CN116472143A - Unmanned distribution system and unmanned distribution method - Google Patents

Abstract

An unmanned distribution system (100) comprising: a self-propelled robot (2); and an unmanned aircraft (1) for transporting the cargo to a location part way through delivery of the cargo. The self-propelled robot (2) is provided with a robot controller configured to control the self-propelled robot (2) so as to deliver the cargo discharged to the halfway point to the delivery site (4).

Description

Unmanned distribution system and unmanned distribution method

Cross-reference to related applications

The present application claims priority from japanese patent application nos. 2020-183351, which are filed on the japanese patent office at 10/30/2020, and japanese patent application nos. 2020-198526, which are filed on the japanese patent office at 11/2020, and is incorporated by reference in its entirety as part of the present application.

Technical Field

The present invention relates to an unmanned distribution system and an unmanned distribution method.

Background

Conventionally, a delivery system using a unmanned aerial vehicle is known. For example, in the delivery system disclosed in patent document 1, the cargo is transported by a vehicle to the vicinity of a destination, and from there to the destination, the cargo is transported by an unmanned aerial vehicle.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2020-083600

Disclosure of Invention

In the conventional delivery system, the unmanned aerial vehicle delivers the cargo to the destination, and therefore, it is difficult to smoothly deliver the cargo to the destination as compared with the conventional delivery system for the vehicle and the driver thereof.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a delivery system and a delivery method that can smoothly deliver and receive goods to and from a consignee.

In order to achieve the above object, an unmanned distribution system according to an embodiment of the present invention includes: a self-propelled robot; and an unmanned aerial vehicle for transporting a cargo to a point in the middle of delivering the cargo, wherein the self-propelled robot is provided with a robot controller configured to control the self-propelled robot so as to deliver the cargo discharged to the point in the middle to the delivery site.

Further, an unmanned distribution system according to another aspect of the present invention includes: a self-propelled robot; and an unmanned aerial vehicle for transporting the cargo and the self-propelled robot to a point in the middle of delivering the cargo, wherein the self-propelled robot is provided with a robot controller configured to control the self-propelled robot so as to deliver the cargo discharged to the point in the middle to the delivery point.

In another aspect of the present invention, an unmanned aerial vehicle is used to transport a cargo to a point in the middle of delivering the cargo, and a self-propelled robot is used to deliver the cargo discharged to the point in the middle to the delivery point.

In another aspect of the present invention, the unmanned aerial vehicle is configured to transport the cargo and the self-propelled robot to a point in the middle of delivering the cargo, and the self-propelled robot is configured to deliver the cargo discharged to the point in the middle to the delivery point.

Effects of the invention

The present invention provides a delivery system and a delivery method that can smoothly deliver goods to a consignee.

Drawings

Fig. 1 is a schematic diagram showing an example of a schematic configuration of an unmanned distribution system according to embodiment 1 of the present invention.

Fig. 2 is a perspective view showing an example of a detailed structure of the operation unit of fig. 1.

Fig. 3 is a side view showing an example of the structure of the self-propelled robot of fig. 1.

Fig. 4 is a functional block diagram showing an example of the configuration of the control system of the unmanned distribution system of fig. 1.

Fig. 5 is a schematic diagram showing an example of the distribution data stored in the storage unit of the robot controller.

Fig. 6 is a flowchart showing an example of the content of the autonomous operation/remote operation switching control.

Fig. 7 is a flowchart showing an example of the operation of the unmanned distribution system of fig. 1.

Fig. 8A is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8B is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8C is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8D is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8E is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8F is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8G is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8H is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8I is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8J is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8K is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 8L is a schematic diagram showing an example of the operation of the unmanned distribution system of fig. 1 in order.

Fig. 9A is a side view showing an example of a configuration of a self-propelled robot used in the unmanned distribution system according to embodiment 2 of the present invention.

Fig. 9B is a plan view showing an example of a configuration of a self-propelled robot used in the unmanned distribution system according to embodiment 2 of the present invention.

Fig. 10 is an exploded view showing an example of a configuration of a mobile robot used in the unmanned distribution system according to embodiment 4 of the present invention.

Fig. 11 is a perspective view showing a first configuration and a use mode of the self-propelled robot configured as the delivery robot by the mobile robot of fig. 10.

Fig. 12 is a perspective view showing a second configuration and a use mode of the self-propelled robot configured as the delivery robot by the mobile robot of fig. 10.

Fig. 13 is a perspective view showing a third configuration and a use mode of the self-propelled robot configured as the delivery robot by the mobile robot of fig. 10.

Fig. 14 is a perspective view showing a first configuration and a use mode of the high-rise walking robot configured by the mobile robot of fig. 10 as a maintenance robot.

Fig. 15 is a perspective view showing a second configuration and a use mode of the high-rise walking robot configured by the mobile robot of fig. 10 as a maintenance robot.

Detailed Description

Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout the drawings, and repetitive description thereof will be omitted. Further, since the following drawings are drawings for explaining the present invention, there are cases where elements not related to the present invention are omitted, where dimensions are inaccurate due to enlargement or the like, where simplification is achieved, where the forms of elements corresponding to each other in the drawings are not identical, and the like. The present invention is not limited to the following embodiments.

(embodiment 1)

Fig. 1 is a schematic diagram showing an example of a schematic configuration of an unmanned distribution system 100 according to embodiment 1 of the present invention.

[ Structure of hardware ]

Referring to fig. 1, an unmanned distribution system 100 according to embodiment 1 includes an unmanned aerial vehicle 1, a self-propelled robot 2, and an operation unit 3. The unmanned aerial vehicle will be referred to as an unmanned aerial vehicle hereinafter.

The unmanned delivery system 100 is configured such that the unmanned aerial vehicle 1 transports the cargo from the collection and distribution point 5 to a point halfway along the delivery route to the delivery point 4, and the self-propelled robot 2 delivers the cargo discharged to the point halfway to the delivery point 4. Hereinafter, the "self-propelled robot" may be simply referred to as "robot" for simplicity. The point in the middle of the delivery route is the point in the middle of delivering the goods. These components are described in detail below.

< unmanned plane 1 >)

Referring to fig. 1, the unmanned aerial vehicle 1 may be capable of transporting the distributed cargo and the self-propelled robot 2. As the unmanned aerial vehicle 1, an aircraft and a helicopter are exemplified. In addition to the devices for landing by usual taxiing, aircraft also include VTOL units (Vertical Take-off and landing units). The unmanned aerial vehicle 1 is here constituted by a VTOL machine.

The unmanned aerial vehicle 1 is internally formed with a storage house 16 shown in fig. 8C. Referring to fig. 8C, the shelf 17 is disposed in the storage 16 so as to surround the central space. The storage house 16 is configured to store the self-propelled robot 2 in the central space, and the self-propelled robot 2 performs a cargo loading and unloading operation on the pallet 17.

Referring to fig. 8A, a carry-in/carry-out door 13 is provided on a side wall of the rear portion of the unmanned aerial vehicle 1, and is opened and closed by pivoting in the front-rear direction about a lower end portion as a fulcrum. The inner surface of the carry-in/out door 13 is formed flat, and when the carry-in/out door 13 is opened and the front end is landed, the carry-in/out door becomes a carry-in/out path for the load G or the like. Further, referring to fig. 8B, the unmanned aerial vehicle 1 is provided with a lifting device 11. The lifting device 11 is here formed by a winch. Hereafter denoted as winch 11. The winch 11 is provided with a lifting door 15 that opens and closes in the left-right direction in the bottom wall of the unmanned aerial vehicle 1, and the lifting door 15 is opened when the object is lifted by the winch 11. Referring to fig. 1, a drone controller 101 is disposed in a drone 1. The unmanned aerial vehicle controller 101 includes a processor Pr3 and a memory Me3.

< operation Unit 3 >)

Fig. 2 is a perspective view showing an example of a detailed structure of the operation unit 3 in fig. 1. Fig. 3 is a side view showing an example of the structure of the self-propelled robot 2 shown in fig. 1.

Referring to fig. 2, for example, the operation unit 3 is disposed in the operation chamber 39. The place where the operation unit 3 is arranged is not particularly limited. The operation unit 3 includes: a robot manipulator 31 for operating the self-propelled robot 2, a drone manipulator 32 for operating the drone 1, an operator display 33, an operator microphone 34, an operator speaker 35, and an operator camera 36.

Referring to fig. 1 to 3, the robot manipulator 31 includes: a traveling unit manipulator 31A for manipulating the traveling unit 21 of the self-propelled robot 2; an arm manipulator 31B for manipulating the robot arm 22 of the self-propelled robot 2. The traveling unit 21 may be a carriage. The arm manipulator 31B is provided with an operation unit for operating the display robot arm 27 for supporting the customer display 23. The robot manipulator 31 may be constituted by various manipulators. Here, for example, a rocker (jo stick) is used. The robot manipulator 31 is disposed above the table 37.

The unmanned aerial vehicle manipulator 32 is constituted by, for example, various kinds of joysticks for maneuvering an aircraft. Here, the unmanned aerial vehicle manipulator 32 is constituted by a joystick-like lever. The unmanned aerial vehicle manipulator 32 is provided with various operation parts for operating the unmanned aerial vehicle 1. The unmanned aerial vehicle operator 32 is arranged above the table 37.

The operator display 33 is constituted by a liquid crystal display, for example. An image including information necessary to present the operator P1 is displayed on the operator display 33. Examples of such an image include an image captured by the field camera 26 of the self-propelled robot 2, a field image captured by the field camera of the unmanned aerial vehicle 1, information such as a position, a speed, and a fuel amount required for maneuvering the unmanned aerial vehicle 1, and a navigation image.

The operator display 33 is disposed on the table 37.

The operator speaker 35 provides voice information required by the operator P1. The operator speaker 35 is here constituted by a headset, but may also be constituted in other ways.

The operator microphone 34 acquires the voice of the operator P1. The operator microphone 34 is here arranged at the headset 35, but may also be constructed in other ways.

The operator camera 36 photographs the operator P1. The operator camera 36 is provided on the operator display 33, but may be provided in another place.

An operation unit controller 301 is provided on the table 37. The operation unit controller 301 includes a processor Pr1 and a memory Me1.

The operator P1 operates the unmanned aerial vehicle 1 by operating the unmanned aerial vehicle operator 32 with a right hand, for example, when the unmanned aerial vehicle 1 is flown, and operates the self-propelled robot 2 by operating the traveling unit operator 31A and the arm operator 31B with left and right hands, respectively, when the self-propelled robot 2 is operated. The operator P1 is, for example, an express delivery practitioner. The express delivery practitioner may be, for example, an express delivery responsible person. The operator P1 may be a dedicated operator instead of the courier.

< self-propelled robot 2 >)

Referring to fig. 3, the robot 2 as an example of the self-propelled robot may be any robot capable of autonomous traveling and handling the load. The robot 2 includes: a walking part 21 capable of autonomous walking and a robot arm 22 arranged above the walking part 21. The traveling unit 21 may be a carriage, for example. In addition, the constituent elements for handling the cargo are not necessarily robotic arms. The robot 2 in fig. 3 has a forward direction and a backward direction in the left and right directions of the drawing, respectively.

The robot 2 is shown simplified in fig. 3. Actually, as shown in fig. 9A and 9B, the robot arm 22 of the robot 2 is configured in the same manner as the robot arm 22 of the double arm of the robot 2A of embodiment 2. That is, the robot arm 22 of the robot 2 is a double-arm vertical multi-joint type robot arm. However, the robot arm 22 of the robot 2A of embodiment 2 is a 4-axis vertical articulated robot arm, and the robot arm 22 of the robot 2 of fig. 3 is a 5-axis vertical articulated robot arm. Referring to fig. 9A and 9B, gripping portions 221 as wrist portions having 3 claws 222 are provided at the tips of the pair of robot arms 22, respectively, and the pair of robot arms 22 grip the load G by the pair of gripping portions 221.

Referring to fig. 3, the travelling unit of the robot 2 is actually provided with a rectangular parallelepiped body frame, and the body frame is provided with a cargo-accommodating portion 212 that is movable in the front-rear direction. The vehicle body frame is covered with an appropriate case, and an opening for the article storage portion 212 to come in and go out is provided in front of the case. The cargo-accommodating portion 212 is formed in a rectangular box shape with an open upper surface, and is configured such that a front end surface is positioned at a retracted position on the same surface as the housing when non-cargo is being loaded and unloaded, and a predetermined portion on the front side is positioned at a forward position protruding forward when cargo is being loaded and unloaded.

A pair of front wheels 211, 211 and a pair of rear wheels 211, 211 are provided at the bottom of the running part 21. For example, any one of the pair of front wheels 211, 211 and the pair of rear wheels 211, 211 is a steering wheel, and for example, any one of the pair of front wheels 211, 211 and the pair of rear wheels 211, 211 is a driving wheel. The traveling unit 21 is mounted with a battery 28 and a motor, and the motor drives the drive wheels using the battery 28 as a power source. The cargo housing 212 is also driven to slide back and forth by a predetermined driving mechanism.

A display robot arm 27 is provided behind the robot arm 22 of the traveling unit 21. A customer display 23 is attached to the front end of the display robot arm 27. A customer microphone 24, a customer speaker 25, and a field-of-view camera 26 are provided at appropriate positions on the customer display 23. The display robot arm 27 is constituted by a vertical articulated robot arm, for example, and can take an arbitrary posture, and can orient the customer display 23, the customer microphone 24, the customer speaker 25, and the field-of-view camera 26 in an arbitrary direction.

The customer display 23 is constituted by a liquid crystal display, for example. As shown in fig. 8F, the customer display 23 displays an image including information for presenting the recipient P2. As such an image, an image captured by the operator camera 36 and the like can be exemplified.

The customer speaker 25 provides the voice information required by the recipient P2. As the voice information, the sound of the operator P1 acquired by the operator microphone 34 can be exemplified.

The operator microphone 34 acquires the voice of the operator P1. The operator microphone 34 is here arranged in the headset 35, but may also be constructed in other ways.

The operator camera 36 photographs the operator P1. The operator camera 36 is provided on the operator display 33, but may be provided in another place.

Further, the robot controller 201 is provided in the traveling unit 21. The robot controller 201 includes a processor Pr2 and a memory Me2.

The robot 2 configured in this way is controlled to operate autonomously or remotely by the robot controller 201, can handle the load G by the robot arm 22, and can move in a desired direction by the travelling unit 21.

[ constitution of control System ]

Fig. 4 is a functional block diagram showing an example of the configuration of the control system of the unmanned distribution system 100 of fig. 1.

Referring to fig. 4, the unmanned distribution system 100 includes: an operation unit controller 301, a robot controller 201, and a drone controller 101.

The operation unit controller 301 includes a robot operation signal generation section 302, a drone operation signal generation section 303, a display control section 304, a microphone IF305, an earphone IF306, an operation unit communication section 307, and a camera control section 308.

The operation unit communication section 307 is constituted by a communicator capable of data communication. In the operation unit controller 301, the robot operation signal generation unit 302, the unmanned aerial vehicle operation signal generation unit 303, the display control unit 304, the microphone IF305, the earphone IF306, and the camera control unit 308 are configured by an arithmetic unit having a processor Pr1 and a memory Me 1. These are functional blocks realized by the processor Pr1 in the arithmetic unit executing the control program stored in the memory Me 1. Specifically, the arithmetic unit is constituted by, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array ), a PLC (Programmable Logic Controller, programmable logic controller), or the like. These may be composed of a single arithmetic unit for performing centralized control, or may be composed of a plurality of arithmetic units for performing decentralized control. The robot operation signal generation unit 62 generates a robot operation signal according to the operation of the robot manipulator 31. The unmanned aerial vehicle operation signal generation unit 303 generates an unmanned aerial vehicle operation signal according to the operation of the unmanned aerial vehicle operator 32. The display control unit 304 causes the operator display 33 to display an image corresponding to the image signal transmitted from the operation unit communication unit 307. Microphone IF305 converts the speech acquired by operator microphone 34 into an appropriate speech signal. The earphone IF306 causes the operator speaker to emit a voice corresponding to the voice signal transmitted from the operation unit communication section 307. The camera control unit 308 generates an image signal of an image captured by the operator camera 36.

The operation unit communication section 307 converts the robot operation signal transmitted from the robot operation signal generation section 302, the unmanned aerial vehicle operation signal transmitted from the unmanned aerial vehicle operation signal generation section 303, the voice signal transmitted from the microphone IF305, and the image signal transmitted from the camera control section 308 into wireless communication signals and wirelessly transmits them. The operation unit communication unit 307 receives the wireless communication signal transmitted from the robot communication unit 202, converts the wireless communication signal into an image signal or a voice signal, transmits the image signal to the display control unit 304, and transmits the voice signal to the microphone IF305. The operation unit communication unit 307 receives the wireless communication signal transmitted from the unmanned aerial vehicle communication unit 102, converts the wireless communication signal into an information signal, and transmits the information signal to the display control unit 304.

The robot controller 201 includes a robot communication unit 202, a robot control unit 203, and a storage unit 204. The robot communication unit 202 is configured by a communicator capable of communicating data. The robot control unit 203 and the storage unit 204 are each constituted by an arithmetic unit having a processor Pr2 and a memory Me 2. The robot control unit 203 and the storage unit 204 are functional blocks realized by the processor Pr2 in the arithmetic unit executing a control program stored in the memory Me 2. Specifically, the arithmetic unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), and the like. These may be composed of a single arithmetic unit for performing centralized control, or may be composed of a plurality of arithmetic units for performing decentralized control.

The robot communication unit 202 receives the wireless communication signal transmitted from the operation unit communication unit 307, converts the wireless communication signal into a robot operation signal, an image signal, or a voice signal, and transmits the signals to the robot control unit 203. The robot control unit 203 controls the operation of the robot 2 based on the robot operation signal, causes the customer display 23 to display an image corresponding to the image signal, and causes the customer speaker to emit a voice corresponding to the voice signal.

The unmanned aerial vehicle controller 101 includes an unmanned aerial vehicle communication unit 102 and an unmanned aerial vehicle control unit 103. The unmanned aerial vehicle communication unit 102 is constituted by a communicator capable of data communication. The unmanned aerial vehicle control unit 103 is constituted by an arithmetic unit having a processor Pr3, a memory, and Me 3. The unmanned aerial vehicle control unit 103 is a functional module realized by the processor Pr3 in the arithmetic unit executing a control program held in the memory Me 3. Specifically, the arithmetic unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), and the like. These may be composed of a single arithmetic unit for performing centralized control, or may be composed of a plurality of arithmetic units for performing decentralized control.

The unmanned aerial vehicle communication unit 102 receives the wireless communication signal transmitted from the operation unit communication unit 65, converts the wireless communication signal into an unmanned aerial vehicle operation signal, and transmits the unmanned aerial vehicle operation signal to the unmanned aerial vehicle control unit 103. Further, the unmanned aerial vehicle communication unit 102 converts the information signal transmitted from the unmanned aerial vehicle control unit 103 into a wireless communication signal, and wirelessly transmits the same.

The unmanned aerial vehicle control unit 103 controls the operations of the unmanned aerial vehicle body 12 and the elevating device 11 of the unmanned aerial vehicle 1 based on the unmanned aerial vehicle operation signal transmitted from the unmanned aerial vehicle side communication unit 82. The unmanned aerial vehicle control unit 03 transmits, as information signals, a visual field image captured by a visual field camera of the unmanned aerial vehicle 1, information such as a position, a speed, a fuel amount, and the like necessary for manipulating the unmanned aerial vehicle 1, a navigation image, and the like, to the unmanned aerial vehicle communication unit 102.

Here, the functions of the elements disclosed in the present specification may be performed using circuits or processing circuits including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits ), existing circuits, and/or combinations thereof, which are configured or programmed in a manner to perform the disclosed functions. The processor may be considered a processing circuit or circuits since it includes transistors, other circuits. In the present invention, a "means" or "portion" is hardware that performs the recited function or hardware that is programmed in such a way as to perform the recited function. The hardware may be the hardware disclosed in this specification, or may be other known hardware programmed or configured in a manner to perform the recited functions. In the case where hardware is a processor that is considered to be one of the circuits, a "processor" or "portion" is a combination of hardware and software, the software being used in the structure of the hardware and/or the processor.

< data for delivery >

Fig. 5 is a schematic diagram showing an example of the distribution data D stored in the storage unit 204 of the robot controller 201.

Referring to fig. 5, the distribution data D includes, for example, delivery address data D1, authentication face image data D2, and map data D3. The shipping address data D1 is a list of shipping addresses. The authentication face image data D2 is face image data of the consignee P2 at the delivery site, and is acquired from the delivery principal when receiving delivery, and is stored in the storage unit 204 of the robot controller 201. The authentication face image data is stored in association with the delivery address data D1. The map data D3 is used for distribution of the robot 2.

< autonomous/remote run switching control >)

The robot controller 203 of the robot controller 201 switches and controls the robot 2 between the autonomous operation and the remote operation. The remote operation means an operation according to the operation of the robot manipulator 31, specifically, the robot operation signal.

Fig. 6 is a flowchart showing an example of the content of the autonomous operation/remote operation switching control. Referring to fig. 6, when the autonomous operation/remote operation switching control is started, the robot control unit 203 autonomously operates the robot 2, that is, autonomously operates (step S1).

Next, the robot control unit 203 determines whether a remote instruction is input (step S2). The remote instruction is contained in the robot operating signal.

When a remote command is input (yes in step S2), the robot control unit 203 causes the robot 2 to perform a remote operation, that is, a remote operation (step S5).

On the other hand, when the remote instruction is not input (no in step S2), the robot control unit 203 determines whether or not the predetermined condition is satisfied (step S3). The predetermined condition is, for example, that the road to the delivery point of the goods is a bad road 6 as shown in fig. 8F or that the person approaches the robot 2.

When the predetermined condition is satisfied (yes in step S3), the robot control unit 203 causes the robot 2 to perform a remote operation, that is, a remote operation (step S5).

On the other hand, when the predetermined condition is not satisfied (no in step S3), the robot control unit 203 determines whether or not an end command is input (step S4). The end instruction is included in the robot operation signal.

If the end instruction is not included (no in step S4), the robot control unit 203 returns the control to step S1.

On the other hand, when the end instruction is included, the robot control unit 203 ends the present control.

As described above, when the remote operation, that is, the remote operation is performed in step S5, the robot control unit 203 determines whether or not an autonomous command is input (step S6). The autonomous instructions are contained in the robot operating signals.

When the autonomous command is included (yes in step S6), the robot control unit 203 returns the control to step S1.

On the other hand, when the autonomous command is not input, the robot control unit 203 determines whether or not the authentication command is input (step S7). The authentication instruction is included in the robot operation signal.

When the authentication instruction is included (yes in step S7), the robot control unit 203 performs face authentication (step S8). The face authentication is performed by the robot control unit 203 comparing the face image data stored in the storage unit 204 with the image of the recipient P2 captured by the field camera 26. The face authentication may use a well-known method. Therefore, the description thereof will be omitted.

When the face authentication is completed, the robot control unit 203 returns the robot 2 to the remote operation (step S5). In this case, when the face authentication is established, the goods are delivered, and when the face authentication is not established, the operator P1 and the recipient P2 perform appropriate processing through a dialogue.

On the other hand, when the authentication command is not input (no in step S7), the robot control unit 203 determines whether or not an end command is input (step S9).

If the end instruction is not included (no in step S9), the robot control unit 203 returns the control to step S5.

On the other hand, when the end instruction is included, the robot control unit 203 ends the present control.

In this way, the autonomous operation/remote operation switching control is performed.

< avoidance control of person >)

Next, the avoidance control of the person will be described. The robot control unit 203 performs image processing on an image captured by the field camera 26, and determines whether or not a person is present in the image. A method of extracting a person in an image by image processing is well known, and therefore a description thereof is omitted here. When the image of the person extracted from the image captured by the view camera 26 approaches the view camera, the robot control unit 203 moves the robot 2 in the direction opposite to the direction of the image of the person. Whether or not the image of the person approaches the field camera is determined, for example, by the size of the image of the person and the expansion speed thereof.

[ action of unmanned delivery System 100 ]

Next, the operation of the unmanned distribution system 100 configured as described above will be described with reference to fig. 1 to 8L. The operation of the unmanned delivery system 100 means an unmanned delivery method. Fig. 7 is a flowchart showing an example of the operation of the unmanned distribution system 100 of fig. 1. Fig. 8A to 8L are schematic diagrams sequentially showing an example of the operation of the unmanned distribution system 100 of fig. 1. In the operation of the unmanned aerial vehicle delivery system 100, the unmanned aerial vehicle 1 is operated by the operator P1, and the robot 2 is autonomously operated or remotely operated by the robot controller 203 of the robot controller 201.

Referring to fig. 7 and fig. 8A to 8C, first, cargo is carried out in the collection and distribution point 5 (step S11). There are 3 ways of carrying the cargo.

In the first embodiment, as shown in fig. 8A, the operator P1 opens the carry-in/out door 13 of the unmanned aerial vehicle 1, and the cargo G is carried into the unmanned aerial vehicle 1 by the transport vehicle 14 through the carry-in/out door 13. In this case, the robot 2 rides on the unmanned aerial vehicle 1 through the carry-in/out door 13.

In the second embodiment, the cargo G is carried into the unmanned aerial vehicle 1 by the transport vehicle 14 in the same manner as in the first embodiment. As shown in fig. 8B, the robot 2 is mounted on the unmanned aerial vehicle 1 by a winch 11. In this case, the unmanned aerial vehicle 1 is in a hovering state, i.e., a stopped flight state, and the lift gate 15 is opened. A hook portion for hooking the front end of the wire rope of the winch 11 is provided at the angle 4 on the upper surface of the traveling portion 21 of the robot 2. When the wire rope of the winch 11 descends, the robot 2 autonomously operates to hang the hook at the tip end of the wire rope on the hook portion. The robot 2 takes a predetermined storage posture as shown in fig. 8B. Here, sensors are provided in the 4 hooks of the traveling unit 21 of the robot 2, and the robot control unit 203 senses that the hooks of the distal ends of the wire ropes are caught in the hooks by signals from the sensors. Then, the intended signal is sent to the operation unit communication section 307. Thus, the information is displayed on the operator display 33. The operator P1 winds up the winch 11 and mounts the robot 2 on the unmanned aerial vehicle 1. Then, the lift gate 15 is closed.

In the third embodiment, the robot 2 stores the cargo G in the storage unit 212 and is mounted on the unmanned aerial vehicle 1 by the winch 11 in the same manner as in the second embodiment.

Referring to fig. 8C, the robot 2 remotely operates to place the loaded cargo G on the shelf 17 in the storage 16. When the cargo G is stored in the cargo storing portion 212 of the third embodiment, the cargo G is taken out from the storing portion 212 and placed on the shelf 17.

When the work is completed, the robot 2 autonomously operates to charge the battery 28 from the unmanned aerial vehicle 1, and then fixes itself to the storage 16 by an appropriate means, thereby taking the above-described predetermined storage posture.

Referring to fig. 7, the cargo G and the robot 2 are transported by air (step S12). Here, as shown in fig. 8D, the goods G are delivered at a plurality of delivery points 4.

Next, the case where the delivery site 4 is outside the suburb and the case of the urban area will be described below.

< delivery site 4 is the suburb case >)

Referring to fig. 7, the unloading is performed at a point halfway to delivery point 4 (step S13). Referring to fig. 8E, the unloading is performed by suspending the unmanned aerial vehicle 1 and lowering the robot 2 with the winch 11. This descent is performed while the operator P1 confirms that the view image captured by the view camera of the unmanned aerial vehicle 1 displayed on the operator display 33 is on the floor. To ensure safety. In this case, the height of the unmanned aerial vehicle 1 is set to be equal to or greater than a predetermined value. The predetermined height is set to 20m, for example. In this case, after the robot 2 releases the storage posture by autonomous operation, the goods G to be distributed later are stored in the goods storage unit 212 by remote operation.

Then, after the robot 2 descends to the ground, the hook at the front end of the wire rope of the winch 11 is detached from the hook portion by autonomous operation.

Referring to fig. 7, the cargo G is transported on the ground to the delivery site 4 by the robot 2 (step S14). The unmanned aerial vehicle 1 waits for the return of the robot 2 in the air.

Referring to fig. 8F, in this case, the robot 2 travels on a road outside the suburban area while referring to the map data by autonomous operation. When the bad road 6 is encountered halfway, the operation is switched to the remote operation, and the operator P1 walks.

Referring to fig. 7, when the robot 2 arrives at the delivery site 4, the delivery of the cargo G is performed (step S15). Referring to fig. 8G, in this case, the robot 2 is switched to a remote operation by the operation of the operator P1, and presses down the intercom or the like at the delivery site 4, and when the recipient, that is, the customer, P2 appears, the robot 2 performs face authentication. Then, when the recipient P2 approaches, the robot 2 automatically stops, and is immobilized as long as there is no stand. From there, the robot 2 automatically switches to remote operation and delivers the goods G to the consignee P2. At this time, as shown in fig. 8H, the robot 2 automatically takes a predetermined cargo delivery posture. If the recipient P2 is too close, the robot 2 automatically moves in the opposite direction to the recipient P2. In this case, the robot 2 performs a conversation with the recipient P2. Specifically, the robot control unit 203 causes the customer speaker 25 to emit the sound of the operator P1 acquired by the operator microphone 34, causes the image of the operator P1 acquired by the operator camera 36 to be displayed on the customer display 23, causes the operator speaker 35 to emit the sound of the recipient P2 acquired by the customer microphone 24, and causes the image of the recipient P2 acquired by the field-of-view camera 26 to be displayed on the customer display 23, thereby allowing the recipient P2 to communicate with the operator P1. The dialogue is, for example, as follows.

The operator P1 says "delivery. The addressee P2 says "thank you". It is true that the busyness is improved. The operator P1 says "desire your reuse". ".

Referring to fig. 7, the robot 2 returns to the unloading site as in the case of the departure route (step S16). Then, the robot 2 is mounted on the standby unmanned aerial vehicle 1 (step S17). The robot 2 is mounted in the same manner as the second method of loading cargo in step S11.

< case where delivery site 4 is a City segment >)

Referring to fig. 8I, in this case, for example, the delivery site 4 is a room of a high-rise apartment. When the unmanned aerial vehicle 1 reaches the upper space of the high-rise apartment, the robot 2 is lowered to the roof. There are 2 ways of this drop. The first descent is the same as if the delivery point 4 were outsuburban. In the second descent method, the unmanned aerial vehicle 1 lands on the roof, and the robot 2 descends from the open carry-in/out door 13 to the roof.

Referring to fig. 7, the cargo G is transported to the delivery site 4, i.e., the ground by the robot 2 in the apartment (step S14). The unmanned aerial vehicle 1 waits for the return of the robot 2 in the air. In this case, the robot 2 operates remotely. Referring to fig. 8K, the robot 2 descends to a target floor using an elevator of a high-rise apartment. In this case, the elevator door is opened and closed by wireless of the robot 2.

Referring to fig. 8K, when the robot 2 comes near the target room as the delivery site 4, the operation by the operator is switched to the remote operation. The following delivery is the same as when the delivery site 4 is suburban, and the explanation thereof is omitted.

The robot 2 reaches the roof by autonomous operation interspersed with suitable remote operations. Then, the robot 2 is mounted on the standby unmanned aerial vehicle 1 (step S17). The mounting method of the robot 2 is the same as the second method of carrying cargo in step S11.

< delivery to the next delivery site 4 and return >)

When the delivery service to 1 delivery site 4 is completed, the delivery service to the next delivery site 4 is performed in the same manner as described above, and when the delivery service to all delivery sites 4 is completed, the unmanned aerial vehicle 1 returns to the collection and distribution site 5 (steps S18, 19).

{ modification 1}

In modification 1, the robot 2 is disposed at the above-described point halfway to the delivery site 4. In this case, the robot 2 may stay locally or may be recovered to the unmanned aerial vehicle 1.

According to embodiment 1 described above, the delivery of the cargo G to the consignee P2 can be smoothly performed.

(embodiment 2)

The unmanned dispensing system of embodiment 2 differs from the unmanned dispensing system 100 of embodiment 1 in that the robot 2A is used instead of the robot 2 of embodiment 1, and the other aspects are the same as the unmanned dispensing system 100 of embodiment 1.

Fig. 9A is a side view showing an example of the configuration of a robot 2A used in the unmanned distribution system according to embodiment 2 of the present invention. Fig. 9B is a plan view showing an example of the configuration of a robot 2A used in the unmanned distribution system according to embodiment 2 of the present invention.

Referring to fig. 9A and 9B, the robot 2A includes a traveling unit 21 and a pair of robot arms 22 provided on the traveling unit 21. The traveling unit 21 may be a carriage. Each of the pair of robot arms 22 is constituted by a 4-axis vertical articulated robot arm. That is, each robot arm 22 has a first link L1 rotatable about a vertical first rotation axis Ax 1. The first link L1 is common to both robot arms 22. At the front end portion of the first link L1, the base end portion of the second link L2 is rotatably provided around a second rotation axis Ax2 perpendicular to the first rotation axis Ax 1. At the front end portion of the second link L2, the base end portion of the third link L3 is rotatably provided around a third rotation axis Ax3 perpendicular to the second rotation axis Ax 2. At the front end portion of the third link L3, the base end portion of the fourth link L4 is rotatably provided around a fourth rotation axis Ax4 perpendicular to the third rotation axis Ax 3. Further, a grip 221 having 3 claws 222 is provided at the front end of the fourth link L4. The pair of robot arms 22 grip the cargo G by the pair of gripping portions 221.

The traveling portion 21 of the robot 2 is formed in a bogie shape, and a cargo-accommodating portion 212 is provided at a distal end portion. The cargo housing portion 212 is formed in a rectangular box shape having an opened upper surface of the bottom wall 212a and the side wall 212 b. In addition, an upper portion of a rear side wall portion of the cargo-accommodating portion 212 is cut away, and the pair of robot arms 22 can insert the cargo G into the cargo-accommodating portion from the cut-away portion. A pair of front wheels 211, 211 and a pair of rear wheels 211, 211 are provided at the bottom of the running part 21. For example, any one of the pair of front wheels 211, 211 and the pair of rear wheels 211, 211 is a steering wheel, and for example, any one of the pair of front wheels 211, 211 and the pair of rear wheels 211, 211 is a driving wheel. The traveling unit 21 is mounted with a battery 28 and a motor, and the motor drives the drive wheels using the battery 28 as a power source. Further, a pair of extension brackets 213 are provided on both sides of the central portion of the travel portion 21. The outrigger 213 is configured to be receivable in the traveling unit 21. When the robot 2A stops and loads and unloads the cargo G, the outriggers 213 land on the ground so as to protrude laterally from the travelling unit 21, and prevent the travelling unit 21 from moving.

A display robot arm 27 is provided behind the robot arm 22 of the traveling unit 21. The display robot arm 27 is the same as the display robot arm of embodiment 1, and therefore, the description thereof is omitted.

According to the unmanned distribution system of embodiment 2, the same advantages as those of unmanned distribution system 100 of embodiment 1 can be obtained.

Embodiment 3

Embodiment 3 is a case where the operator P1 can operate a plurality of robots 2 in embodiment 1 or embodiment 2. Other aspects are the same as embodiment 1 or embodiment 2.

Specifically, referring to fig. 4, the unmanned distribution system according to embodiment 3 includes a plurality of robots 2. The plurality of robots 2 are respectively marked with identification marks. The robot manipulator 31 is provided with an operation unit for designating the robot 2 to be operated. The robot operation signal generation unit 302 marks the identification mark of the robot 2 specified by the robot operation signal according to the operation of the operation unit. When the robot operation signal includes the identification mark of the robot 2 to which the robot 2 belongs, the robot control unit 203 of each robot 2 controls the robot 2 based on the robot operation signal.

Thus, the operator P1 can operate the plurality of autonomous robots 2 by the 1 robot operators 31.

According to embodiment 3, unmanned distribution can be effectively performed.

Embodiment 4

The unmanned dispensing system of embodiment 4 differs from the unmanned dispensing system 100 of embodiment 1 in that the robot 2B is used instead of the robot 2 of embodiment 1, and is otherwise identical to the unmanned dispensing system 100 of embodiment 1.

Fig. 10 is an exploded view showing an example of a configuration of a mobile robot 1000 used in the unmanned distribution system according to embodiment 4 of the present invention. Fig. 11 is a perspective view showing a first configuration and a use mode of the self-propelled robot 2B configured as the delivery robot by the mobile robot 1000 of fig. 10. Fig. 12 is a perspective view showing a second configuration and a use mode of the self-propelled robot 2B configured as the delivery robot by the mobile robot 1000 of fig. 10. Fig. 13 is a perspective view showing a third configuration and a use mode of the self-propelled robot 2B configured as the delivery robot by the mobile robot 1000 of fig. 10. Fig. 14 is a perspective view showing a first configuration and a usage pattern of the high-rise walking robot 2000 configured as the maintenance robot of the mobile robot 1000 of fig. 10. Fig. 15 is a perspective view showing a second configuration and a use mode of the high-rise walking robot 2000 configured as the maintenance robot by the mobile robot 1000 of fig. 10.

Referring to fig. 10, the mobile robot 1000 may be configured by a self-propelled robot 2B that is a delivery robot dedicated to delivery and a high-rise walking robot 2000 that is a maintenance robot dedicated to maintenance of a high-rise structure. This will be described in detail below.

The mobile robot 1000 includes: a base unit 310, robot arms 320, 330, and moving parts 340, 350. In fig. 10, the base unit 310 is shown in the center, the robot arm 320 and the truck 360 are shown in the upper left, the moving part 340 is shown in the lower left, the robot arm 330 is shown in the upper right, and the moving part 350 is shown in the lower right.

Referring to fig. 11 to 13, a self-propelled robot 2B as a delivery robot is configured by attaching a robot arm 320 to the upper surface of a base unit 310 and moving parts 340 to the side surfaces of both end parts of the base unit 310, and, referring to fig. 14 to 15, a high-rise walking robot 2000 as a maintenance robot is configured by attaching a robot arm 330 to the upper surface of the base unit 310 and moving parts 350 to the side surfaces of both end parts of the base unit 310.

< base unit 310 >)

The base unit 310 is a part constituting a body and a chassis of the mobile robot 1000, and is formed in a shape having a substantially fixed thickness and having narrow width portions at both end portions of a length. The base unit 310 is provided with a robot arm attachment portion 311 for attaching the robot arms 320, 330 to the upper surface of the central portion of the base unit 310. The robot arm mounting part 311 is formed in a short cylindrical shape, for example, and is rotatably provided to the main body of the base unit 310 around a rotation axis a300 perpendicular to the upper surface of the central part of the base unit 310 by a motor not shown. The robot arm mounting part 311 is provided with its upper surface flush with the upper surface of the central part of the base unit 310.

Further, a moving portion mounting portion 312 is provided on each side surface of the narrow portion at each end of the base unit 310, and an opening is formed in the moving portion mounting portion 312. The end 313 of the axle to which the moving parts 340, 350 are connected is exposed at the opening.

One of the 2 pairs of axles corresponding to the narrow portions of the two end portions of the base unit 310 is configured to be steerable, and one of the two pairs of axles is a drive axle driven by a driving source, not shown, and the other is a driven axle. In addition, two axles may be used as the drive axles. The drive source is constituted by, for example, a motor.

A battery 328 and a robot controller 1201 are mounted on the base unit 310. The battery 328 supplies electric power for operating the mobile robot 1000. The robot controller 1201 is configured in the same manner as the robot controller 201 of embodiment 1.

In addition, in the case where the base unit 310 is mounted with a Crawler (Crawler) as the moving portion 340C, the base unit 310 is formed to be narrow in the entire length, and the robot arm mounting portion 311 is formed to be integral with the main body, that is, to be non-rotatable. Further, the pair of axles are set as non-steering axles. In this case, the robot arm attachment portion 311 may be rotatable, and the robot arm 320 may be attached to the robot arm attachment portion 311.

When the moving unit 350 is attached to the moving unit attaching unit 312, the base unit 310 can be driven while being position-controlled by motors, respectively, with each axle being a base link of the robot arm.

Robot arm 320 >, and method for manufacturing the same

The robot arm 320 as the first robot arm is a robot arm constituting the self-propelled robot 2B. In order to process the distributed cargo, the robot arm 320 is required to be lifted to a certain height, and therefore includes a trunk 321 extending upward perpendicular to the upper surface of the robot arm attachment portion 311. A pair of robot arms 322, 322 are provided at the upper end of the trunk 321. Each robot arm 322 is composed of a multi-joint robot arm. The articulated robot arm is here an articulated arm. The configuration of the robot arm is not particularly limited, and may be a so-called horizontal arm, i.e., a horizontal multi-joint arm, in addition to the vertical multi-joint arm. A hand 322a is attached to the front end of the robot arm 322. The structure of the hand 322a is not particularly limited. The hand 322a is composed of an adsorption hand for vacuum adsorbing the object. The hand 322a may be a hand for holding the object from both sides, for example.

A customer display 323 is provided at the upper end of the trunk 321. The customer display 323 is provided with a customer microphone 324, a customer speaker 325, and a field-of-view camera 326. The customer display 323, the customer microphone 324, the customer speaker 325, and the field of view camera 326 are configured to be the same as the customer display 23, the customer microphone 24, the customer speaker 25, and the field of view camera 26 in embodiment 1, respectively. This enables the self-propelled robot 2B to communicate with the customers P2, which are the recipients of the delivery addresses.

As shown in fig. 11 to 13, the self-propelled robot 2B is connected to a carrier 360 for storing the delivered cargo during delivery. The carrier 360 is not self-propelled but pushed or pulled by the self-propelled robot 2B to travel. Hereinafter, the front-rear direction of the conveyance carriage 360 in the traveling direction will be referred to as the front-rear direction of the conveyance carriage 360. The cart 360 includes a body 361 formed of a rectangular parallelepiped box. The internal space of the main body 361 serves as a storage space for the distributed goods.

The main body 361 has a step 365 that is retracted forward at a lower portion of the rear end surface. An opening/closing door 364 is provided at an upper portion of the step 365 at the rear of the main body 361. The opening/closing door 364 is a cargo receiving space of the cargo access body 361 for dispensing.

Wheels 362 are provided at four corners of the bottom of the body 361, respectively.

A pair of coupling portions 361a formed of protrusions are provided on both side surfaces of the main body 361. The rear end surfaces of the pair of connecting portions 361a are respectively formed with connecting holes composed of bottomed holes for receiving the pair of hands 332a of the self-propelled robot 2B. The self-propelled robot 2B is connected to the carrier vehicle 360 by inserting the pair of hands 332a into the pair of connection holes and sucking the bottom surfaces of the connection holes. The connection structure between the connection portion 361a and the hand 322a is not limited to this. In this connection structure, the connection portion 361a and the hand 322a may be connected, for example, by providing engagement portions between the connection portion 361a and the hand 322a, thereby connecting the two.

The cart 360 further includes a battery 363. The connecting portion 361a is provided with a first electrical contact electrically connected to the battery 363, and the hand 322a of the self-propelled robot 2B is provided with a second electrical contact electrically connected to the battery 328. When the self-propelled robot 2B is connected to the carrier 360, the first electrical contact and the second electrical contact are brought into contact with each other to conduct electricity, and the battery 328 of the self-propelled robot 2B is charged by the battery 363 of the carrier 360. This charging is appropriately performed as needed by the control of the robot controller 1201 of the base unit 310. Accordingly, the walkable distance of the self-propelled robot 2B is longer than in the case where the transport vehicle 360 includes the battery 363.

< moving part 340 >)

The moving unit 340 is composed of 3 types of traveling units for traveling the mobile robot 1000.

The first moving portion 340A is constituted by an indoor tire as a first traveling portion. The indoor tire is formed with relatively small irregularities of the tread, for example. The indoor tire is attached to the base unit 310 such that its rotation axis is coupled to an end 313 of the axle of the moving part attaching part 312 of the base unit 310.

The second moving portion 340B is constituted by an outdoor tire as a second traveling portion. The outdoor tire is formed such that the unevenness of the tread is relatively large. Further, a suspension is mounted on the tire. The outdoor tire is mounted on the base unit 310 such that its rotation axis is coupled to an end 313 of the axle of the moving part mounting part 312 of the base unit 310. Further, the suspension is suitably coupled to the base unit 310.

The third moving portion 340C is constituted by a crawler-type traction device (crawler) as a third traveling portion. Crawler traction devices are also known as crawler traction devices (caterpillar). The crawler traction device is attached to the base unit 310 such that its driving mechanism is coupled to an end 313 of an axle of the moving part attaching part 312 of the base unit 310.

Robot arm 330 >, and

Referring to fig. 11 to 13, the robot arm 330 as the second robot arm is a robot arm constituting the walking robot 2000. The robot arm 330 includes a pair of robot arms 331, 331. Each robot arm 331 is constituted by a multi-joint robot arm. The articulated robot arm is here a 6-axis robot arm. A hand 331a is attached to the distal end of the robot arm 331. The structure of the hand 331a is not particularly limited. The hand 331a is composed of an adsorption hand for vacuum adsorbing an object. The hand 331a may be constituted by a hand for holding an object, for example.

Referring to fig. 14 and 15, since the robot arm 330 requires a horizontally extending forearm for high maintenance, the 2 robot arms 331 and 331 are directly attached to the robot arm attachment portion 311 of the base unit 310, respectively. Thereby, the 2 robot arms 331, 331 can extend in a manner approaching and along the upper surface of the base unit 310. Further, since the high-rise walking robot 2000 needs to be moved to a high place, the robot arm 330 is configured to compactly fold the robot arm 331.

The robotic arm 330 also includes a field of view camera 326. The field-of-view camera 326 is also directly mounted to the robot arm mounting part 311 of the base unit 310. The field-of-view camera 326 is configured in the same manner as the field-of-view camera 26 of embodiment 1. In addition, a microphone and a speaker for collecting peripheral information may be provided in cooperation with the site staff.

< moving part 350 >)

The moving unit 350 is composed of 2 kinds of legs for walking the mobile robot 1000 at a high position.

The fourth moving portion 350A is constituted by a short leg portion as the first leg portion. The short leg is constituted by a 5-axis robotic arm, for example. In this 5-axis robot arm, the base link 354 corresponds to the root of the leg, and the tip 352 corresponds to the foot of the leg. The base link 354 is coupled to the end 313 of the axle of the moving part mounting part 312 of the base unit 310. The tip 352 is configured to be rotatable in torsion with respect to the link at the joint. The tip 352 is configured to be attracted to an object. Here, the tip portion 352 is configured to include an electromagnet, and the tip portion 352 is attracted to a magnetic object by turning on the electromagnet, and the tip portion 352 is released from the magnetic object by turning off the electromagnet. Therefore, when the distal end portion 352 is sucked and fixed to the object in a state where the rotational axis of the distal end portion 352 is parallel to the rotational axis of the proximal end link 354 and the proximal end link 354 is rotated in a state where the rotational axis of the distal end portion 352 is flexibly controlled, the base unit 310 moves in a direction opposite to the rotational direction. As described later, the high-rise walking robot 2000 can walk like an inchworm.

The fourth moving part 350A further includes a hollow fixed wrapping member 353. The fixed cover member 353 is fixed to the moving portion mounting portion 312 of the base unit 310 so as to rotatably penetrate the base link 354. Thereby, the short leg portion is mounted to the base unit 310.

The fifth moving portion 350B is constituted by a long leg portion as a second leg portion. The long leg is constituted by a 7-axis robot arm, for example. Other structures are the same as those of the fourth moving portion 350A.

First structure of self-propelled robot 2B and method of use

Referring to fig. 11, in the first configuration of the self-propelled robot 2B, the robot arm 320 is mounted to the robot arm mounting portion 311 of the base unit 310, and the tire for use in the house of the first moving portion 340A is mounted to each moving portion mounting portion 312 of the base unit 310. As a result, the self-propelled robot 2B is configured as a first configuration, and thus, the indoor travel cargo-carrying robot is configured.

The self-propelled robot 2B is used for transporting, for example, cargoes at the collection and distribution site 5. The collection point 5 may be a collection center. In this case, the self-propelled robot 2B performs, for example, the following collection work.

First, the self-propelled robot 2B inserts the pair of hands 322a of the pair of robot arms 322 into the coupling holes of the pair of coupling portions 361a of the carrier 360, and sucks the bottom surfaces of the coupling holes with the hands 322a, thereby coupling the carrier 360 to itself. At this time, the battery 328 of the self-propelled robot 2B is charged by the battery 363 of the carrier 360. The self-propelled robot 2B is connected to the carrier vehicle 360 by a step 365 having a front end located at the rear of the carrier vehicle 360.

Next, the self-propelled robot 2B pushes or pulls the carrier 360 and simultaneously moves to the cargo placement position. Next, the self-propelled robot 2B stops the suction of the pair of hands 322a, and pulls out the pair of hands 322a from the coupling holes of the pair of coupling portions 361a of the carrier 360, thereby separating the carrier 360 from itself. Next, the self-propelled robot 2B loads the cargo into the carrier 360 by itself. That is, the robot for transporting the cargo is the same as the robot for unloading the cargo. Specifically, the self-propelled robot 2B opens the opening/closing door 364 of the carrier 360 by the pair of robot arms 322, holds the cargo placed at the cargo placement site by the pair of hands 322a of the pair of robot arms 322, and places the cargo in the storage space of the carrier 360. At this time, the self-propelled robot 2B rotates the body 321 as necessary, and performs this operation. When the self-propelled robot 2B receives a desired load in the carrier 360, the opening/closing door 364 is closed, and the carrier 360 is connected to itself to thereby self-propelled to a predetermined place.

Further, the self-propelled robot 2B performs the work in the reverse order as described above, as necessary, to separate the carrier 360 from itself, and to take out the cargo from the carrier 360.

In the above-described operation, the self-propelled robot 2B performs a conversation with a person via the customer display 323, the customer microphone 324, the customer speaker 325, and the field-of-view camera 326, as necessary.

Second structure of self-propelled robot 2B and method of use

Referring to fig. 12, in the second configuration of the autonomous robot 2B, the robot arm 320 is mounted to the robot arm mounting part 311 of the base unit 310, and the outdoor tire of the second moving part 340B is mounted to each moving part mounting part 312 of the base unit 310. As a result, the self-propelled robot 2B is configured as a second configuration, and constitutes an outdoor travel delivery robot.

The self-propelled robot 2B of the second configuration is provided with an outdoor tire, and therefore is suitably used as a self-propelled robot for delivery that finally delivers the cargo to the delivery site 4. Otherwise, the same as the self-propelled robot 2B of the first configuration is adopted.

Third structure of self-propelled robot 2B and method of use

Referring to fig. 13, in the third configuration of the self-propelled robot 2B, the robot arm 320 is attached to the robot arm attachment portion 311 of the base unit 310, and the crawler traction device of the third moving portion 340C is attached to each moving portion attachment portion 312 of the base unit 310. As a result, the third configuration of the self-propelled robot 2B constitutes a bad road travel delivery robot.

The self-propelled robot 2B of the third configuration is provided with a crawler-type traction device, and therefore is suitably used as a self-propelled robot for bad road distribution that travels on a bad road and finally delivers the cargo to the delivery site 4. Otherwise, the same as the self-propelled robot 2B of the first configuration is adopted. Examples of the bad road include a road at the time of disaster, an uneven road, and the like. The self-propelled robot 2B of the second configuration changes direction by reducing or stopping the speed of the crawler traction device on one side.

First structure and use method of elevation walking robot 2000

Referring to fig. 14, in the first configuration of the walking robot 2000, the robot arm 330 is attached to the robot arm attachment portion 311 of the base unit 310. Specifically, for example, a pair of robot arms 331 are mounted on the robot arm mounting part 311 of the base unit 310 so as to be symmetrically positioned with respect to the rotation axis a 300. The field camera 326 is attached to the robot arm attachment portion 311 so as to be positioned forward of the center of the pair of robot arms 331. In addition, in the case where a microphone and a speaker for collecting peripheral information are provided in cooperation with an on-site worker, these are appropriately mounted in the robot arm mounting portion 311 and/or the field camera 326. Further, a short leg portion of the fourth moving portion 350A is attached to each moving portion attaching portion 312 of the base unit 310. As a result, the maintenance robot that walks at a high place and performs maintenance is configured as the first configuration of the high-place walking robot 2000.

The high-rise walking robot 2000 of the first configuration is used, for example, as follows.

The high-rise walking robot 2000 is transported to a maintenance site of a high-rise building by, for example, the unmanned aerial vehicle of embodiment 1. As the high-rise structure, an iron tower may be exemplified. Then, for example, when the scaffold member 371 serving as a magnetic member of the scaffold is present in the high-rise building, the high-rise robot 2000 causes the tip end portion 352 of each short leg portion to be attracted to the side surface of the scaffold member 371. As the scaffold member 371, a horizontal beam member of an iron tower may be exemplified. Then, the work object 372 is checked by the field camera 326, and the work object is sucked and held by the pair of hands 331a of the pair of robot arms 331, thereby performing the required maintenance. As the work object 372, a wire rod is exemplified.

In this case, the high-rise walking robot 2000 walks as follows.

The walking robot 2000 for high places, for example, in a state in which a small gap is provided with respect to the scaffold member 371, adsorbs the distal end portion 352 to the scaffold member 371 in a state in which the rotational axis of the distal end portion 352 of each short leg portion is parallel to the rotational axis of the proximal end link 354, and rotates the proximal end link 354 rearward in a state in which the rotational axis of the distal end portion 352 is flexibly controlled. Thus, the base unit 310 moves forward and downward based on the principle of "parallel links". When the base unit 310 comes into contact with the scaffold member 371, the walking robot 2000 moves the front end portions 352 of the 2 pairs of short legs forward, and suction-fixes them in the same manner as described above. Then, when the base link 354 is rotated backward in the same manner as described above, the base unit 310 moves forward and upward, and then moves downward to contact the scaffold member 371. Thereafter, the above operation is repeated, whereby the high-rise walking robot 2000 walks in an inchworm shape.

When the scaffold 371 is not horizontal, the high-rise walking robot 2000 can walk in an inchworm shape by moving the 4 short legs forward in order while maintaining a state called "3-point support".

Second structure of step-up robot 2000 and method of use

Referring to fig. 15, in the second configuration of the walking robot 2000, the robot arm 330 is attached to the robot arm attachment portion 311 of the base unit 310 in the same manner as described above. Further, a long leg portion of the fifth moving portion 350B is attached to each moving portion attaching portion 312 of the base unit 310. As a result, as a second configuration of the high-rise walking robot 2000, a maintenance robot that walks in a high-rise and performs maintenance is configured.

The high-rise walking robot 2000 of the second configuration has a long leg portion that is longer and thicker than a short leg portion, and thus can perform a wider maintenance work.

(effects of embodiments of the invention)

The robot controller 201 may be configured to switch between the autonomous operation and the remote operation to control the autonomous robot 2.

According to this configuration, unmanned distribution can be performed more easily by performing a relatively easy service by an independent operation and performing a relatively difficult service by a remote operation.

The unmanned distribution system 100 may be provided with: the plurality of autonomous robots 2 and the robot manipulator 31 for remotely operating the plurality of autonomous robots 2 are configured such that the plurality of autonomous robots 2 and the robot manipulator 31 can be operated by 1 robot manipulator 31.

With this configuration, unmanned distribution can be performed more effectively.

The unmanned aerial vehicle 1 may be provided with a lifting device 11 that can lower the mounted object onto the ground and mount the object on the ground, and the robot controller 201 may be configured such that the self-propelled robot 2 fixes itself to the lifting device 11 and confirms that itself is fixed.

According to this configuration, the self-propelled robot 2 can be safely mounted on the unmanned aerial vehicle 1.

The robot controller 201 may be configured to control the self-propelled robot 2 so that the self-propelled robot 2 assumes a predetermined storage posture and the self-propelled robot 1 charges the battery 328 of the self-propelled robot 2 when the self-propelled robot 2 is mounted on the unmanned aerial vehicle 1.

According to this configuration, the self-propelled robot 2 can take a predetermined storage posture, thereby increasing the storage space for the cargo G, and the unmanned aerial vehicle 1 can charge the battery 328 of itself, thereby reliably operating the self-propelled robot 2.

The self-propelled robot 2B may be provided with: the robot arm 320 is mounted on the upper surface of the base unit 310, and the moving unit 340 is mounted on the side surface of the base unit 310, which is three assembly units including the robot arm 320, the base unit 310, and the moving unit 340 for moving the autonomous robot 2B.

According to this structure, the self-propelled robot 2B can be easily assembled.

The base unit 310 may be configured such that a first robot arm 320 and a second robot arm 330 are selectively attached to an upper surface thereof, and a walking unit 340 for walking the autonomous robot 2B and a leg unit 350 for walking the autonomous robot 2B at a high position are selectively attached to a side surface thereof, wherein the first robot arm 320 includes a trunk unit 321 extending perpendicularly from the upper surface of the base unit 310, and the second robot arm 330 is directly attached to the upper surface of the base unit 310 and extends so as to approach and follow the upper surface of the base unit 310.

According to this configuration, the first robot arm 320 is attached to the upper surface of the base unit 310, and the traveling unit 340 is attached to the side surface of the base unit 310, whereby the self-propelled robot 2B for distribution can be configured, for example. Further, the second robot arm 330 is attached to the upper surface of the base unit 310 and the leg 350 is attached to the side surface of the base unit 310, whereby the maintenance elevation robot 2000 for example for a high-rise building can be configured.

Many modifications and other embodiments will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions. Accordingly, the foregoing description is to be interpreted as illustrative only.

Claims (10)

1. An unmanned distribution system, comprising:

a self-propelled robot; and

an unmanned aircraft for transporting cargo to a location midway through delivery of the cargo,

the self-propelled robot includes a robot controller configured to control the self-propelled robot so as to deliver the cargo discharged to the halfway point to the delivery site.

2. An unmanned distribution system, comprising:

a self-propelled robot; and

an unmanned aerial vehicle for transporting cargo and the self-propelled robot to a location midway through delivery of the cargo,

The self-propelled robot includes a robot controller configured to control the self-propelled robot so as to deliver the cargo discharged to the halfway point to the delivery site.

3. The unmanned dispensing system of claim 1 or 2, wherein,

the robot controller is configured to control the autonomous robot by switching between autonomous operation and remote operation.

4. The unmanned dispensing system of any of claims 1 to 3,

the device is provided with: a plurality of self-propelled robots; and

a robot manipulator for remotely operating the plurality of autonomous robots,

the plurality of autonomous robots and the robot manipulator are configured such that the plurality of autonomous robots can be operated by 1 robot manipulator.

5. The unmanned dispensing system of any of claims 1 to 4, wherein,

the unmanned aerial vehicle is provided with a lifting device which can enable the carried object to descend to the ground and carry the object on the ground,

the robot controller is configured to fix the self-propelled robot to the lifting device and confirm that the self-propelled robot is fixed.

6. The unmanned dispensing system of any of claims 1 to 5, wherein,

the robot controller is configured to control the self-propelled robot so that the self-propelled robot takes a predetermined storage posture and the unmanned aerial vehicle charges its own battery when the self-propelled robot is mounted on the unmanned aerial vehicle.

7. The unmanned dispensing system of any of claims 1 to 6, wherein,

the self-propelled robot includes: a robot arm, a base unit, and a moving unit for moving the self-propelled robot,

the robot arm is attached to an upper surface of the base unit, and the moving part is attached to a side surface of the base unit.

8. The unmanned dispensing system of claim 7, wherein,

the base unit is provided with a first robot arm part and a second robot arm part on the upper surface, and a walking part for walking the self-walking robot and a leg part for walking the self-walking robot at a high place on the side surface, wherein the first robot arm part comprises a trunk part extending vertically from the upper surface of the base unit, and the second robot arm part is directly arranged on the upper surface of the base unit and can extend in a manner of approaching and along the upper surface of the base unit.

9. An unmanned distribution method is characterized in that,

transporting the cargo to a location midway through delivery of the cargo by an unmanned aerial vehicle,

delivering the goods unloaded to the halfway site to the delivery place by a self-propelled robot.

10. An unmanned distribution method is characterized in that,

transporting the goods to a place in the middle of delivering the goods by the unmanned aerial vehicle and the self-propelled robot,

delivering, by the self-propelled robot, the cargo unloaded to the halfway point to the delivery site.