WO2021130921A1

WO2021130921A1 - Transportation system, information processing system, information processing method, and recording medium

Info

Publication number: WO2021130921A1
Application number: PCT/JP2019/050909
Authority: WO
Inventors: 尭黒羽
Original assignee: 日本電気株式会社
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2021-07-01
Also published as: JPWO2021130921A1

Abstract

Provided are an information processing system, an information processing method, a recording medium, and a transportation system capable of realizing the automation of cargo transportation while ensuring a high level of safety. The information processing system includes: a generation unit that generates transportation instruction information for providing instruction, about the transportation of cargo, to a transportation apparatus which autonomously travels in a tunnel and transports the cargo; and a transmission unit that transmits the transportation instruction information to the transportation apparatus.

Description

Transportation system, information processing system, information processing method and recording medium

The present invention relates to a transportation system, an information processing system, an information processing method and a recording medium.

Patent Document 1 describes a subway freight transportation system that runs a freight vehicle as well as a vehicle that transports personnel. In the system described in Patent Document 1, a cargo handling device is arranged on a subway line for transporting personnel, and a freight vehicle as well as a vehicle for transporting personnel travels.

JP-A-2002-337685 Japanese Unexamined Patent Publication No. 6-165313

However, in the system described in Patent Document 1, it is difficult to realize unmanned freight transportation because the subway is used for freight transportation. On the other hand, when automatic driving is adopted for unmanned freight transportation, it is required to ensure high safety.

An object of the present invention is to provide a transportation system, an information processing system, an information processing method, and a recording medium capable of realizing unmanned freight transportation while ensuring high safety in view of the above-mentioned problems.

According to one aspect of the present invention, a generator that generates transportation instruction information for instructing a transport aircraft that autonomously travels in a tunnel to transport the cargo and transmits the transportation instruction information to the transport aircraft. An information processing system having a transmission unit is provided.

According to another aspect of the present invention, information for generating transportation instruction information instructing a transport aircraft that autonomously travels in a tunnel to transport the cargo and transmitting the transportation instruction information to the transport aircraft. A processing method is provided.

According to still another aspect of the present invention, a computer generates transport instruction information for instructing a transport aircraft that autonomously travels in a tunnel to transport the cargo, and the transport instruction information is used for the transport aircraft. A recording medium on which a program for executing transmission is recorded is provided.

According to still another aspect of the present invention, a tunnel laid deep underground, a transport aircraft that autonomously travels in the tunnel to transport cargo, and a transport aircraft installed on the ground to the transport aircraft. A base where loading work or unloading work of the cargo from the transport aircraft is performed, a transport device for transporting the transport aircraft between the tunnel and the base, and instructing the transport aircraft to transport the cargo. A transportation system including an information processing system that generates transportation instruction information and transmits it to the transport aircraft is provided.

According to the present invention, unmanned freight transportation can be realized while ensuring high safety.

FIG. 1 is a diagram showing an example of an overall configuration of a transportation system according to an embodiment of the present invention. FIG. 2 is a vertical cross-sectional view showing an example of the inside of a tunnel and a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 3A is a top view showing an example of a branch point of an orbit in a transportation system according to an embodiment of the present invention. FIG. 3B is a top view showing an example of a confluence of orbits in a transportation system according to an embodiment of the present invention. FIG. 4A is a vertical cross-sectional view showing an example of branch control at a branch point of a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 4B is a vertical cross-sectional view showing an example of branch control at a branch point of a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 4C is a vertical cross-sectional view showing an example of branch control at a branch point of a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 4D is a vertical cross-sectional view showing an example of branch control at a branch point of a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 5A is a top view showing an example of an intersection provided on an orbit in a transportation system according to an embodiment of the present invention. FIG. 5B is a top view showing an example of an intersection provided on an orbit in a transportation system according to an embodiment of the present invention. FIG. 6A is a top view showing an example of a loading / unloading base including an above-ground portion of a vertical transport device in a transport system according to an embodiment of the present invention. FIG. 6B is a top view showing an example of an underground space including an underground portion of a vertical transport device in a transport system according to an embodiment of the present invention. FIG. 7 is a diagram showing an example of a system configuration of a transportation system according to an embodiment of the present invention. FIG. 8 is a flowchart showing an example of processing in freight transportation by a transport aircraft in a transportation system according to an embodiment of the present invention. FIG. 9 is a flowchart showing an example of processing of each part in the transportation system according to the embodiment of the present invention. FIG. 10 is a diagram showing a configuration of an information processing system according to another embodiment of the present invention. FIG. 11 is a diagram showing a configuration of a transportation system according to still another embodiment of the present invention.

[One Embodiment]
A transportation system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9.

First, the overall configuration of the transportation system according to this embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of the overall configuration of the transportation system according to the present embodiment.

As shown in FIG. 1, the transportation system 1 according to the present embodiment includes a tunnel network 10, a transport aircraft 20, a loading / unloading base 30, a vertical transport device 40, an edge server 50, a data center 60, and a central server. 70 and a communication network 80 are included. The transportation system 1 is a system that realizes transportation of freight by an unmanned transport aircraft 20 which is a vehicle autonomously traveling in a tunnel network 10 in a specific area. The specific area where the freight is transported by the transportation system 1 is not particularly limited, but for example, all or part of the territory of a specific country, all or part of the administrative division of a specific local government, etc. Is.

In the logistics industry, where labor shortages are becoming more serious as the working-age population declines, unmanned freight transportation is required. Autonomous driving of automobiles is known as a major approach to unmanned freight transportation. However, in autonomous driving, since automobiles travel on roads where people come and go, there is no prospect of legislation from the viewpoint of safety. Therefore, the establishment of safe unmanned freight transportation technology has become an issue.

On the other hand, in the present embodiment, the freight transportation is unmanned by the transport aircraft 20 that autonomously travels in the tunnel network 10, so that the freight transportation network can be constructed without considering the traffic of people. Therefore, according to the present embodiment, it is possible to realize unmanned freight transportation while ensuring high safety.

The tunnel network 10 is laid underground. The underground where the tunnel network 10 is laid is not particularly limited, but for example, the deep underground specified by the deep underground usage, specifically, a space deeper than 40 m underground or a depth of 10 m or more from the upper surface of the supporting ground. Underground. A tunnel network 10 can be laid in the deep underground by, for example, a shield method. By laying the tunnel network 10 deep underground, it is possible to secure room for development of an underground space in a large city where underground use is congested, and to flexibly design a route by the tunnel network 10.

The tunnel network 10 includes a track 104 on which the transport aircraft 20 travels, and a power line 106 that supplies electric power to the transport aircraft 20 as power. Further, the tunnel network 10 includes a wireless communication access point 108 for wireless communication with the transport aircraft 20.

In the tunnel network 10, a plurality of transport aircraft 20 that receive power from the power line 106 autonomously travel on the track 104 along the track 104. The number of transport aircraft 20 is usually a plurality, but is not particularly limited, and may be one. The transport aircraft 20 has a loading platform on which cargo to be transported is loaded. Since the tunnel network 10 on which the transport aircraft 20 travels is a dedicated transport route for the transport aircraft 20 in which vehicles such as automobiles and railroads do not travel in addition to the transport aircraft 20, it is unmanned while ensuring high safety. Freight transportation can be realized.

The loading / unloading base 30 is a base where cargo loading work on the transport aircraft 20 and cargo unloading work from the transport aircraft 20 are performed on the ground. The loading / unloading bases 30 are installed at a plurality of locations on the ground. The plurality of loading / unloading bases 30 do not necessarily have to be bases where both cargo loading work and cargo unloading work are performed. The plurality of loading / unloading bases 30 may include at least a loading / unloading base 30 in which cargo loading work is performed, and at least a loading / unloading base 30 in which cargo unloading work is performed.

The vertical transport device 40 is installed at each loading / unloading base 30 so as to connect the tunnel network 10 and the loading / unloading base 30. The vertical transport device 40 vertically transports the transport aircraft 20 traveling on the tunnel network 10 from the tunnel network 10 to the loading / unloading base 30. Further, the vertical transport device 40 vertically transports the transport aircraft 20 in which the cargo is loaded and unloaded at the loading / unloading base 30 from the loading / unloading base 30 to the tunnel network 10. The transport direction of the transport aircraft 20 between the tunnel network 10 and the loading / unloading base 30 does not necessarily have to be the vertical direction. Instead of the vertical transport device 40, a transport device that transports the transport aircraft 20 in an inclined direction inclined with respect to the vertical direction can be installed between the tunnel network 10 and the loading / unloading base 30.

An edge server 50 is installed at the loading / unloading base 30. A central server 70 is installed in the data center 60. The edge server 50 and the central server 70 constitute a management system that manages the operation of the transport aircraft 20 in the transportation system 1.

The edge server 50 and the central server 70 are connected to the communication network 80 so as to be able to communicate with each other. Further, the wireless communication access point 108 is connected to the communication network 80. The transport aircraft 20 can connect to the communication network 80 via the wireless communication access point 108 and communicate with the edge server 50 and the like. The communication network 80 is composed of a LAN (Local Area Network), a WAN (Wide Area Network), a mobile communication network, and the like. The connection method in the communication network 80 is not limited to the wired method, but may be a wireless method.

Next, the structure of the tunnel 102 constituting the tunnel network 10 will be further described with reference to FIG. 2 together with the structure of the transport aircraft 20. FIG. 2 is a vertical cross-sectional view showing the inside of the tunnel 102 and an example of the transport aircraft 20.

As shown in FIG. 2, the tunnel 102 constituting the tunnel network 10 is laid so as to form, for example, two oncoming lanes in which the traveling directions of the transport aircraft 20 are opposite to each other. The lanes formed by the tunnel 102 are not limited to the two oncoming lanes, and may be, for example, four lanes with two lanes on each side.

A maintenance space 110 is provided inside the tunnel 102. The maintenance space 110 is provided, for example, between two tunnels 102 constituting two opposite lanes. Further, in the ground, a manhole 112 that connects the ground and the maintenance space 110 is provided. Workers can enter the maintenance space 110 by getting off the manhole 112 from the ground. Further, in the maintenance space 110, the worker can move and perform maintenance and inspection work of the equipment installed in the tunnel 102, the transport aircraft 20, and the like. Since the maintenance space 110 is installed in the tunnel 102 and the manhole 112 that connects to the maintenance space 110 from the ground is installed, the operator can easily deal with the failure of the component inside the tunnel 102. Can be done. The operator can use the maintenance space 110 to repair, replace, or the like the components. The maintenance space 110 may be secured to a minimum size within a range in which the operator can work. By reducing the maintenance space 110 and other spaces other than the space in which the transport aircraft 20 travels, the tunnel network 10 in which the transport aircraft 20 travels can be designed with a high degree of freedom.

A track 104 on which the transport aircraft 20 travels is laid on the traveling surface inside the tunnel 102. One track 104 is composed of two rails 114 arranged in parallel. The track width of the track 104 is not particularly limited, but for example, since the radius of passage through the curve is made smaller than that of the conventional passenger railway, the track width can be unified to be narrower than the track width for the passenger railway. A more complicated tunnel network 10 can be constructed by setting the track 104 to a track width that realizes a smaller curve passing radius.

Further, on the traveling surface inside the tunnel 102, a power line 106 is laid as a third rail along the track 104. The power line 106 supplies electric power to the transport aircraft 20 as power. The transport aircraft 20 can autonomously travel on the track 104 by the electric power supplied from the power line 106. By laying the power line 106 as the third rail, the radius of the tunnel 102 can be made smaller, and the underground space can be used more effectively. The power line 106 can be provided inside the tunnel 102 by various methods as well as the method based on the third rail. For example, the power line 106 can be installed in the internal space of the tunnel 102 as an overhead electric wire.

Further, inside the tunnel 102, a position information marker 116 for providing position information to the transport aircraft 20 is installed. The position information marker 116 is installed on a traveling surface inside the tunnel 102, for example. The position information marker 116 may be installed at a plurality of points at regular distance intervals, or may be installed at a specific plurality of points. The position information marker 116 records the position information that identifies the point where the position information marker 116 is installed in the tunnel network 10. The position information marker 116 is not particularly limited, but is a medium on which information such as a two-dimensional code, a three-dimensional code, and a non-contact IC (Integrated Circuit) chip can be recorded. The position information recorded on the position information marker 116 is read and acquired by the position information sensor 210 of the transport aircraft 20 passing through the installation point of the position information marker 116.

Further, inside the tunnel 102, a wireless communication access point 108 capable of communicating with the transport aircraft 20 is installed. The wireless communication access point 108 is installed, for example, on the ceiling of the tunnel 102. The location of the wireless communication access point 108 is not particularly limited, and an appropriate location can be selected according to the communication environment and the like. The wireless communication access points 108 may be installed at a plurality of points at regular distance intervals, or may be installed at a specific plurality of points. The transport aircraft 20 can connect to the communication network 80 via the wireless communication access point 108 by the communication I / F 224 described later and communicate with the edge server 50 and the like.

The transport aircraft 20 is a vehicle with a loading platform that autonomously travels inside the tunnel 102 configured as described above. The transport aircraft 20 has a vehicle unit 204 including wheels 202, a loading platform 206, a cargo container 208, and a position information sensor 210. The transport aircraft 20 is a vehicle having a plurality of sets of wheels 202 such as a four-wheeled vehicle and a six-wheeled vehicle.

The vehicle unit 204 is configured to travel along the track 104 on the track 104 by the electric power supplied from the power line 106. The vehicle unit 204 includes wheels 202 for traveling on the two rails 114 of the track 104, members and devices for traveling the transport aircraft 20 such as the actuator 218 described later. The vehicle unit 204 can travel by driving the wheels 202 by a motor that is rotated by electric power. The wheels 202 are configured to be able to travel only on the track 104. Further, the vehicle unit 204 may have various braking devices for decelerating or stopping the transport aircraft 20. The vehicle unit 204 may have a battery for temporarily storing and using the power supplied from the power line 106.

The loading platform 206 is configured to load a cargo container 208 containing cargo. The dimensions of the transport aircraft 20 and the dimensions of the loading platform 206 may be standardized so that containers for transportation such as truck transportation, rail transportation, and ship transportation can be loaded. For example, the dimensions of the transport aircraft 20 and the dimensions of the loading platform 206 may be standardized according to the loading platform dimensions of the 2-ton truck, the loading platform dimensions of the 4-ton truck, the loading platform dimensions of the 10-ton truck, or the dimensions of the container for shipping by ship. By standardizing the dimensions of the loading platform 206 so that a shipping container can be loaded, the work efficiency of unloading and loading cargo can be improved. Further, since the dimensions of the transport aircraft 20 are standardized and the maximum dimensions are determined, the minimum value of the inner diameter of the tunnel 102 can be determined, so that the period of the tunnel network 10 laying work can be shortened and the work can be shortened. The cost can be reduced.

The cargo container 208 stores the cargo to be transported. The freight container 208 is, for example, a transportation container itself for truck transportation, rail transportation, ship transportation, and the like. Further, the cargo container 208 may be dedicated to the transport aircraft 20.

The position information sensor 210 acquires the position information recorded on the position information marker 116 installed inside the tunnel 102. When the transport machine 20 passes the installation point of the position information marker 116, the position information sensor 210 reads the position information marker 116 and acquires the position information from the position information marker 116. The position information sensor 210 is provided at a position where the position information marker 116 can be read by the transport aircraft 20. For example, when the position information marker 116 is installed on the traveling surface of the tunnel 102, the position information sensor 210 is installed on the bottom surface of the vehicle unit 204 so as to face the position information marker 116.

The orbit 104 is provided with a branch point at which one orbit 104 branches from one orbit 104, and a confluence point where another orbit 104 joins one orbit 104. The route on which the transport aircraft 20 travels can be designed with a high degree of freedom by the branching point and the merging point of the track 104.

Hereinafter, the branching point and the merging point provided in the track 104 will be further described with reference to FIGS. 3A and 3B. FIG. 3A is a top view showing an example of a branch point of the track 104. FIG. 3B is a top view showing an example of the confluence of the orbits 104. In addition, in FIG. 3A and FIG. 3B, the traveling direction of the transport aircraft 20 is indicated by an arrow, respectively. Further, FIGS. 3A and 3B show a branch point that branches to the left and a merging point that merges from the left when the transport aircraft 20 travels on the left side, respectively. When the transport aircraft 20 travels on the right side, the junction and the junction are the left and right sides of the junction and the junction shown in FIGS. 3A and 3B, respectively.

As shown in FIG. 3A, at the branch point 118 where the branch destination track 104b branches to the left from the branch source track 104, the branch destination from the branch source track 104 is on the left side rail 114 side of the branch source track 104. Orbit 104b is branched. At the branch point 118, two branch rails 120 including the tongue rail are laid at the point where the transport aircraft 20 enters. The two branching rails 120 are laid inside the rail 114 of the branch source track 104 and the rail 114b of the branch destination track 104b, respectively. Further, the two branch rails 120 are fixed in a state where the flange way of the tongue rail is opened so that the transport aircraft 20 can travel in both the straight direction and the branch direction. Further, at the branch point 118, guardrails 122 are laid on the side of the track 104 and the side of the track 104b at the crossing portion where the transport aircraft 20 is guided in either the straight direction or the branch direction.

Further, as shown in FIG. 3B, the merging point 124 where the orbit 104c joins the merging destination orbit 104 from the left has a rail configuration in which the rail configuration of the branch point 118 is reversed. That is, at the merging point 124, two merging rails 126 are laid. The two merging rails 126 are installed inside the rails 114 of the track 104 and the rails 114c of the track 104c so as to correspond to the two branching rails 120 laid on the track 104c to branch from the track 104. ing. Further, at the confluence point 124, guardrails 128 corresponding to guardrails 122 at the branch point 118 are laid on the side of the track 104 and the side of the track 104c, respectively.

When the tunnel 102 constitutes two opposite lanes for left-hand traffic, the branch point 118 and the confluence point 124 provided on the track 104 are only the branch point 118 that branches to the left and only the confluence point 124 that merges from the left direction, respectively. can do. Further, when the tunnel 102 constitutes two opposite lanes for right-hand traffic, the branch point 118 and the confluence point 124 provided on the track 104 are only the branch point 118 that branches to the right and the confluence point 124 that merges from the right direction, respectively. Can only be. When the branching direction and the merging direction of the branching point 118 and the merging point 124 are unified to either the left direction or the right direction in this way, the transport aircraft 20 only controls acceleration / deceleration and unidirectional branching control. It can run on the track 104. Therefore, in this case, simple control of the transport aircraft 20 can be realized.

Here, the branch control of the transport aircraft 20 at the branch point 118 will be further described with reference to FIGS. 4A to 4D. 4A to 4D are vertical cross-sectional views showing an example of branch control at the branch point 118 of the transport aircraft 20. Although FIGS. 4B to 4D show the case of the branch point 118 branching to the left in the left-hand traffic, the configuration shown in FIGS. 4B to 4D shows the case of the branch point 118 branching to the right in the right-hand traffic. The left and right sides of are reversed.

FIG. 4A shows a vertical cross section of a straight track 104 that is not a branch point 118. As shown in FIG. 4A, the transport aircraft 20 can rotate a plurality of sets of wheels 202 including drive wheels for traveling on the track 104, flanges 212 provided inside each wheel 202, and each wheel 202. It has an axle 214 that supports the axle. The transport aircraft 20 traveling on the straight track 104 rides on the rails 114 of the track 104 with wheels 202. During this time, the flange 212 prevents the wheel 202 from derailing from the rail 114. Further, on the straight track 104, the heights of the left and right rails 114 are the same, so that the axle 214 is kept horizontal.

FIG. 4B shows a vertical cross section of the orbit 104 at the branch point 118. As shown in FIG. 4B, at the branch point 118, the branch rail 120 is fixedly installed between the rails 114 of the track 104 with the flange way open. Further, from the front of the branch point 118 to the branch point 118, the rail 114 of the track 104 is provided with a downward slope so that the height of the rail 114 on the right side is lower than the height of the rail 114 on the left side. ..

FIG. 4C shows a vertical cross section of the track 104 and the wheels 202 when the transport aircraft 20 goes straight at the branch point 118. As shown in FIG. 4C, the wheels 202 move to the right on the left and right rails 114 due to the downward inclination of the left and right rails 114 provided over the branch point 118. As a result, the flanges 212 of the left and right wheels 202 pass on the right side of the left and right branch rails 120, respectively. In this way, the transport aircraft 20 goes straight at the branch point 118.

FIG. 4D shows a vertical cross section of the track 104 and the wheels 202 at the time of branch control in which the transport aircraft 20 travels to the left, which is the branch direction, at the branch point 118. As shown in FIG. 4D, the transport aircraft 20 has a bearing 216 capable of contacting the outer portion of the left rail 114 and a bearing 216 on the outer portion of the left rail 114 in the right direction as a configuration for branching in the branching direction. It has an actuator 218 for pressing against. The actuator 218 is included in the vehicle unit 204. The bearing 216 is pivotally supported by the actuator 218 so as to be rotatable along the rail 114 as the transport aircraft 20 travels while being pressed against the rail 114.

When traveling to the left, which is the branching direction, the transport aircraft 20 presses the bearing 216 against the left side surface of the left rail 114 by the actuator 218 and applies the rail 114 to the right as shown in FIG. 4D. Due to the reaction of this force, the transport aircraft 20 and the wheels 202 move to the left on the rail 114. As a result, the actuator 218 positions the flange 212 of the left wheel 202 between the left rail 114 and the left branch rail 120, and the flange 212 of the right wheel 202 is placed inside the right branch rail 120. Position it. As a result, the flanges 212 of the left and right wheels 202 pass on the left side of the left and right branch rails 120, respectively. In this way, at the branch point 118, the transport aircraft 20 travels to the left, which is the branch direction. In the present embodiment, unlike the conventional branch control by switching the movable turnout, the branch control by the transport aircraft 20 itself is realized by applying the rail 114 by the bearing 216.

As described above, in the present embodiment, the branching rail 120 is fixed instead of controlling the branching of the transport aircraft 20 by switching the branching rail 120 as in the conventional movable turnout. The transport aircraft 20 performs branch control by the bearing 216. Therefore, in the present embodiment, the maintenance and inspection of the track 104 can be easily performed as compared with the track including the movable turnout. Further, since each transport aircraft 20 performs branch control, it is possible to realize branch control of a large number of transport aircraft 20 which is difficult with a movable turnout.

Further, in the present embodiment, unless the branch control by the bearing 216 shown in FIG. 4D is performed, the transport aircraft 20 goes straight as shown in FIG. 4C. Therefore, in the present embodiment, it is possible to secure a fail-safe that prevents the transport aircraft 20 from accidentally traveling in the branching direction.

The track 104 is appropriately provided with an intersection including a plurality of branch points 118 and a plurality of confluence points 124 described above. 5A and 5B are top views showing an example of an intersection provided on the track 104. Note that FIGS. 5A and 5B show the case of two oncoming lanes with left-hand traffic. Further, in FIGS. 5A and 5B, the traveling directions of the transport aircraft 20 are indicated by arrows, respectively. Further, the intersection in the case of two oncoming lanes with right-hand traffic is the left and right sides of the intersection shown in FIGS. 5A and 5B.

FIG. 5A shows the crossroads intersection 130. As shown in FIG. 5A, at the intersection 130, the orbits 104 intersect in a cross shape. At the intersection of the tracks 104, tunnels 102 including the tracks 104 that intersect each other are provided at different depths and intersect three-dimensionally. Each track 104 at the intersection 130 is provided with a branch point 118 and a confluence point 124 in this order in the traveling direction of the transport aircraft 20. The first branch point 118 in the orbit 104 is connected to the second confluence 124 of the orbit 104 in which the traveling direction of the transport aircraft 20 is to the left with respect to the orbit 104 via the orbit 104 of the ramp. Further, the second branch point 118 in the orbit 104 is connected to the first confluence 124 in which the traveling direction of the transport aircraft 20 is to the right with respect to the orbit 104 via the orbit 104 of the ramp. ..

At the crossroads intersection 130 shown in FIG. 5A, the transport aircraft 20 traveling on each track 104 travels to the left or right by branching at the first or second branch point 118, or goes straight without branching. can do.

In addition, FIG. 5B shows the intersection 132 of the junction. As shown in FIG. 5B, at the intersection 132, the tracks 104 intersect in a clove shape. At the intersection of the tracks 104, tunnels 102 including the tracks 104 that intersect each other are provided at different depths and intersect three-dimensionally. A confluence point 124 and a branch point 118 are provided in order in the traveling direction of the transport aircraft 20 on the track 104 outside the horizontal bar located outside the track 104 corresponding to the horizontal bar of the clove at the intersection 132. .. A branch point 118 and a confluence point 124 are provided in order on the track 104 inside the horizontal bar located inside the track 104 corresponding to the horizontal bar of the clove in the traveling direction of the transport aircraft 20. A branch point 118 is provided on the track 104 on the left side of the vertical bar located on the left side of the track 104 corresponding to the vertical bar of the clove. A confluence point 124 is provided on the track 104 on the right side of the vertical bar located on the right side of the track 104 corresponding to the vertical bar of the clove. The branch point 118 of the track 104 on the left side of the vertical bar is connected to the track 104 inside the horizontal bar via the track 104 of the ramp. Further, the track 104 on the left side of the vertical bar is connected to the confluence point 124 of the track 104 on the outside of the horizontal bar via a ramp portion curved toward the track 104 on the outside of the horizontal bar. Further, the branch point 118 of the track 104 on the outer side of the horizontal bar is connected to the track 104 on the right side of the vertical bar via the track 104 of the ramp. Further, the branch point 118 of the track 104 inside the horizontal bar is connected to the confluence point 124 of the track 104 on the right side of the vertical bar via the track 104 of the ramp.

At the intersection 132 of the junction shown in FIG. 5B, the transport machine 20 traveling on the track 104 on the left side of the vertical bar travels to the left by branching at the branch point 118, or the track 104 on the outside of the horizontal bar passes through the ramp section. It is possible to proceed to the right by merging at the confluence point 124. Further, at the intersection 132, the transport aircraft 20 traveling on the track 104 outside the horizontal bar can travel to the right by branching at the branch point 118, or can go straight without branching. Further, at the intersection 132, the transport aircraft 20 traveling on the track 104 inside the horizontal bar can travel to the left by branching at the branch point 118, or can go straight without branching.

The intersections provided on the track 104 are not limited to the

intersections

130 and 132 shown in FIGS. 5A and 5B, and are, for example, three-way intersections, four-way intersections, five-way intersections, and the like. You may.

The tunnel network 10 in which the track 104 is laid as described above is in contact with the loading / unloading base 30 via the vertical transport device 40. Hereinafter, the vertical transfer device 40 will be further described with reference to FIGS. 6A and 6B. FIG. 6A is a top view showing an example of a loading / unloading base including the above-ground portion of the vertical transport device 40. FIG. 6B is a top view showing an example of an underground space including an underground portion of the vertical transport device 40. In FIGS. 6A and 6B, the traveling direction of the transport aircraft 20 is indicated by an arrow. Note that FIG. 6B shows a case where the branch point 118 branching to the left and the merging point 124 merging from the left direction are included in the left-hand traffic, but the present invention is not limited to this. In the case of including a branch point 118 branching to the right and a merging point 124 merging from the right direction in the right-hand traffic, the configuration shown in FIG. 6B is reversed left and right.

The loading / unloading base 30 in which the vertical transport device 40 is installed is a place on the ground for loading cargo into the transport aircraft 20 and unloading the cargo from the transport aircraft 20. The loading / unloading base 30 is not particularly limited, but is installed in, for example, a port, a factory, a distribution center, a warehouse, a distribution center, etc., which have a large amount of freight transportation.

As shown in FIG. 6A, the above-ground portion 402 of the vertical transport device 40 is installed at the loading / unloading base 30. The loading / unloading base 30 is provided with a unloading area 302, a waiting area 304, and a loading area 306. Each part is provided between the above-ground part 402 and the unloading area 302, between the unloading area 302 and the waiting area 304, between the waiting area 304 and the loading area 306, and between the loading area 306 and the above-ground part 402. A track 104 is laid so that the transport aircraft 20 can move. The rail 114 laid between the parts is similar to the rail 114 laid inside the tunnel 102.

Further, as shown in FIG. 6B, the underground portion 404 of the vertical transport device 40 is installed in the underground space 90. The underground portion 404 is installed at a position directly below the above-ground portion 402 installed at the loading / unloading base 30. An orbit 104 for the transport aircraft 20 traveling on the orbit 104 of the tunnel network 10 to enter the underground portion 404 is connected to the underground portion 404. Further, the underground portion 404 is connected to the track 104 for the transport aircraft 20 to advance from the underground portion 404 to the track 104 of the tunnel network 10.

The vertical transport device 40 is configured to vertically transport the transport aircraft 20 between the above-ground portion 402 installed on the ground and the underground portion 404 installed underground. The vertical transport device 40 may vertically transport the floor including the rail 114 on which the transport aircraft 20 is placed, or may vertically transport the transport aircraft 20 alone. The vertical transfer device 40 is not particularly limited, but is, for example, a lift conveyor, an elevator, or the like.

In the loading / unloading base 30 shown in FIG. 6A, a transport aircraft 20 having the loading / unloading base 30 set as a cargo transport destination is vertically transported from the underground portion 404 of the underground space 90 to the above-ground portion 402 by the vertical transport device 40. Will arrive. The arriving transport aircraft 20 is loaded with cargo loaded at another loading / unloading base 30.

In the unloading area 302, the transport aircraft 20 loaded with cargo travels on the track 104 from the above-ground portion 402 and stops for unloading the cargo. In the unloading area 302, cargo can be unloaded from one or a plurality of transport aircraft 20. In the unloading area 302, forklifts, robots, workers, and the like perform cargo unloading work.

In the waiting area 304, the transport aircraft 20 for which the cargo has been unloaded in the unloading area 302 travels on the track 104 from the unloading area 302 and stops for waiting. In the waiting area 304, the transport aircraft 20 stops and waits until the loading time of the cargo in the loading area 306. In the standby area 304, one or a plurality of transport aircraft 20 can be on standby.

In the loading area 306, the transport aircraft 20 waiting in the standby area 304 travels on the track 104 from the standby area 304 and stops for loading cargo. In the loading area 306, cargo can be loaded into one or a plurality of transport aircraft 20. In the loading area 306, forklifts, robots, workers, and the like perform cargo loading operations.

Further, in the above-ground portion 402, the transport aircraft 20 for which the cargo has been loaded again in the loading area 306 travels on the track 104 from the loading area 306 and stops for vertical transportation. At the above-ground portion 402, the vertical transport device 40 vertically transports the transport aircraft 20 loaded with cargo to the underground portion 404.

At the loading / unloading base 30 shown in FIG. 6B, since the transport aircraft 20 enters the underground portion 404 from the track 104 inside the tunnel network 10, the track 104 for entry is connected to the underground portion 404. Further, since the transport aircraft 20 advances from the underground portion 404 to the track 104 inside the tunnel network 10, the track 104 for advancement is connected to the underground portion 404. In the orbit 104 connected to the underground portion 404, the transport aircraft 20 can enter the underground portion 404 from a plurality of directions, or the transport aircraft 20 can advance from the underground portion 404 in a plurality of directions. A plurality of branch points 118 and a confluence point 124 are provided.

The transport aircraft 20 traveling on the track 104 inside the tunnel network 10 arrives at the underground portion 404. The arriving transport aircraft 20 is loaded with cargo whose transport destination is the loading / unloading base 30 connected by the vertical transport device 40 in the underground portion 404. The transport aircraft 20 that has arrived at the underground portion 404 is vertically transported to the above-ground portion 402 installed at the loading / unloading base 30 by the vertical transport device 40.

Further, in the underground portion 404, the transport aircraft 20 loaded with cargo at the loading / unloading base 30 is vertically transported from the above-ground portion 402 by the vertical transport device 40. The transport aircraft 20 vertically transported to the underground portion 404 travels on the track 104 inside the tunnel network 10 toward the loading / unloading base 30 which is the transportation destination of the cargo.

Next, the system configuration of the transportation system 1 according to the present embodiment will be further described with reference to FIG. FIG. 7 is a diagram showing an example of the system configuration of the transportation system 1.

As shown in FIG. 7, the transport aircraft 20 in the tunnel 102 of the tunnel network 10 has an autonomous traveling system 220, a position information sensor 210, an inter-vehicle distance sensor 222, a communication I / F 224, and a traveling control device 226. doing. A plurality of position information markers 116 are installed in the tunnel 102 of the tunnel network 10. Further, a plurality of wireless communication access points 108 are installed in the tunnel 102. The wireless communication access point 108 is connected to the communication network 80 via the in-tunnel communication network 802 provided in the tunnel 102.

The autonomous traveling system 220 is an information processing system using a computer device including a CPU (Central Processing Unit), a RAM (Random Access Memory), a storage device, and the like. The autonomous traveling system 220 functions as a control system for controlling the autonomous traveling of the transport aircraft 20, and controls the autonomous traveling of the transport aircraft 20 based on the transportation instruction information, the inter-vehicle distance information, and the like.

As described above, the position information sensor 210 reads the position information marker 116 and acquires the position information from the position information marker 116. The position information sensor 210 transmits the position information to the autonomous traveling system 220.

The inter-vehicle distance sensor 222 measures the inter-vehicle distance between the front and rear transport aircraft 20 and the own aircraft with respect to the own aircraft, and acquires the inter-vehicle distance information indicating the inter-vehicle distance. The inter-vehicle distance sensor 222 is not particularly limited, but for example, the inter-vehicle distance can be measured by a millimeter-wave radar, a stereo camera, or the like. The inter-vehicle distance sensor 222 transmits inter-vehicle distance information to the autonomous traveling system 220.

The communication I / F 224 is communicably connected to the communication network 80. The communication I / F 224 can be connected to the wireless communication access point 108 by wireless communication in the tunnel 102 of the tunnel network 10 and can be communicably connected to the communication network 80 via the wireless communication access point 108. The autonomous traveling system 220 connects to the communication network 80 via the communication I / F 224 and transmits / receives information to / from the base management system 502 of the edge server 50.

Specifically, the autonomous traveling system 220 receives the transportation instruction information from the base management system 502 via the communication I / F 224. The transportation instruction information is information for instructing the transport aircraft 20 to transport the cargo. The transportation instruction information includes, for example, a transport aircraft ID (Identification), cargo information, shipper information, transportation route planning information, speed planning information, branching planning information, and the like. The transport aircraft ID is identification information that uniquely identifies the transport aircraft 20. The freight information is information on freight such as items and quantities of freight loaded on the transport aircraft 20. Shipper information is information that identifies the shipper who sends the cargo and the shipper who receives the cargo. The transportation route planning information is information indicating a route plan for specifying the route of the tunnel network 10 in which the transport aircraft 20 travels from the loading / unloading base 30 of the transport source to the loading / unloading base 30 of the transport destination. The speed plan information is information indicating the speed plan of the transport aircraft 20 while traveling from the loading / unloading base 30 of the transport source to the loading / unloading base 30 of the transport destination. The branch plan information is information that identifies the branch point 118 to which the transport aircraft 20 should branch in the route plan.

The autonomous traveling system 220 can receive transportation instruction information from the base management system 502 within the loading / unloading base 30 of the transportation source. In addition, the autonomous traveling system 220 can also receive transportation instruction information from the base management system 502 in the tunnel network 10.

Further, the autonomous traveling system 220 transmits the transportation status information to the base management system 502 via the communication I / F 224. The transportation status information is information indicating the transportation status of the cargo by the transport aircraft 20. The transportation status information includes, for example, a transport aircraft ID, location information, and the like. The position information is information for specifying the position of the transport aircraft 20, and is acquired by the position information sensor 210.

The travel control device 226 controls the vehicle unit 204 including the wheels 202 and the actuator 218 based on the control instruction information received from the autonomous travel system 220, controls the rotational drive of the wheels 202 for acceleration / deceleration, and also controls the rotation drive of the wheels 202 for acceleration / deceleration. , Branch control is performed at the branch point 118. As a result, the travel control device 226 controls the travel of the transport aircraft 20.

The autonomous travel system 220 generates control instruction information for controlling travel by the vehicle unit 204 based on the above-mentioned position information, inter-vehicle distance information, transportation instruction information, and control status information received from the travel control device 226. The control instruction information includes, for example, information for controlling the rotational drive of the wheel 202, branching control at the branching point 118, and the like. The autonomous travel system 220 transmits control instruction information to the travel control device 226.

The travel control device 226 transmits control status information to the autonomous travel system 220 while controlling the vehicle unit 204 to control the travel of the transport aircraft 20. The control status information is information indicating a control status of transportation including the vehicle unit 204. The control status information includes, for example, speed information, branch information, and the like. The speed information is information indicating the speed of the transport aircraft 20. The branch information is information indicating the branch point 118 for which branch control has been performed.

The wireless communication access point 108 is a wireless communication unit that connects the transport aircraft 20 traveling on the tunnel network 10 to the communication network 80 in a communicable manner. The wireless communication access point 108 mediates communication between the transport aircraft 20 and the communication network 80. The transport aircraft 20 can connect to the communication network 80 via the wireless communication access point 108 and communicate with the edge server 50.

The edge server 50 installed at the loading / unloading base 30 has a base management system 502 and a base DB (Database) 504. The edge server 50 is installed at each loading / unloading base 30. Further, one or a plurality of console terminals 308 are installed at the loading / unloading base 30. Further, at the loading / unloading base 30, one or a plurality of transport aircraft 20 are present for loading or unloading cargo. The edge server 50 and the console terminal 308 are communicably connected to the in-base communication network 804 provided at the carry-in / out base 30. The edge server 50 is communicably connected to the communication network 80 via the intra-site communication network 804. Further, the transport aircraft 20 can connect to the in-base communication network 804 by the communication I / F 224 and communicate with the edge server 50.

The base management system 502 is an information processing system using a computer device including a CPU, RAM, a storage device, and the like. The site management system 502 functions as a control unit that controls the edge server 50.

Further, the base management system 502 functions as an acquisition unit and a management unit that acquire and manage various information stored in the base DB 504. The information stored in the base DB 504 is, for example, the loading / unloading base ID, the transportation status information, the transportation instruction information, the integrated operation information, and the like. The carry-in / out base ID is identification information that uniquely identifies the carry-in / out base 30. The transportation status information is information indicating the transportation status of the cargo by the transport aircraft 20 received from the transport aircraft 20. The transportation instruction information is information generated in response to the transportation instruction input information received from the console terminal 308, and instructs the transport aircraft 20 to transport the cargo. The integrated operation information is information that comprehensively indicates the operation status of a plurality of transport aircraft 20 in the transportation system 1. The integrated operation information includes the operation information of each transport aircraft 20.

Further, the base management system 502 functions as a generation unit that generates transportation instruction information instructing the transport aircraft 20 to transport the cargo. The base management system 502 instructs the transport aircraft 20 waiting at the loading / unloading base 30 to transport the freight based on the transport instruction input information, the transport status information, and the integrated operation information received from the console terminal 308. Generate information.

The base management system 502 includes transportation instruction information based on transportation status information and integrated operation information indicating the transportation status and operation status of not only the transport aircraft 20 for transporting cargo but also a plurality of transport aircraft 20 including other transport aircraft 20. To generate. Therefore, the base management system 502 can generate transportation instruction information with high efficiency of freight transportation in consideration of the transportation status and the operation status of the other transport aircraft 20.

Further, the base management system 502 functions as a transmission unit that transmits transportation instruction information to the transport aircraft 20 that transports cargo. The base management system 502 can transmit transport instruction information to the transport aircraft 20 waiting in the standby area 304 at the carry-in / out base 30. The transport aircraft 20 starts transporting the cargo in response to the transport instruction information received from the base management system 502.

Further, the transport aircraft 20 that has completed the transportation of the cargo by unloading the cargo at the loading / unloading base 30 transmits the transportation completion information to the base management system 502 of the loading / unloading base 30. The transportation completion information is information indicating the completion of freight transportation.

Further, the base management system 502 generates operation information of the transport aircraft 20 based on the transportation status information, the transportation completion information, and the like received from the transport aircraft 20. The operation information is information indicating the operation status of one or a plurality of transport aircraft 20 to which the base management system 502 transmits / receives information. The operation information includes, for example, a transport aircraft ID, location information, information indicating whether or not freight transportation has been completed, and the like. The base management system 502 transmits the operation information to the integrated management system 702 of the central server 70 for the integrated management of the operation information.

The console terminal 308 is an interface device that provides an interface between the worker and the site management system 502. That is, the console terminal 308 accepts the input of the transportation instruction input information by the operator via the input device. The transportation instruction input information includes, for example, the loading / unloading base ID of the loading / unloading base 30 of the transport destination, cargo information, shipper information, and the like. The console terminal 308 transmits the transportation instruction input information to the base management system 502. Further, the console terminal 308 can display various information stored in the base DB 504 on the display device so as to be viewable. The worker can make, for example, a freight transportation plan based on various information displayed by the console terminal 308.

The central server 70 installed in the data center 60 has an integrated management system 702 and a central DB 704. The central server 70 is communicably connected to the communication network 80.

The integrated management system 702 is an information processing system using a computer device including a CPU, RAM, a storage device, and the like. The integrated management system 702 functions as a control unit that controls the central server 70.

The integrated management system 702 manages various information stored in the central DB 704. The information stored in the central DB 704 is, for example, a loading / unloading base ID, a transport aircraft ID, operation information, and the like. The operation information is received from a plurality of base management systems 502.

Further, the integrated management system 702 functions as a management unit that manages the operation of a plurality of transport aircraft 20 in the transportation system 1. That is, the integrated management system 702 integrates and manages the operation information received from the plurality of base management systems 502, and generates the integrated operation information in which each operation information is integrated. The integrated management system 702 transmits and deploys integrated operation information to all the base management systems 502 in the transportation system 1. Further, the integrated management system 702 stores and manages the integrated operation information in the central DB 704.

In the transportation system 1 according to the present embodiment configured as described above, the transport aircraft 20 completes the transportation of cargo through each phase of the standby phase, the loading phase, the autonomous traveling phase, and the unloading phase in sequence. The processing in each phase of freight transportation by the transport aircraft 20 will be further described with reference to FIG. FIG. 8 is a flowchart showing an example of processing in freight transportation by the transport aircraft 20.

As shown in FIG. 8, the transport aircraft 20 completes the transportation of cargo through the standby phase P1, the loading phase P2, the autonomous traveling phase P3, and the unloading phase P4 in that order. After that, the transport aircraft 20 shifts to the standby phase P1 again and waits for the transportation of the next cargo.

The standby phase P1 is a phase in which the transport aircraft 20 waits until the next cargo is started to be transported in the loading / unloading base 30 of the transport source. In the standby phase P1, when it is determined that the worker in the loading / unloading base 30 of the transportation source starts the freight transportation (step S102), the worker inputs a start instruction instructing the start of the freight transportation from the console terminal 308 (step S102). Step S104). The start instruction is transmitted to the transport aircraft 20 waiting in the waiting area 304 in the transport source's import / export base 30 via the base management system 502 in the transport source's import / export base 30. Upon receiving the start instruction, the transport aircraft 20 travels to the loading area 306 in the loading / unloading base 30 of the transport source and shifts to the loading phase P2.

The loading phase P2 is a phase in which cargo is loaded onto the transport aircraft 20. In the loading phase P2, a loading operation for loading the cargo into the transport aircraft 20 is performed in the loading area 306 (step S106). After the loading work is completed, the operator inputs the transportation instruction information from the console terminal 308 (step S108). As described above, the transportation instruction information includes, for example, a transport aircraft ID, cargo information, shipper information, transportation route planning information, speed planning information, branching planning information, and the like. The transportation instruction information is transmitted to the transport aircraft 20 for which the loading work has been completed in the loading area 306 in the loading / unloading base 30 of the transporting source via the base management system 502 in the loading / unloading base 30 of the transporting source. .. Upon receiving the transportation instruction information, the transport aircraft 20 shifts to the autonomous traveling phase P3 and starts autonomous traveling toward the loading / unloading base 30 of the transport destination.

The autonomous traveling phase P3 is a phase in which the transport aircraft 20 autonomously travels and transports freight based on various information received. In the autonomous driving phase P3, the inter-vehicle distance information acquisition process (step S110), the position information acquisition process (step S112), the communication process (step S114), the driving algorithm process (step S116), and the driving control process (step S118). Each process is executed. Each process is executed in parallel independently of each other. Further, each process is continuously executed until it arrives at the loading / unloading base 30 of the transportation destination and the autonomous traveling phase P3 is completed.

In the autonomous traveling phase P3, the transport aircraft 20 is vertically transported to the tunnel network 10 by the vertical transport device 40 that communicates between the transport source loading / unloading base 30 and the tunnel network 10, and then the transport destination loading / unloading base 30. The tunnel network 10 autonomously travels on the track 104.

In the inter-vehicle distance information acquisition process (step S110), the inter-vehicle distance sensor 222 of the transport aircraft 20 measures the inter-vehicle distance between the front and rear transport aircraft 20 and acquires the inter-vehicle distance information. When the inter-vehicle distance sensor 222 acquires the inter-vehicle distance information, the inter-vehicle distance sensor 222 transmits the inter-vehicle distance information to the autonomous travel system 220 that executes the travel algorithm processing.

In the position information acquisition process (step S112), the position information sensor 210 of the transport aircraft 20 reads the position information marker 116 installed in the tunnel 102 to acquire the position information. When the position information sensor 210 acquires the position information, the position information sensor 210 transmits the position information to the autonomous traveling system 220 that executes the traveling algorithm processing. The autonomous traveling system 220 of the transport aircraft 20 can grasp the position of the own aircraft in the tunnel network 10 based on the received position information, and can control the own aircraft on it.

In the communication process (step S114), the autonomous traveling system 220 of the transport aircraft 20 wirelessly communicates with the wireless communication access point 108 via the communication I / F 224, and transmits / receives information to / from the base management system 502. That is, the autonomous traveling system 220 receives the transportation instruction information from the base management system 502 and transmits the transportation status information to the base management system 502.

In the travel algorithm process (step S116), the autonomous travel system 220 of the transport aircraft 20 provides control instruction information for controlling travel by the vehicle unit 204 based on position information, inter-vehicle distance information, transportation instruction information, and control status information. Generate. The autonomous traveling system 220 is a control instruction for instructing to decelerate or stop the own aircraft when it is determined that the inter-vehicle distance to the transport aircraft 20 in front of the own aircraft is narrower than a certain distance based on the inter-vehicle distance information. To generate. In other cases, the autonomous traveling system 220 generates control instruction information for instructing acceleration / deceleration, branch control, etc. of the own machine based on position information, inter-vehicle distance information, transportation instruction information, and control status information. The autonomous travel system 220 transmits control instruction information to the travel control device 226.

In the travel control process (step S118), the travel control device 226 of the transport aircraft 20 controls the vehicle unit 204 based on the control instruction information to control the travel of the transport aircraft 20. While controlling the travel of the transport aircraft 20, the travel control device 226 transmits control status information, which is information indicating the control result, to the autonomous travel system 220.

In the present embodiment, the autonomous traveling system 220 itself of the transport aircraft 20 controls the transport aircraft 20 including acceleration / deceleration and branch control of the transport aircraft 20. In the present embodiment, since the communication network does not intervene in the control of the transport aircraft 20, it is possible to control the transport aircraft 20 with higher real-time performance as compared with the case where an external device such as a server controls the transport aircraft 20 via the communication network. It can be realized.

Further, in the present embodiment, since the autonomous traveling system 220 controls the transport aircraft 20 based on the inter-vehicle distance information, it is possible to prevent collisions between the transport aircraft 20.

In this way, after the transport aircraft 20 autonomously travels in the tunnel network 10, it is vertically transported to the transportation destination loading / unloading base 30 by the vertical transport device 40 that communicates between the tunnel network 10 and the transport destination loading / unloading base 30. At the loading / unloading base 30 of the transport destination, the transport aircraft 20 arrives at the unloading area 302. Upon arriving at the unloading area 302, the transport aircraft 20 shifts to the unloading phase P4.

The unloading phase P4 is a phase in which the unloading work of the cargo from the transport aircraft 20 is performed. In the unloading phase P4, in the unloading phase P4, the unloading operation of unloading the cargo from the transport aircraft 20 is performed in the unloading area 302 (step S120). After the unloading work is completed, the operator inputs the transportation confirmation information from the console terminal 308 (step S122). The transportation confirmation information is information indicating that the completion of freight transportation by the transport aircraft 20 has been confirmed. The transportation confirmation information includes, for example, a transport aircraft ID, a loading / unloading base ID of the loading / unloading base 30 that has completed transportation, and the like, in addition to information indicating that the completion of freight transportation has been confirmed. The transportation confirmation information is transmitted to the transport aircraft 20 for which unloading has been completed via the base management system 502 in the loading / unloading base 30 of the transportation destination. Upon receiving the transportation confirmation information, the transport aircraft 20 shifts to the standby phase P1 and waits for the transportation of the cargo at the arrival loading / unloading base 30.

The processing of each part in the transportation system 1 for realizing the transportation of freight by the above-mentioned transport aircraft 20 will be further described with reference to FIG. FIG. 9 is a flowchart showing an example of processing of each part in the transportation system 1. FIG. 9 shows the processing for each of the transport aircraft 20, the console terminal 308, the edge server 50, and the central server 70.

As shown in FIG. 9, the integrated management system 702 of the central server 70 integrates and manages the operation information received from the base management systems 502 of the plurality of edge servers 50 (step S202). The integrated management system 702 generates integrated operation information that integrates each operation information. The integrated management system 702 stores and manages the integrated operation information in the central DB 704.

Further, the integrated management system 702 transmits integrated operation information to the base management system 502 of all the edge servers 50 in the transportation system 1 and deploys it (step S204).

The base management system 502 of each edge server 50 manages various information received from each unit in the transportation system 1 (steps S206a, S206b, S206c). That is, the base management system 502 manages the integrated operation information received from the integrated management system 702 of the central server 70 (step S206a). Further, the base management system 502 manages the transportation status information received from the autonomous traveling system 220 of the transport aircraft 20 (step S206b). Further, the base management system 502 manages the transportation confirmation information received from the console terminal 308 when the freight transportation is completed (step S206c). The base management system 502 stores and manages integrated operation information, transportation status information, and transportation confirmation information in the base DB 504.

At the transport source console terminal 308, the transport instruction input information is input by the operator in order to instruct the transport aircraft 20 to transport (step S207). The console terminal 308 transmits the transportation instruction input information to the transportation source edge server 50.

Further, the base management system 502 of the edge server 50 at the loading / unloading base 30 of the transport source instructs the transport aircraft 20 to transport the cargo according to the transport instruction input information received from the console terminal 308 of the loading / unloading base 30. Generate transportation instruction information (step S208). The base management system 502 generates transportation instruction information based on the transportation instruction input information, the transportation status information, and the integrated operation information.

Further, the base management system 502 transmits the transportation instruction information to the transport aircraft 20 (step S210).

When the transport aircraft 20 receives the transport instruction information from the base management system 502, the transport aircraft 20 starts transporting the cargo according to the transport instruction information (step S212). The transport aircraft 20 autonomously travels in the tunnel network 10 (step S214), transports the cargo to the loading / unloading base 30 of the transportation destination, and completes the transportation of the cargo (step S216). The transport aircraft 20 completes the transportation of cargo through the standby phase P1, the loading phase P2, the autonomous traveling phase P3, and the unloading phase P4 shown in FIG.

While the transport aircraft 20 is autonomously traveling, the position information sensor 210 reads the position information marker 116 in the tunnel network 10 to acquire the position information (step S2142). Further, the autonomous traveling system 220 transmits the transportation status information including the position information to the edge server 50 (step S2144).

At the console terminal 308 of the transportation destination, the transportation confirmation information is input by the worker after the unloading work is completed (step S217). The console terminal 308 transmits the transportation confirmation information to the edge server 50 of the transportation destination.

The base management system 502 of each edge server 50 generates operation information of the transport aircraft 20 and transmits it to the central server 70 based on the transport status information received from the transport aircraft 20, the transport confirmation information received from the console terminal 308, and the like. (Steps S218a, S218b).

In the present embodiment, the processing related to the transportation system 1 is not executed only by the central server 70, but the processing related to the transportation system 1 is also executed by the edge server 50 of each loading / unloading base 30. That is, in the present embodiment, the integrated management system 702 included in the central server 70 and the base management system 502 included in the edge server execute the processing related to the transportation system 1. As described above, in the present embodiment, the processing related to the transportation system 1 is distributed and executed in the central server 70 and the edge server 50. Therefore, in the present embodiment, the processing efficiency of the transportation system 1 can be improved and the expandability of the entire transportation system 1 can be improved as compared with the case where the processing is executed by the central server 70 alone.

As described above, according to the present embodiment, the edge server 50 transmits the transportation instruction information to the transport aircraft 20 that autonomously travels in the tunnel 102 to transport the cargo, so that the cargo is transported, so that high safety is ensured. At the same time, unmanned freight transportation can be realized.

[Other Embodiments]
According to another embodiment, the information processing system described in the above embodiment can also be configured as shown in FIG. FIG. 10 is a diagram showing a configuration of an information processing system according to another embodiment.

As shown in FIG. 10, the information processing system 1000 according to another embodiment includes a generation unit 1002 that generates transportation instruction information for instructing a transport aircraft that autonomously travels in a tunnel to transport cargo, and transports the cargo. It has a transmission unit 1004 that transmits instruction information to the transport aircraft.

According to the information processing system 1000 according to another embodiment, the freight is transported by transmitting the transportation instruction information to the transport aircraft that autonomously travels in the tunnel and transports the freight, so that the freight can be transported while ensuring high safety. Unmanned operation can be realized.

Further, the transportation system described in the above embodiment can be configured as shown in FIG. 11 according to still another embodiment. FIG. 11 is a diagram showing a configuration of a transportation system according to still another embodiment.

As shown in FIG. 11, the transportation system 2000 according to still another embodiment includes a tunnel 2002, a transport aircraft 2004, a base 2006, a transportation device 2008, and an information processing system 2010. The tunnel 2002 is laid deep underground. The transport aircraft 2004 autonomously travels in the tunnel 2002 to transport cargo. The base 2006 is installed on the ground, and cargo loading work on the transport aircraft 2004 or cargo unloading work from the transport aircraft 2004 is performed. The transport device 2008 transports the transport aircraft 2004 between the tunnel 2002 and the base 2006. The information processing system 2010 generates transport instruction information instructing the transport aircraft 2004 to transport the freight and transmits the transport instruction information to the transport aircraft 2004.

According to the transportation system 2000 according to still another embodiment, the transportation instruction information is transmitted to the transport aircraft 2004 that autonomously travels in the tunnel 2002 to transport the cargo, so that the cargo is transported while ensuring high safety. Unmanned transportation can be realized.

[Modification Embodiment]
The present invention is not limited to the above embodiment, and various modifications are possible.

For example, in the above embodiment, the case of the transport aircraft 20 autonomously traveling on the track 104 composed of the two rails 114 installed in the tunnel network 10 has been described as an example, but the present invention is not limited to this. Absent. The transport aircraft 20 may be any as long as it can autonomously travel in the tunnel network 10. For example, the transport aircraft 20 may autonomously travel on a trackless road provided in the tunnel network 10.

Further, in the above embodiment, the case where the cargo is transported in the state of being stored in the cargo container 208 of the transport aircraft 20 has been described as an example, but the present invention is not limited to this. In addition to the transportation mode using the cargo container 208, a transportation mode according to the type of cargo to be transported and the like can be adopted.

Further, the edge server 50 and the central server 70 according to the above embodiment can be configured as an information processing system including one or a plurality of devices capable of realizing each function.

Further, there is also a processing method in which a program for operating the configuration of the embodiment is recorded on a recording medium so as to realize the functions of the above-described embodiments, the program recorded on the recording medium is read out as a code, and the program is executed by a computer. It is included in the category of each embodiment. That is, a computer-readable recording medium is also included in the scope of each embodiment. Further, not only the recording medium on which the above-mentioned computer program is recorded, but also the computer program itself is included in each embodiment.

As the recording medium, for example, a floppy (registered trademark) disk, a hard disk, an optical disk, an optical magnetic disk, a CD-ROM (Compact Disc-Read Only Memory), a magnetic tape, a non-volatile memory card, or a ROM can be used. In addition, the program recorded on the recording medium is not limited to the one that executes the process by itself, but operates on the OS (Operating System) in cooperation with other software and the function of the expansion board to execute the process. Those are also included in the category of each embodiment.

Part or all of the above embodiments may be described as in the following appendix, but are not limited to the following.

(Appendix 1)
A generator that generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport the cargo.
An information processing system having a transmission unit that transmits the transportation instruction information to the transport aircraft.

(Appendix 2)
The information processing system according to Appendix 1, wherein the generation unit generates the transportation instruction information based on the operation information indicating the operation status of the transport aircraft.

(Appendix 3)
The information processing system according to Appendix 2, wherein the generation unit generates the transportation instruction information for one of the transport aircraft based on the operation information of the plurality of the transport aircraft.

(Appendix 4)
The information processing system according to Appendix 2 or 3, which has an acquisition unit for acquiring the operation information.

(Appendix 5)
The information processing system according to Appendix 4, wherein the acquisition unit acquires the operation information from another information processing system via a communication network.

(Appendix 6)
The other information processing system is the information processing system according to Appendix 5, which manages the operation of the transport aircraft.

(Appendix 7)
The information processing system according to any one of Supplementary note 4 to 6, wherein the operation information includes the operation information of a plurality of the transport aircraft.

(Appendix 8)
The information processing system according to any one of Supplementary note 1 to 7, which has a management unit that acquires and manages transportation status information indicating the transportation status of the freight by the transport aircraft.

(Appendix 9)
The information processing system according to Appendix 8, wherein the transportation status information includes position information read by the transport aircraft from a marker installed in the tunnel.

(Appendix 10)
The information processing system according to Appendix 8 or 9, wherein the management unit acquires pre-transportation status information via a wireless communication unit installed in the tunnel.

(Appendix 11)
The information processing system according to any one of Appendix 8 to 10, wherein the management unit transmits information based on the transportation status information of the transport aircraft to another information processing system.

(Appendix 12)
The information processing system according to any one of Supplementary note 1 to 11 included in a server installed at a base where the cargo loading operation into the transport machine is performed.

(Appendix 13)
The information processing system according to Appendix 12, wherein the transmission unit transmits the transportation instruction information to the transport aircraft waiting at the base.

(Appendix 14)
The information processing system according to any one of Supplementary note 1 to 13, wherein the generation unit generates the transportation instruction information in response to an input from a console terminal by an operator.

(Appendix 15)
The information processing system according to any one of Supplementary note 1 to 14, wherein the transport aircraft travels on an orbit laid in the tunnel.

(Appendix 16)
The information processing according to Appendix 15, wherein the transport aircraft is transported by a transport device between the ground and the tunnel where the cargo is loaded onto the transport aircraft or the cargo is unloaded from the transport aircraft. system.

(Appendix 17)
The information processing system according to any one of Supplementary note 1 to 16, wherein the tunnel is laid underground in a deep underground.

(Appendix 18)
Generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport cargo to transport the cargo.
An information processing method for transmitting the transportation instruction information to the transport aircraft.

(Appendix 19)
On the computer
Generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport cargo to transport the cargo.
A recording medium in which a program for executing transmission of the transportation instruction information to the transport aircraft is recorded.

(Appendix 20)
A tunnel laid deep underground and
A transport aircraft that autonomously travels in the tunnel to transport cargo,
A base installed on the ground where the cargo is loaded onto the transport aircraft or the cargo is unloaded from the transport aircraft.
A transport device that transports the transport aircraft between the tunnel and the base,
A transportation system including an information processing system that generates transportation instruction information instructing the transportation aircraft to transport the freight and transmits the transportation instruction information to the transportation aircraft.

(Appendix 21)
The transportation system according to Appendix 20, which has another information processing system that manages the operation of the transportation aircraft.

(Appendix 22)
The transportation system according to Appendix 20 or 21, which is laid in the tunnel and has a track on which the transport aircraft travels.

(Appendix 23)
The transportation system according to any one of Appendix 20 to 22, which is laid in the tunnel and has a power line for supplying electric power to the transport aircraft as power.

(Appendix 24)
Having a marker installed in the tunnel
The transport system according to any one of Appendix 20 to 23, wherein the transport aircraft reads the marker and acquires position information.

(Appendix 25)
A transport aircraft traveling on a first track including a first rail and a second rail.
A first wheel and a second wheel for traveling on the first rail and the second rail, respectively.
A first flange and a second flange provided inside the first wheel and the second wheel, respectively.
It has an actuator that presses a bearing on the outer side of the first rail.
In the actuator, the first branch rail and the second branch rail for guiding the transport machine to the second track of the branch destination are inside the first rail and inside the second rail, respectively. It is a laid branch point, the height of the second rail is lower than the height of the first rail, and the second rail branches from the first rail on the side of the first rail. When the transport machine is guided to the second track at the branching point, the bearing is pressed against the outer portion of the first rail and is applied to the first rail and the first branch. A transport machine in which the first flange is positioned between the rail and the second flange, and the second flange is positioned inside the second branching rail.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the structure and details of the present invention within the scope of the present invention.

1 ... Transport system 10 ... Tunnel network 20 ... Transport aircraft 30 ... Carry-in / out base 40 ... Vertical transport device 50 ... Edge server 60 ... Data center 70 ... Central server 80 ... Communication network

Claims

A generator that generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport the cargo.
An information processing system having a transmission unit that transmits the transportation instruction information to the transport aircraft.
The information processing system according to claim 1, wherein the generation unit generates the transportation instruction information based on the operation information indicating the operation status of the transport aircraft.
The information processing system according to claim 2, wherein the generation unit generates the transportation instruction information for one of the transport aircraft based on the operation information of the plurality of the transport aircraft.
The information processing system according to claim 2 or 3, which has an acquisition unit for acquiring the operation information.
The information processing system according to claim 4, wherein the acquisition unit acquires the operation information from another information processing system via a communication network.
The other information processing system is the information processing system according to claim 5, which manages the operation of the transport aircraft.
The information processing system according to any one of claims 4 to 6, wherein the operation information includes the operation information of a plurality of the transport aircraft.
The information processing system according to any one of claims 1 to 7, which has a management unit that acquires and manages transportation status information indicating the transportation status of the freight by the transport aircraft.
The information processing system according to claim 8, wherein the transportation status information includes position information read by the transport aircraft from a marker installed in the tunnel.
The information processing system according to claim 8 or 9, wherein the management unit acquires pre-transportation status information via a wireless communication unit installed in the tunnel.
The information processing system according to any one of claims 8 to 10, wherein the management unit transmits information based on the transportation status information of the transport aircraft to another information processing system.
The information processing system according to any one of claims 1 to 11, which is included in a server installed at a base where the cargo loading operation into the transport machine is performed.
The information processing system according to claim 12, wherein the transmission unit transmits the transportation instruction information to the transport aircraft waiting at the base.
The information processing system according to any one of claims 1 to 13, wherein the generation unit generates the transportation instruction information in response to an input from a console terminal by an operator.
The information processing system according to any one of claims 1 to 14, wherein the transport aircraft travels on an orbit laid in the tunnel.
The information according to claim 15, wherein the transport aircraft is transported by a transport device between the ground and the tunnel where the cargo loading operation into the transport aircraft or the cargo unloading operation from the transport aircraft is performed. Processing system.
The information processing system according to any one of claims 1 to 16, wherein the tunnel is laid underground in a deep underground.
Generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport cargo to transport the cargo.
An information processing method for transmitting the transportation instruction information to the transport aircraft.
On the computer
Generates transportation instruction information that instructs a transport aircraft that autonomously travels in a tunnel to transport cargo to transport the cargo.
A recording medium in which a program for executing transmission of the transportation instruction information to the transport aircraft is recorded.
A tunnel laid deep underground and
A transport aircraft that autonomously travels in the tunnel to transport cargo,
A base installed on the ground where the cargo is loaded onto the transport aircraft or the cargo is unloaded from the transport aircraft.
A transport device that transports the transport aircraft between the tunnel and the base,
A transportation system including an information processing system that generates transportation instruction information instructing the transportation aircraft to transport the freight and transmits the transportation instruction information to the transportation aircraft.