under itself is in the first stage. The altitude-related information may indicate that the destination is the second stage.

The pallet 100 may receive power from the lower pallet 100 via a physical connection between the lower terminal portion 120 and the upper terminal portion 130 of the lower pallet 100. The pallet 100 may receive power from the lower pallet 100 by the wireless power receiving unit of the lower terminal unit 120. The pallet 100 may store the received electric power in the battery 104.

In conventional general warehouse logistics, luggage is managed using a pallet that does not have an autonomous movement function and a vehicle such as a forklift that transports the pallet. In this case, it was necessary to secure a space and a flow line for the forklift and the like to move, which sometimes occupied half the space of the warehouse. On the other hand, according to the system 10 according to the embodiment, the pallet 100 itself can be moved in the air by providing the pallet 100 itself with a drone function. That is, the system 10 according to the embodiment can reduce the space for the vehicle such as a forklift to move or the flow line. That is, according to the system 10 according to the embodiment, the storage rate of the warehouse can be improved.

Further, according to the system 10, each of the plurality of pallets 100 can easily grasp the altitude of the own machine by receiving altitude-related information from the floor-side device 400 or the pallet 100 below. For example, each of the plurality of pallets 100 can reduce the management load of the plurality of pallets 100 by the management device 200 by notifying the management device 200 of the altitude of the own machine.

Further, according to the system 10, each of the plurality of pallets 100 can receive power from the floor side device 400 or the lower pallet 100. As a result, it is possible to secure the electric power required for communication with the management device 200 and the electric power required for autonomous flight.

In FIGS. 1 and 2, an example in which the pallet 100 recognizes a landing point by imaging the same recognition code 30 arranged on the floor 40, the upper surface of the luggage 300, and the lid of the housing 102 will be described. However, it is not limited to this. The recognition code 30 may be a different code depending on where it is placed. Further, the example of the recognition code 30 is not limited to the QR code. The recognition code 30 may be an arbitrary code other than the QR code, an arbitrary mark, or the like as long as the palette 100 can recognize it. Further, the pallet 100 recognizes the shape of the floor 40, the shape of the luggage 300, and the shape of the lid of the housing 102 without attaching a cord to the floor 40, the upper surface of the luggage 300, and the lid of the housing 102. May be made to recognize the landing point.

In the system 10, the pallet 100 may autonomously determine the landing point. For example, in a scene where the luggage 300 is stored in the warehouse, the pallet 100 in which the luggage 300 is inserted into the housing 102 may first move to the top of the floor 40 to confirm the arrangement of the other pallets 100. The pallet 100 may land at the landing point when there is a landing point where another pallet 100 is not arranged. The pallet 100 may land on any of a plurality of other pallets 100 if there is no landing point on which the other pallets 100 are not located. Then, the pallet 100 may transmit the pallet ID, the information indicating the landing point at landing, and the altitude-related information received via the lower terminal portion 120 to the management device 200. As a result, it is possible to reduce the management load such as determining the arrangement of a plurality of pallets 100 by the warehouse manager or the like.

FIG. 3 schematically shows an example of the functional configuration of the control device 150. The control device 150 includes an information storage unit 152, an ID acquisition unit 154, an image acquisition unit 156, a wireless communication unit 158, a flight control unit 160, a lower terminal communication unit 162, an upper terminal communication unit 164, and a power supply / reception control unit 166. You may be prepared. The control device 150 does not necessarily have to include all of these.

The information storage unit 152 may store various types of information. The information storage unit 152 may store, for example, a palette ID that can identify the palette 100.

The ID acquisition unit 154 may acquire the ID read by the reader 106. The ID acquisition unit 154 may acquire, for example, the identification information of the cargo 300 read from the cargo ID 302 by the reader 106. The ID acquisition unit 154 may store the acquired identification information in the information storage unit 152.

The image acquisition unit 156 may acquire an image captured by the camera 108. The camera 108 may capture a moving image. The camera 108 may periodically capture a still image. The camera 108 may take a still image irregularly. The image acquisition unit 156 may store the acquired captured image in the information storage unit 152.

The wireless communication unit 158 may access the network 20 by wireless communication. The wireless communication unit 158 may access the network 20 by Wi-Fi communication. The wireless communication unit 158 may access the network 20 by cellular communication.

The wireless communication unit 158 may communicate with the management device 200 via the network 20. The wireless communication unit 158 may transmit the pallet ID and the baggage ID to the management device 200, for example, in response to the baggage ID being stored in the information storage unit 152. The management device 200 may register the received pallet ID and the baggage ID in association with each other.

The wireless communication unit 158 may receive a movement instruction from the management device 200. The wireless communication unit 158 may receive, for example, a movement instruction to the landing point determined by the management device 200 from the management device 200.

The flight control unit 160 may control the flight of the pallet 100. The flight control unit 160 may control the flight of the pallet 100 by controlling the propeller unit 110.

For example, the flight control unit 160 may control the flight of the pallet 100 according to the movement instruction received from the management device 200 by the radio communication unit 158, move to the designated landing point, and land. The flight control unit 160 recognizes the positions of the terminal unit 410 and the upper terminal unit 130 of the lower pallet 100 by the captured image acquired by the image acquisition unit 156 so that the lower terminal unit 120 is connected to these. , The landing position may be adjusted.

The lower terminal communication unit 162 may communicate via the lower terminal unit 120. The lower terminal communication unit 162 receives altitude-related information regarding the altitude of its own unit from the floor side device 400, for example, via a connection between the terminal unit 410 installed on the floor 40 and the lower terminal unit 120. You can do it. Further, the lower terminal communication unit 162 is, for example, via a connection between the lower terminal unit 120 and the upper terminal unit 130 of the other pallet 100 when the own machine is arranged above the other pallet 100. Then, altitude-related information regarding the altitude of the own aircraft may be received from the other pallet 100. The lower terminal communication unit 162 may store the received altitude-related information in the information storage unit 152. The wireless communication unit 158 may transmit the altitude-related information and the pallet ID stored in the information storage unit 152 to the management device 200.

The upper terminal communication unit 164 may communicate via the upper terminal unit 130. The upper terminal communication unit 164 has, for example, the altitude of the other pallet 100 based on the altitude-related information of the own machine stored in the information storage unit 152 with respect to the other pallet 100 arranged on the upper side of the own machine. Relevant altitude-related information may be transmitted via the upper terminal 130.

The altitude-related information may indicate which stage the aircraft is located from the bottom. As a result, it can be understood that the other pallets 100 are located one step higher than the number of steps indicated by the altitude-related information. Further, the altitude-related information may indicate the number of stages obtained by adding 1 to the number of stages of the own machine.

The power receiving / feeding control unit 166 may control power receiving and power supply via the lower terminal unit 120 and the upper terminal unit 130. The power receiving / receiving control unit 166 may store the electric power received from the floor-side device 400 in the battery 104 via, for example, the lower terminal unit 120. Further, the power receiving / feeding control unit 166 may store the electric power received from the pallet 100 on the lower side of the own machine in the battery 104 via, for example, the lower terminal unit 120.

The power receiving / receiving control unit 166 may control the power of the battery 104 to be supplied to another pallet 100 arranged on the upper side of the housing 102 via the upper terminal unit 130. In this case, the housing 102 may have, for example, a cable connecting the lower terminal portion 120 and the battery 104, and a cable connecting the battery 104 and the upper terminal portion 130. The power receiving / receiving control unit 166 may switch the power supply to the other pallets 100 on / off by controlling a switch arranged on the cable connecting the battery 104 and the upper terminal unit 130, for example.

The power receiving / feeding control unit 166 may supply the electric power supplied via the lower terminal unit 120 to another pallet 100 arranged on the upper side of the housing 102 via the upper terminal unit 130. In this case, the housing 102 may have, for example, a cable connecting the lower terminal portion 120 and the battery 104, and a cable connecting the lower terminal portion 120 and the upper terminal portion 130. The power receiving / receiving control unit 166 may switch on / off the power supply to the other pallets 100 by controlling a switch arranged on the cable connecting the lower terminal unit 120 and the upper terminal unit 130, for example.

FIG. 4 schematically shows an example of the functional configuration of the management device 200. The management device 200 may include a storage unit 202, a communication unit 204, an arrangement management unit 206, a display control unit 208, and a luggage management unit 210.

The storage unit 202 may store various types of information. The storage unit 202 may store, for example, the pallet IDs of a plurality of pallets 100 to be managed.

The communication unit 204 may communicate with each of the plurality of pallets 100. The communication unit 204 may communicate with each of the plurality of pallets 100 via the network 20.

The arrangement management unit 206 may manage the arrangement of the plurality of pallets 100. The arrangement management unit 206 may determine, for example, the initial arrangement of a plurality of pallets 100. The arrangement management unit 206 may determine the initial arrangement of the plurality of pallets 100 according to, for example, an instruction from a warehouse manager or the like. The communication unit 204 may transmit a movement instruction to each of the plurality of pallets 100 according to the initial arrangement of the plurality of pallets 100 determined by the arrangement management unit 206.

When the pallet 100 autonomously determines the landing point, the placement management unit 206 arranges the plurality of pallets 100 based on the pallet ID, the information indicating the landing point, and the altitude-related information transmitted by the pallet 100. You may manage it.

The display control unit 208 may display various information on the display provided in the management device 200. The display control unit 208 may transmit various information to a communication terminal owned by a warehouse manager or the like and display various information on a display provided in the communication terminal.

For example, the display control unit 208 may display the arrangement of a plurality of pallets 100 managed by the arrangement management unit 206. The display control unit 208 may display the luggage IDs of the luggage 300 mounted on each of the plurality of pallets 100 together. The warehouse manager or the like can grasp the location of the luggage to be taken out by viewing the display by the display control unit 208.

The luggage management unit 210 may manage the luggage 300 mounted on the plurality of pallets 100. The cargo management unit 210 may acquire a request to take out the cargo 300 from, for example, a warehouse manager or the like. The withdrawal request may include identification information of the target baggage 300. The luggage management unit 210 may accept the input of the withdrawal request of the luggage 300, for example, via the input device included in the management device 200. Further, the luggage management unit 210 may receive a request for taking out the luggage 300 from a communication terminal owned by a warehouse manager or the like.

The baggage management unit 210 receives the request for taking out the baggage 300, and based on the arrangement of the plurality of pallets 100 managed by the arrangement management unit 206, the baggage management unit 210 of the plurality of pallets 100 via the communication unit 204. A move instruction may be sent to at least one of them. For example, when the pallet 100 on which the target luggage 300 is mounted is located at the uppermost stage, the luggage management unit 210 may transmit a movement instruction only to the pallet. For example, when the pallet 100 on which the target luggage 300 is mounted is located below the other pallets 100, the luggage management unit 210 has the pallet 100 on which the target luggage 300 is mounted and the pallet. A move instruction may be transmitted to the pallet 100 located above the 100.

FIG. 5 is an explanatory diagram for explaining the removal of the luggage 300. Here, a case where the luggage 300 to be taken out is mounted on the pallet 100 located at the lowermost stage in the center of the floor 40 will be described as an example.

The luggage management unit 210 saves the pallet 100 (described as the second pallet 100) located above the pallet 100 (described as the first pallet 100) on which the target luggage 300 is mounted. Therefore, a movement instruction to another landing point may be transmitted to the second pallet 100. The movement instruction may include information indicating the landing point of the destination. The luggage management unit 210 may determine the landing point of the destination according to a predetermined rule, for example. After ascending, the second pallet 100 may recognize the landing point of the destination by imaging a plurality of recognition codes 30, move to the sky above the landing point, and land.

Predetermined rules may include, for example, prioritizing landing points with short flight distances. Further, the predetermined rule may include giving priority to the fact that the number of stages after movement is small. Further, even if the management device 200 stores the past removal status of the luggage 300 and performs machine learning to predict the removal order of the luggage 300 based on the removal status, the rule may be generated. good. In this case, the luggage management unit 210 may determine the arrangement of the pallet 100 so that, for example, the pallet 100 on which the luggage 300 that is likely to be taken out next is mounted is located on the upper side.

The movement instruction does not have to include information indicating the landing point of the destination. In this case, after ascending, the second pallet 100 recognizes the arrangement of the other pallets 100 at the plurality of landing points, determines the landing point according to a predetermined rule, and moves to the determined landing point. You may land.

Predetermined rules may include, for example, prioritizing landing points with short flight distances. Further, the predetermined rule may include giving priority to the fact that the number of stages after movement is small.

After the second pallet 100 has evacuated, the luggage management unit 210 may send a movement instruction to the first pallet 100 to move to the place where the luggage 300 is taken out. After the removal of the luggage 300 is completed, the luggage management unit 210 gives an instruction to move the first pallet 100 and the second pallet 100 to the first pallet 100 and the second pallet 100 in order to return the first pallet 100 and the second pallet 100 to the original state. You may send it. The luggage management unit 210 may send a movement instruction to the first pallet 100 and the second pallet 100 so as to have different arrangements without returning to the original state. The luggage management unit 210 may determine a new arrangement of the first pallet 100 and the second pallet 100 according to, for example, a rule generated by machine learning.

FIG. 6 schematically shows an example of the configuration of the pallet 100. Here, the differences from FIG. 2 will be mainly described. The pallet 100 shown in FIG. 6 includes a luggage terminal portion 112.

The luggage terminal portion 112 may be connectable to the luggage 300 that can use electric power. The power receiving / receiving control unit 166 may supply the power of the battery 104 to the luggage 300 via the luggage terminal unit 112.

For example, when the luggage 300 is a computer, the power receiving / receiving control unit 166 may supply power to the computer via the luggage terminal unit 112. The computer may be capable of performing various processes using the supplied electric power. Further, the computer may have a wireless communication function and may have access to the network 20. The computer may be able to communicate with the control device 150 via the luggage terminal 112, and in this case, the control device 150 may relay the communication between the computer and the network 20. As a result, a computer housed in a warehouse and which has not been used in the past can be made to perform distributed processing and the like. The number of computers housed in a warehouse is enormous, and by making them available for distributed processing, enormous computational resources can be provided.

For example, when the luggage 300 is a freezing box or a heat insulating box accommodating one or a plurality of articles, the power receiving / feeding control unit 166 may supply power to the freezing box or the heat insulating box via the luggage terminal unit 112. As a result, the system 10 according to the embodiment can realize a system that is relatively suitable for transporting the luggage 300 that requires refrigeration and the luggage 300 that is desirable to maintain a constant temperature.

FIG. 7 schematically shows an example of the configuration of the pallet 100. Here, the differences from FIG. 2 will be mainly described. In the pallet 100 shown in FIG. 7, the housing 102 can seal the luggage 300, and the housing 102 has a temperature adjusting unit 114 for adjusting the temperature in the closed space.

The power receiving / receiving control unit 166 may supply the power of the battery 104 to the housing 102. The temperature adjusting unit 114 may adjust the temperature in the enclosed space by using the electric power of the battery 104. The temperature control unit 114 may cool the luggage 300, for example. Further, the temperature adjusting unit 114 may keep the luggage 300 warm, for example. Thereby, the system 10 according to the embodiment can realize individual temperature control for a large amount of luggage 300 in the warehouse relatively easily.

The luggage management unit 210 may determine the arrangement of the plurality of pallets 100 based on the luggage 300 mounted on the plurality of pallets 100. The luggage management unit 210 may determine, for example, the arrangement of the plurality of pallets 100 so that the pallet 100 carrying the heavier luggage 300 is located on the lower side. This makes it possible to easily balance the weights of the plurality of stacked pallets 100. Further, the luggage management unit 210 may determine, for example, the arrangement of the plurality of pallets 100 so that the pallet 100 carrying the heavier luggage 300 is located on the upper side. As a result, the flight distance of the pallet 100 carrying the heavier luggage 300, particularly the climbing distance can be shortened.

Of the plurality of pallets 100, the luggage management unit 210 supplies the power of the battery 104 to the luggage 300 or the housing 102 as illustrated in FIGS. 6 and 7, so that the luggage 300 or the housing 102 generates heat. The plurality of pallets 100 to be specified may be specified, and the arrangement of the plurality of pallets 100 may be determined so as to disperse the specified plurality of pallets 100. As a result, the system 10 according to the embodiment can reduce the risk and the occurrence of defects due to the concentration of heat on the specific pallet 100.

The luggage management unit 210 identifies and identifies a plurality of pallets 100 in which the luggage 300 or the housing 102 generates heat by supplying the electric power of the battery 104 to the luggage 300 or the housing 102 among the plurality of pallets 100. The arrangement of the plurality of pallets 100 may be determined so that the pallets 100 of the above are located on the outside. As a result, the system 10 according to the embodiment can more efficiently dissipate heat from the heat-generating pallet 100.

Although not shown, the pallet 100 according to the embodiment may have a humidity adjusting unit for adjusting the humidity in the closed space. The humidity adjusting unit may adjust the humidity in the enclosed space by using the electric power of the battery 104. The humidity control unit may humidify or dehumidify the enclosed space, for example. Thereby, the system 10 according to one embodiment can realize individual humidity control for a large amount of luggage 300 in the warehouse relatively easily.

The humidity control unit may be configured integrally with the temperature control unit 114. That is, the pallet 100 may include a functional unit having both a temperature adjusting function and a humidity adjusting function. Although not shown, the pallet 100 may include, for example, a temperature / humidity adjusting unit capable of adjusting the temperature and humidity in a closed space.

In the above embodiment, the case where the pallet 100 has a flight function has been mainly described, but the present invention is not limited to this. The pallet 100 does not have to have a flight function. In this case, the arrangement of the pallet 100 on the floor 40 and the arrangement of the pallet 100 on the other pallets 100 may be performed by a forklift, a hand lift, a manual operation by a worker, or the like.

FIG. 8 schematically shows an example of a hardware configuration of a computer 1200 that functions as a management device 200. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the embodiment, or causes the computer 1200 to perform an operation associated with the device according to the embodiment or the one or the like. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the above embodiment or a stage of the process. Such a program may be run by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to one embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which may be interconnected by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and a DVD drive 1226 and an IC card drive, which may be connected to the host controller 1210 via the input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy I / O unit such as a ROM 1230 and a keyboard, which may be connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 may operate according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 may acquire the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself so that the image data is displayed on the display device 1218.

The communication interface 1222 may communicate with other electronic devices via a network. The storage device 1224 may store programs and data used by the CPU 1212 in the computer 1200. The IC card drive may read the program and data from the IC card and / or write the program and data to the IC card.

The ROM 1230 may store a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program may be provided by a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The program may be read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs can be read by the computer 1200 and bring about coordination between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information in accordance with the use of the computer 1200.

For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded in the RAM 1214. Then, the CPU 1212 may instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. The communication interface 1222 may read transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214, a storage device 1224, a DVD-ROM 1227, or an IC card under the control of the CPU 1212. Then, the communication interface 1222 may transmit the read transmission data to the network, or may write the reception data received from the network to the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 may allow the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a storage device 1224, a DVD drive 1226 (DVD-ROM1227), an IC card, or the like. Then, the CPU 1212 may execute various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement and the like. Then, the CPU 1212 may write back the result to the RAM 1214. Further, the CPU 1212 may search for information in a file, database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. You may search for an entry that matches the condition for which the attribute value of the attribute of is specified. Then, the CPU 1212 reads the attribute value of the second attribute stored in the entry, thereby acquiring the attribute value of the second attribute associated with the first attribute satisfying the predetermined condition. good.

The program or software module described above may be stored on a computer 1200 or in a computer readable storage medium near the computer 1200. Further, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be usable as a computer-readable storage medium. That is, the program may be provided to the computer 1200 via the network.

The blocks in the flowcharts and block diagrams of an embodiment may represent the stage of the process in which the operation is performed or the "part" of the device responsible for performing the operation. Specific steps and "parts" are supplied with a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or with computer-readable instructions stored on a computer-readable storage medium. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits. Dedicated circuits may include, for example, integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical ANDs, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device. As a result, the computer-readable storage medium having the instructions stored therein may comprise a product containing instructions that may be executed to create means for performing the operation specified in the flowchart or block diagram. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit cards and the like may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Includes either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute such computer-readable instructions. It may be provided to the processor of the device or a programmable circuit. The processor may be, for example, a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, or the like.

Although the invention according to the present disclosure has been described above by using the embodiment, the technical scope of the invention according to the present disclosure is not limited to the scope described in the above embodiment. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The order of execution of each process, such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, specification, and drawings, is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 system, 20 network, 30 recognition code, 40 floors, 100 pallets, 102 chassis, 104 battery, 106 reader, 108 camera, 110 propeller section, 112 luggage terminal section, 114 temperature control section, 120 lower terminal section, 130 Upper terminal unit, 150 controller, 152 information storage unit, 154 ID acquisition unit, 156 image acquisition unit, 158 wireless communication unit, 160 flight control unit, 162 lower terminal communication unit, 164 upper terminal communication unit, 166 power supply / output control Unit, 200 management device, 202 storage unit, 204 communication unit, 206 layout management unit, 208 display control unit, 210 luggage management unit, 300 luggage, 302 luggage ID, 400 floor side device, 410 terminal unit, 1200 computer, 1210 host Controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 display device, 1220 I / O controller, 1222 communication interface, 1224 storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 I / O chip

Claims (20)

A system including a plurality of mounted devices and a management device for managing the plurality of mounted devices.
Each of the plurality of mounted devices
A housing that can carry luggage and
The lower terminal portion arranged on the lower side of the housing and
With the lower terminal communication unit that communicates via the lower terminal unit,
An information storage unit that stores altitude-related information about the altitude of the own device received by the lower terminal communication unit, and an information storage unit.
It has a wireless communication unit that wirelessly transmits the altitude-related information stored in the information storage unit to the management device.
The management device is
An arrangement management unit that manages the arrangement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices.
A system having a baggage management unit that sends a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of a baggage removal request. The plurality of mounting devices can be stacked and can be stacked.
The system according to claim 1, wherein the altitude-related information indicates the stage from which the own device is located from the bottom. The system according to claim 1 or 2, wherein the lower terminal communication unit receives the altitude-related information via a connection between a terminal installed on the floor and the lower terminal unit. The lower terminal communication unit receives the altitude-related information from the other on-board device via the lower terminal unit when the own machine is arranged on the upper side of the other on-board device, according to claim 1. The system according to any one of 3. Each of the plurality of mounted devices
The upper terminal portion arranged on the upper side of the housing and
It has an upper terminal communication unit that communicates via the upper terminal unit, and has.
The upper terminal communication unit is related to the altitude of the other on-board device based on the altitude-related information of the own machine stored in the information storage unit with respect to other on-board devices arranged on the upper side of the own machine. The system according to any one of claims 1 to 4, wherein the altitude-related information is transmitted via the upper terminal portion. The system according to claim 5, wherein each of the plurality of mounted devices includes a battery for storing electric power supplied through the lower terminal portion. The system according to claim 6, wherein each of the plurality of mounted devices supplies electric power of the battery to another mounted device arranged on the upper side of the housing via the upper terminal portion. 6. The claim 6 in which each of the plurality of mounted devices supplies power supplied through the lower terminal portion to another mounted device arranged on the upper side of the housing via the upper terminal portion. The system described in. The system according to any one of claims 6 to 8, wherein each of the plurality of mounted devices supplies electric power of the battery to the luggage. The system according to any one of claims 6 to 8, wherein each of the plurality of mounted devices supplies electric power of the battery to the housing. The system according to claim 10, wherein the housing has a temperature adjusting unit that adjusts the temperature inside the housing by using the electric power of the battery. The system according to claim 10 or 11, wherein the housing has a humidity control unit that adjusts the humidity inside the housing by using the electric power of the battery. The plurality of on-board devices have an autonomous flight function and have an autonomous flight function.
Each of the plurality of mounted devices includes a terminal arranged on the floor or a terminal arranged on the upper side of the other mounted device based on the image captured by the image pickup unit that images the downward direction of the housing. The system according to any one of claims 6 to 12, wherein the system has a flight control unit that executes autonomous flight so as to be connected to the lower terminal unit. The plurality of mounting devices can load different loads.
The system according to claim 13, wherein the arrangement management unit determines the arrangement of the plurality of mounted devices based on the luggage mounted by the plurality of mounted devices. Among the plurality of mounted devices, the arrangement management unit distributes the plurality of mounted devices in which the luggage or the housing generates heat by supplying the power of the battery to the luggage or the housing. 13. The system of claim 13 or 14, which determines the placement of the on-board device of. Among the plurality of mounting devices, the arrangement management unit is such that the plurality of mounting devices that generate heat by supplying the power of the battery to the luggage or the housing are located outside. 13. The system of claim 13 or 14, which determines the placement of the plurality of on-board devices. It ’s an on-board device,
A housing that can carry luggage and
The lower terminal portion arranged on the lower side of the housing and
A related information receiving unit that receives altitude-related information regarding the altitude of the own device via the lower terminal unit, and a related information receiving unit.
An on-board device including an information storage unit for storing the altitude-related information. A management device that manages multiple on-board devices.
The plurality of mounting devices can be stacked and can fly autonomously, and each of the plurality of mounting devices is arranged in a housing on which luggage can be loaded and under the housing. The lower terminal unit, the related information receiving unit that receives altitude-related information about the altitude of the own device via the lower terminal unit, the information storage unit that stores the altitude-related information, and the information storage unit. It has a related information transmission unit that wirelessly transmits the altitude-related information to the management device.
The management device is
An arrangement management unit that manages the arrangement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices.
A management device including a baggage management unit that transmits a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of a baggage removal request. A program for operating a computer as the management device according to claim 18. A management method performed by a management device that manages multiple on-board devices.
The plurality of mounting devices can be stacked and can fly autonomously, and each of the plurality of mounting devices is arranged in a housing on which luggage can be loaded and under the housing. The lower terminal unit, the related information receiving unit that receives altitude-related information about the altitude of the own device via the lower terminal unit, the information storage unit that stores the altitude-related information, and the information storage unit. It has a related information transmission unit that wirelessly transmits the altitude-related information to the management device.
The management method is
An arrangement management step for managing the arrangement of the plurality of mounted devices based on the altitude-related information received from each of the plurality of mounted devices, and
A management method comprising a transmission step of transmitting a movement instruction to at least one of the plurality of mounted devices based on the arrangement of the plurality of mounted devices in response to the acquisition of a baggage removal request.

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