JP2001287183A - Automatic conveyance robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a conveyed object from being stolen by a third party and a dangerous object from being accidentally diffused. SOLUTION: A robot 2 comprises a travel part capable of self-travel to a specified target position, a storage part 1 with a reclosable storage door 12, a lock part 3 for holding the storage door 12 closed, a lock control part for controlling the unlocking of the lock part 3, an interface part 10 used with an operator, a registrant recognition part 4 for recognizing the registrant for handling of the robot 2 from information inputted via the interface part 10, and a position detecting means 11 for detecting the current position of the robot 2. A control part is provided and is set to unlock the lock part 3 after the position detecting means 11 detects that the robot 2 has reached the specified target position and the registrant recognition part 4 recognizes the registrant for handling.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transport robot for automatically transporting an article to a destination. In particular, in spaces where an unspecified number of people can enter and exit, such as hospitals and public institutions, confidential or dangerous materials (for example, charts, drugs, specimens, etc. in hospitals)
When transporting, the transported item is stolen by a third party,
It is used when security protection is necessary, such as inadvertent diffusion of dangerous goods.

[0002]

2. Description of the Related Art Conventionally, it has been known in Japanese Patent Application Laid-Open No. 9-267276 that an article is transferred by an automatic transfer robot.

However, in a space where an unspecified number of people, such as hospitals and public institutions, can enter and leave, objects and dangerous materials that require secrets by transport robots (for example, in hospitals, charts, drugs, specimens, etc.) When transporting
There are problems such as the transported article being stolen by a third party, and dangerous goods being inadvertently spread.

Another conventional example is disclosed in Japanese Unexamined Patent Publication No. 59-17 / 1984.
No. 9449 is known. In this conventional example, a locking device is provided in a storage portion provided in an automatic guided vehicle, and the locking device is configured to be unlocked by inputting a password.

[0005] However, even in this conventional example, the lock can be easily unlocked only by knowing the personal identification number, and the conveyed product may be stolen by a third party, or dangerous materials may be inadvertently spread. There is a problem, and when the recipient is absent or an error occurs, it is not possible to take prompt action.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and in a robot that automatically conveys a conveyed object to a designated target position, the conveyed object may be stolen by a third party or may be dangerous. It is an object of the present invention to provide an automatic transfer robot which has a security function so that an object is not inadvertently spread, and which can easily detect an abnormality of the robot and perform a correct operation. .

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, an automatic transport robot according to the present invention comprises a traveling section which travels in a self-propelled manner to a designated target position and a storage section 1 having a storage door 12 which can be opened and closed. A lock unit 3 for holding the storage door 12 in a closed state, a lock control unit for controlling the release of the lock unit 3, an interface unit 10 for an operator, and information input by the interface unit 10. The robot 2 includes a registrant recognizing unit 4 for recognizing a registrant of the robot 2 and a position detecting unit 11 for detecting a current position of the robot 2. That the lock unit 3 is released by confirming the arrival of the robot 2 and the registrant in the registrant recognizing unit 4 at the same time. It is an butterfly. With such a configuration, the transported object is stored in the storage unit 1 of the robot 2 and moved to the designated target position while the lock unit 3 is locked, so that the robot 2 reaches the designated target position and registers the handling. When the user is confirmed, the lock unit 3 is released, and the registrant can surely take out the conveyed product stored in the storage unit 1 of the robot 2 at the designated destination position. is there.

[0008] At least one of the recognition of the arrival of the robot 2 at the designated target position and the confirmation of the registrant of handling is performed by:
It is preferable that the monitoring be performed by the remote monitoring operation unit 7. With such a configuration, the remote monitoring and operation of the remote monitoring operation unit 7 can surely confirm and confirm the arrival of the recipient. In this case, the robot 2 can take immediate action, and can quickly take the next action.

It is preferable to have an abnormality detecting section 6 for detecting an abnormality of the robot 2. With such a configuration, an abnormality of the robot 2 can be detected.

It is preferable that the registrant recognizing unit 4 recognizes the registrant by using a password input by a password input device provided in the interface unit 10. With such a configuration, the recipient can receive the robot 2
By inputting a personal identification number at the arrival position (designated destination position), the ID can be recognized and the registrant can be confirmed.

The registrant recognizing unit 4 preferably comprises an ID card reader 17 provided on the interface unit 10 by the registrant. With such a configuration, the ID card reading device 1
By reading an ID card for recognizing the registrant, the ID can be recognized.

It is preferable that the registrant recognizing unit 4 comprises a device for reading a characteristic of a human body. By adopting such a configuration, it is possible to read the characteristics of the human body such as a fingerprint, a voiceprint, a retina, and a face at the arrival position of the robot 2 and to confirm the registrant.

The registrant recognizing section 4 preferably comprises a signal receiving device 20 for receiving a signal transmitted from the signal transmitting device 19 of the registrant and recognizing the registrant. With such a configuration, the signal registrant can be recognized by receiving the signal transmitted by the signal transmitting device 19 at the arrival position of the robot 2 by the signal receiving device 20, and the ID recognition can be performed without contact. It is possible.

Further, it is preferable that the position detecting means 11 comprises a traveling distance integrating section and a traveling direction recognizing section. With such a configuration, the position of the robot 2 can be easily detected by obtaining the traveling distance and traveling direction of the robot 2.

Preferably, the position detecting means 11 is a means for recognizing an image of a specific moving environment during traveling. With such a configuration, the position of the robot 2 can be detected by recognizing an environmental image during traveling or a landmark in the environment.

It is preferable that the position detecting means 11 is a means for recognizing a sign indicating position information previously set in the moving environment of the robot 2. With such a configuration, the robot 2 recognizes position information such as a barcode, ID, or magnetism installed in the moving environment of the robot 2 and
Can be detected.

It is preferable that the abnormality detector 6 detects an abnormality when the robot 2 deviates from a predetermined reference distance by a predetermined distance or more. With such a configuration, when the robot 2 deviates from the reference route by a predetermined distance or more, it is detected that the robot 2 is abnormal, thereby enabling stable traveling.

Further, an abnormality detecting unit 6 for detecting an abnormality of the robot 2 is provided. The abnormality detecting unit 6 can display an image of a specific moving environment during traveling or position information set in the moving environment of the robot 2. It is preferable to have a time measuring means for measuring a time until the indicated sign is recognized, and to detect the abnormality as an abnormality when the elapsed time exceeds a predetermined time. With such a configuration, the time until the robot 2 recognizes a sign indicating the position information set in advance in the moving environment of the robot 2 is measured, and the elapsed time exceeds a predetermined time by a certain amount or more. Then, it is detected as abnormal, thereby enabling stable running.

Further, it is preferable that the abnormality detecting section 6 is provided with a ground detection sensor 21 for detecting contact between the ground portion of the robot 2 and the floor. With such a configuration, when the robot 2 falls, the ground contact portion of the robot 2 separates from the floor, so that it can be detected by the ground detection sensor 21 and the fall of the robot 2 can be detected. .

An abnormality detecting unit 6 for detecting an abnormality of the robot 2 is provided. The abnormality detecting unit 6 detects an abnormality when an image of a predetermined traveling place in the moving environment does not match a predetermined image. It is preferable to have an image processing device that performs the processing. With such a configuration, when the robot 2 deviates from the route, the captured image does not match the predetermined image and is determined to be abnormal, and it is detected that the robot 2 has deviated from the route. Become.

Further, it is preferable that the abnormality detecting section 6 is provided with a voice alarm means for notifying the surroundings of the occurrence of the abnormality by voice when the abnormality is detected. With such a configuration,
In the event of an abnormality, the occurrence of the abnormality can be notified to the surroundings by voice.

It is preferable that the robot 2 is provided with a communication means 8, and the communication means 8 is a wireless communication means. With such a configuration, the robot 2 can be remotely controlled by the wireless communication means, and, for example, getting on and off the elevator can be performed by the remote control using the wireless communication means.

If the lock is not released within a predetermined time after confirming that the robot 2 has reached the designated destination position,
It is preferable to move the robot 2 to the next designated destination position. With such a configuration, when the recipient is absent, the transported object can be transferred to the next position without stopping the robot 2 at that position.

If the lock is not released within a predetermined time after confirming that the robot 2 has reached the designated destination position,
It is preferable to stop the robot 2 until an operation from the remote monitoring operation unit 7 is performed. When the lock is not released within a predetermined time at the designated target position in this way, the robot 2 is stopped until there is an operation from the remote monitoring operation unit 7, so that the robot 2 is instructed at the designated position. It can be prevented from moving to other places.

Further, it is preferable to provide a sheet issuing device 25 for leaving a sheet recording that the sheet has been conveyed at the designated transfer position when the robot 2 has been transferred to the designated transfer position. With such a configuration,
It is possible to issue a sheet recording that the sheet has been transported, and to notify the other party of the fact that the sheet has been transported.

A plurality of storage sections 1 are provided, and each storage section 1 is provided.
Is preferably movable so that any one of the plurality of storage portions 1 can be selectively opposed to the storage door 12. With such a configuration, a plurality of types of conveyed articles can be separately stored in the plurality of storage sections 1 and reliably transported to the designated target position.

A terminal device 80 is provided at each destination for receiving the transfer information of the robot 2 from the remote monitoring operation unit 7 and transmitting the status of the recipient to the robot 2 through the remote monitoring operation unit 7. It is preferable that the transfer be started after the robot 2 receives the information from the terminal device 80 that the robot can be received. With such a configuration, when the recipient can receive the article, the robot 2 transports the article to the recipient, and the article can be smoothly received.

Also, a terminal device 80 is provided at each destination for receiving the transfer information of the robot 2 from the remote monitoring operation unit 7 and transmitting the status of the recipient to the robot 2 through the remote monitoring operation unit 7. Terminal device 80 that the recipient can receive when loading a conveyed product on the robot 2
After the information from the robot 2 is received by the robot 2, the lock unit 3 of the storage door 12 is provided so that the luggage can be received from the client.
Is preferably released. With such a configuration, when the robot 2 confirms that the recipient can receive, the robot 2 can receive the transported article from the client and transport it to the recipient. .

Before the robot 2 starts the transfer,
It is preferable that information relating to transportation, such as the name of the client, the contents of the transported goods, and the estimated arrival time, be sent to the recipient through the terminal device 80 in advance. With such a configuration, it is possible to notify the recipient of the information regarding transport in advance.

Further, a means is provided for inputting a desired transfer time of a transfer time to the interface unit 10 of the robot 2 when the client loads a transfer object. If the estimated completion time is expected to exceed the desired transfer time, it is preferable that the robot 2 stops the transfer and notifies the client of the transfer stop information through the terminal device 80. With such a configuration, it is possible to prevent a trouble due to a transport delay before starting the transport.

The interface unit 1 of the robot 2
It is preferable that a means for inputting the transport priority of the transported object be provided at 0, and when a plurality of transports be started, the transport order is determined based on the transport priority. By adopting such a configuration, it is possible to efficiently carry the objects from the one having the highest priority.

Further, a terminal device 90 is provided at the collection request source,
The request location, the client name,
An interface unit 91 for inputting information such as the name of the conveyed product and the destination is provided. Based on the input information, the robot 2 goes to the collection position specified by the collection requestor and collects the conveyed product. After arriving at the collection position, it is preferable to convey the goods stored by the collection client to a designated destination. By adopting such a configuration, the (client) collection requester does not go to the robot 2 and the robot 2 goes to the collection point designated by the collection requester to collect the conveyed goods, and after collection, It can be transported to a designated destination.

Also, a plurality of storage units 1 are provided in the robot 2,
When the client carries the transported object to the robot 2 and stores it in the storage unit 1, the storage unit 1 accepts the storage until the number of empty storage units 1 is reduced to a preset number, It is preferable that the set number of empty storage units 1 receive the storage when storing the transported goods at the collection destination when the collection request is received from the terminal device 90 of the collection request source. With such a configuration, a case where the client brings and stores the transported goods at the place of the robot 2 and a case where the robot 2 makes a collection request and the robot 2 goes to the collection place to store the goods. In either case, the transported goods can be stored, and a storage section can be secured according to the purpose.

The storage unit 1 is a connecting carriage 102 that is detachable from the robot 2 and can be connected to another storage unit 1 separated from the other robot 2. It is preferable to add a connecting bogie interface 103 having the function of (1). With such a configuration, a large amount of goods can be transported by connecting the connecting carts 102, and even if the client does not go to the place where the robot 2 is located, the connecting cart interface unit 103 Can be requested for transportation.

Further, at the collection destination, the robot and the connecting cart 102 placed at a predetermined position are automatically connected using a camera and a distance sensor attached to the robot 2, and connected to the designated transfer destination by the robot 2. Trolley 10
2 is preferably transported. With such a configuration, the processes from collection to transport can be performed automatically, and the connection between the robot 2 and the connection cart 102 can be performed automatically.

If a notification that the recipient can be received is not transmitted from the terminal device 80 of the transfer destination to the robot 2 via the remote monitoring operation unit 7, the connecting cart is separated from the robot 2 and moved to a predetermined position. The robot 2 is stored and stored again when the recipient is confirmed.
It is preferable to start the conveyance by connecting the connecting cart 102 to the storage location of the vehicle. With such a configuration,
Even if the recipient is absent, untransported goods can be efficiently transported.

It is preferable to add a temperature controller 13 to the storage section 1. By adopting such a configuration, it is possible to transport the stored items while controlling the temperature of the stored items by the temperature adjusting device 13.

Further, it is preferable to add a disinfection device 14 to the storage section 1. With such a configuration, the stored items can be kept clean by the sterilizing and disinfecting device 14 and can be transported while preventing diffusion of bacteria and the like.

It is preferable that the storage section 1 has an anti-vibration structure. With such a configuration, it is possible to protect the storage items stored in the storage unit 1 by impact.

It is preferable that the vibration damping structure is constituted by the variable viscosity damper 15. With such a configuration,
The vibration damping effect can be easily changed depending on the difference in the weight of the conveyed object.

[0041]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments shown in the accompanying drawings.

FIGS. 1 and 2 show an automatic transfer robot 2 for storing a transferred object and automatically moving it to a designated destination position.
3 is a front view and a side view, and FIG. 3 is a schematic control block diagram of the robot 2. The storage unit 1 is provided in the front part of the upper part of the robot 2, and an access opening 26 is provided in the front of the storage unit 1. The storage door 12 is provided in the access opening 26 so as to be openable and closable. is there. The storage door 12 is provided with a lock portion 3 for locking a state in which the door 26 is closed by the storage door 12 or unlocking the door 26 so that the door 26 can be opened. The lock portion 3 can use, for example, an electromagnetic lock system using a solenoid, but is not necessarily limited thereto. A control unit that controls locking and unlocking of the lock unit 3 is a communication / M
It is configured by an MI control device 34. A registrant recognizing unit 4 for recognizing a registrant of the robot 2 is provided next to the storage door 12 on the upper front surface of the robot 2. Can be registered.

A traveling section is provided below the robot 2. In this traveling section, two wheels (drive wheels) 23 independently driven by a drive motor 28 are arranged in parallel,
A moving operation such as straight traveling or rotation can be performed by the difference between the rotational speeds of the two wheels 23. A plurality of auxiliary wheels 29 are mounted below the robot 2 in a direction orthogonal to the wheels (drive wheels) 23.
And a cushion 30 is provided on the auxiliary wheel 29 so that the and the auxiliary wheel 29 contact the floor surface at at least three points.
The auxiliary wheel 29 is elastically pushed toward the floor by the cushion 30.

The two wheels (drive wheels) 23 are driven by independent drive motors 28, respectively. The number of revolutions of each wheel 23 is measured by an encoder 24, and the data measured by the encoder 24 The current position of the robot 2 can be calculated by converting the traveling direction and the distance of the robot 2 by a drive control device 31 provided therein. Drive motor 28
Is driven by a drive power supplied from a drive battery 32 incorporated in the robot 2. The traveling is basically performed based on map information input in advance, but the subtle positional deviation of the traveling and the correction of the current position are corrected by a sensor 33 such as an ultrasonic sensor arranged around the robot 2, for example. The correction is performed by obtaining the distance from the landmark at the time. Here, a laser sensor may be used as the sensor 33 in addition to the above-described ultrasonic sensor. In this case, the laser sensor may be further moved to detect a linear or planar landmark. Also, a gyro sensor for detecting the posture of the robot 2 may be used.

Further, the robot 2 is provided with an abnormality detecting section 6 for detecting an abnormality of the robot 2, so that it is possible to cope with an abnormality occurring in the robot 2.

The robot 2 is provided with a communication / MMI (man-machine interface) control device 34. The communication / MMI control device 34 has a communication means 8 for controlling the current position and running state of the robot 2. It controls the communication of information exchange with an external remote monitoring operation unit 7 and controls the interface unit 10 such as the display 35 attached to the upper part of the robot 2 or the voice input device 9 built in the communication / MMI control unit 34. Controlling. The power supply of the communication / MMI control device 34 uses a communication / MMI battery 36 built in the robot 2.
It is separate from the drive battery 32. As a result, the drive unit and the communication / MMI control device 34 can be controlled separately from each other, so that the structure can be easily maintained and controlled. Further, the communication / MMI control device 34 and the drive control device 31 are synchronized by performing serial communication.

The robot 2 has a monitoring camera 37 and a microphone 3
The communication / MMI controller 3 is used to acquire the video and audio of a person facing the robot 2.
4, the image and audio data acquired in real time can be sent to the remote monitoring operation unit 7. The monitoring camera 37 is operable in the horizontal and vertical directions from the remote monitoring operation unit 7. Robot 2
An interactive display 35a is provided at the upper part of the display (the interactive display 35a can be built in the display 35). The interactive display 35a is provided with a remote camera 39 and a remote microphone 40 installed in the remote monitoring operation unit 7. The acquired video and audio can be displayed and reproduced. Thus, conversation between the robot 2 for autonomous movement and the remote monitoring operation unit 7 is possible. In addition, the remote monitoring operation unit 7 is capable of indicating the self-propelled designated target position of the robot 2. The designation of the self-propelled designated target position of the robot 2 is performed by the designated target position input means provided in the remote monitoring operation unit 7 as described above, or when the designated target position is directly designated to the robot 2 on the robot 2 side. There is. In order for the robot 2 to directly designate the designated target position to the robot 2, for example, the designated target position is indicated to the robot 2 while interacting with the display 35 (in this case, the display 35 constitutes designated target position input means). Things.

The communication between the robot 2 and the remote monitoring operation unit 7 is performed by providing communication means 8, 8 'to the robot 2 and the remote monitoring operation unit 7, respectively. It is composed of a communication device.

A method of releasing the lock of the storage section 1 in the automatic transport robot 2 having the above configuration will be described below. In the present invention, in order to perform unlocking, the unlocking person is recognized by the robot 2 as a handling registrant of the robot 2 by a registrant recognizing unit 4 for recognizing the handling registrant of the robot 2, and the drive control device 31 That is, the two conditions that the current position of the robot 2 converted in the above matches the designated target position are required.

An example of an unlocking method in a hospital will be described with reference to FIG. FIG. 4 shows a plan view in a hospital, where one room is divided into A1 and A4 by the number of beds (four in this example).
ＡA4 are divided into IDs. Each of the patients B1 to B4 in each bed has an ID for identifying the patient.
A code is associated. Robot 2 is lock unit 3
Is canceled, assuming that the designated target position of the robot 2 is A2, the current position converted in the drive control device 31 reaches the target area A2, and the registrant recognition unit 4 provided in the robot 2 B as a registrant of robot 2
The lock is released only after the patient 2 is recognized by the robot 2. Here, even if the patient B4 in the same room tries to unlock the robot 2,
Since the patient B4 is not associated with the area A2, the lock cannot be released. In this way, the conveyed article is safely and reliably conveyed to the intended person at the designated target position without theft of the conveyed article by a third party or the inadvertent diffusion of dangerous goods. You can do it.

In the above example, the example of a hospital has been described.
In the case of an examination room, the number of areas is one, and the IDs of a plurality of workers such as medical therapists are associated with the IDs of one entire examination room. Even in this case, even if the ID
Even if the third person has the above, the person who is not related to the examination room cannot release the lock.

By the way, the communication / MMI control device constituting the control unit so that the lock unit 3 is released by the recognition of the arrival of the robot at the designated destination position and the confirmation of the handling registrant as described above. The remote monitoring operation unit 7 performs at least one of recognition of the arrival of the robot at the designated target position and confirmation of the registrant of the handling. For example, by confirming the registrant in the remote monitoring operation unit 7,
Information on the registrants can be linked via a network, and this information can be updated in real time. Also,
By confirming the confirmation of the designated target position of the robot 2 by the remote monitoring operation unit 7, the remote supervisor can objectively confirm the robot 2 inside the robot 2. Furthermore, even if the current position of the registrant changes sequentially, the robot 2 can automatically convey the article to the registrant without being aware of the change.
In addition, if both the confirmation of the handling registrant and the confirmation of the designated target position of the robot 2 are performed by the remote monitoring operation unit 7, the reliability is increased.

When the robot 2 arrives at the designated destination position, the robot 2 presents stored items in the direction of the recipient.
As a method of detecting the direction of the recipient, a plurality of infrared sensors for detecting infrared rays emitted from a person are arranged around the robot 2 and the direction of the infrared sensor having the largest output among the infrared sensors is set. The robot 2 is turned. Further, it is also possible to output a video image of a person stroking on the display 35 or to play music from the microphone 38.

Next, means for recognizing the registrant of the robot 2 by the registrant recognizing unit 4 will be described.

FIG. 5 shows an embodiment in which the registrant recognizing unit 4 recognizes the registrant who has handled the robot 2. That is, in the present embodiment, the password input device 1 for inputting the password and registering the registrant of the handling of the robot.
6 and a registrant recognizing unit 4 for recognizing the registrant of the handling of the robot 2 based on the password input by the password input device 16. That is, in the present embodiment, the user name and the password are registered on the password registration screen of the display 35 with the touch function which is the password input device 16. This registration work can only be performed by authorized persons. Next, when receiving the goods,
By entering a pre-registered PIN,
The registrant's ID is confirmed by the registrant recognizing unit 4 and the lock unit 3 of the storage door 12 is released. This allows
It is possible to prevent an unspecified third person from unnecessarily receiving the stored items in the storage unit 1.

In the embodiment shown in FIG. 6, the registrant recognizing unit 4 for recognizing the registrant of the robot 2 is provided with an ID card reader 17 for recognizing the registrant using an ID card. Then, the ID card reader 17 reads the information of the ID card possessed by the registrant, confirms the registrant's ID with the registrant recognizing unit 4,
Control is performed to release the lock portion 3 of the storage door 12.
Thus, it is possible to prevent an unspecified third party from receiving the stored items in the storage unit 1 without permission.
In the present embodiment, the registration of the user name of the ID card is performed on the user name registration screen of the display 35 with a touch function, and the registrant can be easily rewritten.

In the embodiment shown in FIG. 7, the registrant recognizing section 4 for recognizing the registrant of the robot 2 is provided with a human body characteristic reading device 70 for reading the characteristics of the human body. The human body characteristic reading device 70 is a device for reading characteristics such as a fingerprint, a voiceprint, a retina, and a face peculiar to a person. The human body characteristic reading device 70 reads the characteristics of the human body of the registrant, confirms the registrant with the registrant recognition unit 4, and releases the lock unit 3 of the storage door 12. Thus, it is possible to prevent an unspecified third party from receiving the stored items in the storage unit 1 without permission. In this embodiment, since the characteristic of the person is read to check the registrant, the registrant does not need to be equipped with a special device.

In the embodiment shown in FIG. 8, the registrant recognizing section 4 for recognizing the registrant of the robot 2 receives the infrared rays transmitted by the signal transmission device 19 of the registrant and recognizes the registrant. 1 is provided with a signal receiving device 20 for performing the following. In the present embodiment, the registrant is provided with the signal transmitting device 19, and when the robot 2 moves to the target position and the registrant causes the signal transmitting device 19 to emit infrared light at the target position, To the signal receiving device 2
0, the registrant recognizing unit 4 confirms that the registrant is the handling registrant, and the lock unit 3 of the storage door 12 is controlled to be released. Thus, it is possible to prevent an unspecified third party from receiving the stored items in the storage unit 1 without permission. In the present embodiment, the registrant of the handling can be confirmed without contact.

In the embodiment shown in FIG. 9, the registrant recognizing section 4 for recognizing the registrant of the robot 2 is provided with a landmark recognizing device 18 for recognizing the registrant based on landmarks. It is. In other words, since each registrant has a landmark corresponding to a key, it is possible to perform more reliable recognition without any substantial data destruction. Here, a landmark is a key or a specific figure, and only a specific person has it. Also in the present embodiment, the user name is registered on the user name registration screen of the display 35 with a touch function, and the registrant can be easily rewritten.

Next, the position detecting means 11 provided in the robot 2 for detecting its own current position will be described.

The position detecting means 11 for detecting the current position of the robot 2 comprises a traveling distance integrating section and a traveling direction recognizing section. In the embodiment shown in FIGS. 1 and 2, wheels 23 for moving the robot 2 are provided, and the current position and posture of the robot 2 are calculated by integrating the encoder 24 constituting the position detecting means 11 attached to the wheels 23. The current position of the robot 2 is detected based on the traveling distance and direction. That is, in FIGS. 1 and 2, two driving wheels 23 are provided near the center of the lower part of the robot 2, and non-drive assist wheels 29 are provided before and after the lower part of the robot 2. An encoder 24 is provided on each of the two wheels 23 as drive wheels. By the way, in the case of the robot 2 having the left and right two drive wheels 23 provided near the center of the lower portion and the non-driven auxiliary wheels 29 provided before and after the lower portion as described above, the position where the movement is started, the robot With the direction of 2 as the origin, the moving distance and the traveling direction can be obtained by the following equation (1). That is, the interval between the left and right wheels 23 of the robot 2 is T, the diameter of the left and right wheels 23 is r, l, the position at which the robot 2 starts moving is the origin, the traveling direction at that time is the X-axis direction, and the movement start t The rotational angular velocities of the left and right wheels 23 after the time are ωr and ωl, the speed of the robot 2 is v, and the angular velocity ω of the vehicle body
, The position x of the robot 2 after the movement start time t,
y and the attitude θ are obtained by the following equations.

[0062]

(Equation 1)

The current position of the robot 2 of the above-described type can be obtained by performing the calculation of the above equation 1 by the drive control device 31 composed of the computer of the robot 2.

As described above, the encoder 24 is provided on the wheel 23 to constitute the position detecting means 11, and the traveling distance integrating section and the traveling direction recognizing section determine the traveling distance and the direction to detect the current position of the robot 2. Thus, the current position and posture of the robot 2 can be obtained without providing a special device on the moving environment side of the robot 2.

As described above, the position detecting means 1 is provided to the robot 2.
1, the current position of the robot 2 is detected. The error of the current position of the robot 2 detected by the position detecting means 11 is corrected as follows.

That is, FIG. 10 shows a flowchart of the current position correction. In the case of the robot 2 having a sensor 33 such as an ultrasonic sensor around the image, an image of a specific moving environment on the transport path (for example, Images include walls, pillars, so-called landmarks such as desks, etc. existing on the transport path), and the distance is obtained in the form of a distance to an object imaged as an image existing in these moving environments. A map in which those positions are stored in advance is created. Then, by comparing the map in which those positions are stored in advance with the above-mentioned actual detection results, the difference is detected by the position detecting means 11 for detecting the above-mentioned current position of the robot 2 itself. By feeding back to the position, the included error is corrected, and an accurate self-position is detected. Then, after correcting the self-position, if an abnormality is detected, control is performed so that the movement of the robot 2 is stopped.

Next, in the embodiment shown in FIGS. 11 and 12, the current position of the robot is detected by using a bar code, an ID, and a sign of position information such as magnetism which are set in advance in the moving environment of the robot 2. The position is corrected (FIGS. 11 and 12 show an example where the sign of the position information is a barcode). That is, FIG.
As shown in the block diagram of FIG. 1, a bar code scanner 62 constituting the position detecting means 11 is provided on the robot 2, and a bar code 63 is installed on a wall, a pillar, a desk, or the like existing in the moving environment of the robot 2. The robot 2 stores a map in which the positions of the barcodes 63 are written in advance. As shown in the flowchart of FIG. 12, when the bar code scanner 62 scans a bar code installed while the robot 2 is moving, position detection means for detecting the above-mentioned current position of the robot 2 itself. 11
By correcting the self-position detected by the above to the position where the corresponding barcode stored is stored, the included error is corrected and the accurate self-position is detected. Then, after correcting the self-position, if an abnormality is detected, control is performed so that the movement of the robot 2 is stopped. When a bar code is installed, not only the position of the robot 2 can be confirmed, but also various other information can be recorded and read using the bar code. Of course, instead of the barcode, a sign indicating position information by ID or magnetism may be used.

In each of the above embodiments, means for recognizing an image of a specific moving environment during traveling is provided, or
The example in which the means for recognizing the sign indicating the position information is provided in the moving environment of the robot 2 in advance to correct the error of the current position of the robot 2 has been described. The current position of the robot 2 may be directly detected by configuring the position detecting means 11 only by means for recognizing an image. The current position of the robot 2 may be directly detected by recognizing the sign.

Next, detection of an abnormality of the robot 2 by the abnormality detection unit 6 provided in the robot 2 will be described.

FIG. 13 is a flowchart showing an example of abnormality detection by the abnormality detecting section 6. In the present embodiment, when the robot 2 deviates from the predetermined reference distance by a predetermined distance or more, the abnormality detection unit 6
Thus, the robot 2 is detected as abnormal. That is, the sensor 33 composed of an ultrasonic sensor around
In the case of the robot 2 provided with
Detects so-called landmarks such as pillars and desks, and map data in which the positions of those landmarks are stored in advance,
By comparing the detection result (actual distance from the landmark) obtained by calculating the distance from the landmark during actual traveling, the position is detected by the position detecting means 11 for detecting the current position of the robot 2 itself. It is possible to correct an error included in the determined self-position.

However, if the error to be corrected obtained from the detection result is very large, it is more likely that a landmark different from the landmark that should have been detected is detected. Robot 2 in such a state
It is dangerous to keep the vehicle running because it may cause runaway or mischief, and it is also possible that the vehicle has been stolen due to security problems. Therefore, when a landmark is detected, the difference between the distance to the landmark to be detected originally (the distance from the reference route to the landmark) and the detection result is calculated, and the difference is equal to or larger than a predetermined value. In this case, the abnormality is detected by the abnormality detection unit 6 assuming that an abnormality has occurred in the robot 2. When the abnormality detector 6 detects an abnormality of the robot 2, the robot 2 is controlled to stop moving. By doing so, an abnormality of the robot 2 can be easily detected, runaway can be prevented, and the occurrence of mischief or theft can be detected.

Next, another embodiment for detecting an abnormality of the robot 2 by the abnormality detecting section 6 of the present invention will be described. In the present embodiment, the abnormality detecting unit 6 includes a time measuring unit that measures a time until the abnormality detecting unit 6 recognizes an image of a specific moving environment at the time of traveling or a sign indicating the position information of the robot 2 in the moving environment. When the elapsed time exceeds a predetermined time, it is detected as abnormal. FIG. 14 shows a flowchart in the present embodiment, and FIG. 14 shows an example of a specific landmark provided in a moving environment as a specific image when the robot 2 travels. That is, if the elapsed time when the robot 2 passes through the predetermined landmark exceeds a predetermined time by a certain amount or more, the time measuring means provided in the abnormality detection unit 6 detects the abnormality as an abnormality. That is, in the case of the robot 2 provided with a sensor 33 composed of an ultrasonic sensor in the periphery, so-called landmarks such as walls, columns, and desks existing on the transport path are detected, and a map in which the positions of those landmarks are stored in advance. Is compared with the detection result (actual distance from the landmark) obtained by calculating the distance from the landmark during actual traveling, thereby detecting the current position of the robot 2 itself. The error contained in the self-position detected by the means 11 can be corrected.

However, in the self-position detected by the current position detecting means 11, if a landmark to be detected has not been detected for a long time, there is a high possibility that the self-position deviates greatly from a preset reference route. Even if a landmark is subsequently detected, it is highly likely that it is a landmark different from the landmark to be detected. Continuing to run the robot 2 in such a state is dangerous because it may cause runaway or mischief. Also, due to security issues, it is possible that the device was stolen. Therefore, in the present embodiment, when a landmark to be detected has not been detected for a predetermined time or more as shown in the flowchart of FIG. Detects that an error has occurred. As described above, when the abnormality detecting unit 6 detects the abnormality of the robot 2, the movement of the robot 2 is controlled to be stopped. By doing so, the robot 2
Abnormalities can be easily detected to prevent runaway,
It is possible to detect the occurrence of mischief or theft, and to indirectly detect troubles that cannot be detected directly. Needless to say, in the present embodiment, in place of the landmarks, markers such as barcodes, IDs, and magnets indicating position information are provided in advance in the moving environment of the robot 2 so that the robot 2 can determine predetermined barcodes, IDs, magnetisms, and the like. If the elapsed time when passing through the sign exceeds a predetermined time by a predetermined length or more, the abnormality may be detected by the time measuring means provided in the abnormality detecting unit 6 as an abnormality.

FIGS. 15 and 16 show still another embodiment in which an abnormality of the robot 2 is detected by the abnormality detecting section 6 provided in the robot 2. In the present embodiment, the abnormality detection unit 6 is provided with a ground detection sensor 21 for detecting contact between the ground portion of the robot 2 and the floor for detecting an abnormality when the ground portion of the robot 2 is separated from the floor. It is. That is, the ground detection sensor 21 composed of a laser sensor is attached to the vehicle body near the floor of the robot 2,
The distance to the floor is detected without contact.
When the robot 2 falls over for some reason, the distance to the floor detected by the laser sensor is much larger than when the robot 2 is normally in contact with the floor. Therefore, the change in the distance to the floor surface
Can be detected. In the above embodiment, an example of a laser sensor is shown as the ground detection sensor 21. However, a similar effect can be expected even with a limit switch that directly contacts the floor surface. In this case, the ground detection sensor 21 is controlled by the limit switch. Will be composed. Further, the ground detection sensor 21 is constituted by a gyro sensor or an acceleration sensor, and the fall of the robot 2 is also detected by detecting the posture of the robot 2 by the gyro sensor or detecting an impact applied to the robot by the acceleration sensor. Is what you can do.
By providing the ground detection sensor 21 in the abnormality detection unit 6 as described above, it is possible to directly detect an abnormality related to the fall of the robot 2 and to prevent a significant delay in the transport operation. Further, it is possible to protect the conveyed object by detecting the occurrence of theft, mischief and the like.

Next, another embodiment in which an abnormality of the robot 2 is detected by the abnormality detecting section 6 provided in the robot 2 will be described. In this embodiment, the abnormality detection unit 6 that detects an abnormality of the robot 2 is provided with an image processing device that detects an abnormality when an image of a predetermined traveling place in the moving environment does not match a predetermined image. The robot 2 is provided with a camera for photographing a predetermined traveling place in the transfer environment. The robot 2 has a simple contrast, such as white and black, in the moving environment of the robot 2. A mark having a shape is set, the robot 2 is guided in advance to a position and a posture at which the mark can be captured by the camera, and a mark included in an image captured by the camera is stored in advance. Then, an abnormality of the robot 2 is detected as in the flowchart shown in FIG. That is, when the robot 2 reaches the position where the mark included in the image is stored while moving (this determination is based on the self-position detected by the position detection unit 11 for detecting the current position of the robot 2 itself). By comparing the mark included in the image captured by the camera with the mark stored in advance, whether the self-position detected by the position detecting means 11 for detecting the current position of the robot 2 itself is correct. It is determined whether or not the robot 2 has deviated from the route and the image captured does not match the predetermined image, and the abnormality detector 6 determines that an abnormality has occurred and stops the movement of the robot 2. Is controlled as follows.

Further, when an abnormality is detected by the abnormality detecting section 6 as in each of the above-described embodiments, the occurrence of the abnormality is notified to the surroundings by voice in the present invention. That is, a speaker constituting the voice alarm unit 22 is provided in the robot 2, and when the abnormality of the robot 2 is detected by the abnormality detection unit 6, the occurrence of the abnormality is notified to the surroundings by the voice alarm unit 22. Means for generating a sound from the speaker constituting the sound warning means 22 may be a control block as shown in FIGS. 18A and 18B. In FIG. 18A, the communication / MMI control device 3
4 is provided with a sound device control unit 56 for controlling the sound device 55, the output of the sound device 55 is connected to a speaker, and when the abnormality detection unit 6 detects an abnormality, the sound device control unit 56 reproduces an audio file. Then, a sound is generated by a speaker. In FIG. 18B, a communication / MMI control device 34 is provided with a sound reproduction device control portion 58 for controlling a sound reproduction device 57 for reproducing a medium in which sound is stored. Is detected, the sound reproducing device control section 58 controls and reproduces the sound from the sound reproducing device 57 to generate sound from a speaker.

As described above, by providing the sound alarm means 22 for notifying the occurrence of the abnormality to the surroundings by voice when the abnormality detecting unit 6 detects the abnormality, the occurrence of the abnormality is notified to the surroundings by sound when the abnormality occurs. This makes it possible to promptly notify the operation side of the occurrence of an abnormality, thereby preventing a significant delay in the transportation work, and reducing the prevention of mischief or theft.

When the robot 2 arrives at the specified transfer destination position, the robot 2 can also notify the status of the conveyed object (transfer source, transfer destination, transfer start time, etc.) by voice.

In the present invention, as shown in FIG. 19, the robot 2 is provided with a radio communication device constituting the communication means 8, and the communication / MMI control device 34 controls the radio communication device for controlling the radio communication device. A device control unit 59 is provided, and the remote monitoring operation unit 7 is also provided with a wireless communication device control unit 59 'for controlling the communication means 8' (wireless communication device) on the remote monitoring operation unit 7 side. . Then, information is exchanged between the robot 2 side and the remote monitoring operation unit 7 side through the communication means (wireless communication devices) 8 and 8 ', and as shown in FIG. If detected, the remote monitoring operation unit 7 is notified of the occurrence of an abnormality in the robot 2 through the communication means (wireless communication devices) 8, 8 '. Further, on the side of the remote monitoring operation unit 7 having received the abnormality, it is possible to issue an instruction to the next robot 2 through the communication means (wireless communication devices) 8 and 8 '.

Here, devices such as a wireless LAN and a wireless modem can be used as the wireless communication devices constituting the communication means 8 and 8 '. Further, when the moving range of the robot 2 is wide, by installing a plurality of wireless communication devices on the moving environment side, it is possible to receive an abnormality notification from the robot 2 at any place within the moving range. The functions of the remote monitoring operation unit 7 include the operation history of the robot 2, the indication of the destination of the robot 2 by a display or voice on the remote monitoring operation unit 7, and the transfer of a plurality of articles. In such a case, it is possible to input the priority. Further, even when the robot 2 arrives at the designated transfer destination position and completes the work normally, the robot 2 can notify the remote monitoring operation unit 7 thereof.

As described above, the abnormality can be notified to the remote monitoring operation unit 7 in the event of an abnormality, so that the notification of the occurrence of the abnormality to the operation side can be promptly performed, and the operator at the remote monitoring operation unit 7 can quickly respond to the abnormality. This makes it possible to prevent a significant delay in the transportation work, and to reduce the prevention of mischief or theft.

By the way, the robot 2 of the present invention can automatically raise and lower the elevator. FIG. 20 shows a control block diagram for the robot 2 to automatically raise and lower the elevator. That is,
The robot 2 is provided with a wireless communication device constituting the communication means 8, and the communication / MMI control device 34 is provided with a wireless communication device control section 59 for controlling the wireless communication device.
The elevator control unit 60 includes an elevator control unit 6.
1 and a wireless communication device control section 59 "for controlling the communication means 8" (wireless communication device) on the elevator side. The communication between the communication means 8 of the robot 2 and the communication means 8 ″ on the elevator side controls the movement of the robot 2 by the elevator, whereby the robot 2 moves to the target floor using the elevator. In addition, when an abnormality is detected, the robot 2 can control the elevation of the elevator from the robot 2 through the wireless communication device and can move to a different floor using the elevator of the robot 2. As a wireless communication device, a communication device having a relatively large transmission / reception area such as a wireless LAN and a wireless modem, as well as a communication device having a small transmission / reception area such as an infrared communication device can be used. 8 and the communication means built in the elevator, the robot 2 is controlled to move up and down by elevator. The movement by the beta becomes possible, and the runaway of the robot 2 can be prevented beforehand, so that more stable traveling can be achieved.

Next, a description will be given of a case where a stored object is stored in the storage unit 1 of the robot 2 and transported to the designated destination position, and a case where the receiver of the transporter is absent.

FIG. 21 is a flow chart of an embodiment for coping with the case where the recipient of the conveyed article is not present at the first designated destination position. In the present embodiment, after the arrival of the robot 2 at the designated target position is confirmed, if the lock is not released within a predetermined time, the robot 2 is controlled so as to move the robot 2 to the next designated target position. ing. That is, when the robot 2 reaches the designated destination position, the robot 2 issues a signal to the effect that it has carried the conveyed object by voice. Therefore, when the registrant recognition unit 4 is accessed by the registrant, the registrant is confirmed as usual, and then the lock unit 3 is released and the consignment is transferred to the registrant who is the recipient. hand over. Here, if there is no response from the receiver for a certain period of time, a signal indicating that the conveyed object has been carried by voice words several times is issued again. Further, when there is no response from the recipient, it is determined that the recipient is absent, the remote monitoring operation unit 7 of the transport source receives an instruction of the next destination and the contents of the conveyed product, and the remote monitoring operation unit 7 In response to the instruction, the robot 2 moves to the next designated destination position. In this case, if the lock is not released within a predetermined time after confirming that the robot 2 has reached the designated destination position, the robot 2 is stopped until there is an operation from the remote monitoring operation unit 7. Only when there is an instruction from the operation unit 7, the robot 2 is moved to the next designated target position. To specify the next destination,
A method in which the route is the shortest, and a method in which the transport is performed in descending order of priority are conceivable. In this way, when the recipient is absent, the robot 2 can be transferred to the next position without stopping the robot 2 at that position, and can be transported efficiently.

FIG. 22 is a flowchart of another embodiment in the case where the recipient of the conveyed article is not present. In the present embodiment, first, when the robot 2 reaches the designated target position, a signal indicating that the conveyed object has been carried by voice is issued. Therefore, when the registrant recognition unit 4 is accessed by the registrant, the registrant is confirmed as usual, and then the lock unit 3 is released to transfer the conveyed goods to the registrant who is the recipient. Pass to. Here, if there is no response from the receiver for a certain period of time, a signal indicating that the conveyed object has been carried by voice words several times is issued again. Further, if there is no response from the recipient, it is determined that the recipient is absent, and is controlled to return to the original transport path and bring back the transported article. At the same time, it is controlled so as to notify the remote monitoring operation unit 7 that the recipient is absent. As described above, when the receiver of the transported article is not present, by controlling the transported article to be returned to the original position, the robot 2 does not stop even if the receiver is not present, and the transported article is removed. It can be returned to the original position to protect the transported object.

A sheet issuing device 25 is provided in the robot 2 as shown in FIG. 23, and when the robot 2 is transported to the designated transport position, the sheet recorded by the sheet issuing device 25 is transferred to the designated transport position. Is controlled by the communication / MMI control device 34 so as to be issued. In this case, in particular, as in the above-described embodiment, when it is determined that the receiver of the carrier is absent when the storage object is stored in the storage unit 1 of the robot 2 and transported to the designated destination position, When the sheet issuance device 25 provided in 2 is used to issue a sheet to the sheet receiver installed at the designated destination position, it is possible to cope when the recipient is absent,
This improves the mobility of the robot 2. In addition, it is possible to notify the recipient of the fact of the conveyance, and to request the conveyance again later when the recipient views the sheet. The contents of the issued sheet include necessary information such as a transport date and time, a transport item, a requester, a contact address, and a message.

FIGS. 24 and 25 show another embodiment of the present invention. That is, in the above embodiment, an example in which one storage unit 1 is provided is shown. However, in the present embodiment, a plurality of storage units 1 are provided, and the plurality of storage units 1 are movable and a plurality of storage units 1 are provided. Either one is selectively free to face the storage door 12. The other configuration is the same as that of the above-described embodiment, so that the description will be omitted and different points will be described. That is, in the present embodiment, the storage unit 1 includes a plurality of storage units 1a, 1
b, 1c, 1d... (four in FIG. 25), and the base 41 of each of the storage portions 1a, 1b, 1c, 1d is constituted by a common member, and rotates around the center of the base 41. A shaft 42 is provided, and the base 41 and the four storage portions 1a, 1b, 1c, 1d can be integrally rotated about the rotation shaft 42. The rotation is driven using a motor 43 coupled to a rotating shaft 42.
As the control of the storage unit 1, when storing the storage object in the storage unit 1, the empty storage unit 1 sequentially stops at the position of the access opening 26 having the storage door 12, and then the storage door 12 is opened. Open to open and close the opening 26. When a storage object is put into the storage unit 1 facing the opening / exit opening 26 from the access opening 26 and the storage door 12 is closed, the contents of the storage are recorded, and the storage object is stored in one storage unit 1.
It rotates by the amount corresponding to the number of minutes, so that the next storage unit 1 can store the stored items. On the other hand, when taking out the storage items, from the stop position of the robot when taking out the ID card of the handling registrant,
The control is such that the necessary stored items are automatically moved to the front of the opening 26, and then the storage door 12 is opened.

In the case where a plurality of storage portions 1 are provided as described above, a plurality of types of storage items can be transported at a time, and since the storage portion 1 is rotated, the storage door 12 and the lock portion 3 are provided. Only one location is required, and the necessary storage items come to the front, so they are not confused with other storage items,
It is also secure in terms of security.

Although the lock section 3 is installed on the storage door 12, each storage section 1 is divided for further security.
Doors are provided separately, and each door has a lock 3
May be provided.

Next, another embodiment of the present invention will be described. In the present embodiment, as shown in the control block diagram of FIG. 26, each transfer destination receives the transfer information of the robot 2 from the remote monitoring operation unit 7, and the robot 2 sends the status of the recipient to the robot 2 through the remote monitoring operation unit 7. Is provided. As shown in FIG. 26, the terminal device 80 includes an interface unit 81 and a communication unit 82 including a wireless communication unit. Then, when the client enters the recipient and the password into the robot 2 and stores the transported goods, the robot 2 wants to transfer the robot 2 to the terminal device 80 at the current location of the recipient through the remote monitoring operation unit 7. Send On the other hand, if the recipient is able to receive, the terminal device 80 transmits a transfer permission signal to the robot 2 through the remote monitoring operation unit 7. The robot 2 is a terminal device 80
Only when the transfer permission is obtained from the recipient, the transfer to the corresponding recipient is started. Here, the terminal device 8
If a signal indicating that the object is receivable is not transmitted from the robot 2, the robot 2 does not start transporting to the corresponding recipient, and stores the transported article in the storage unit 1 provided in the robot 2. In this case, the transfer to the corresponding recipient is temporarily suspended, and other operations are performed. Then, the terminal device 8
When a transfer permission signal reaches the robot 2 from 0 through the remote monitoring operation unit 7, the robot 2 transfers the robot to the corresponding recipient.

As described above, since the robot 2 conveys the conveyed article when the recipient can receive the conveyed article, the robot 2 can smoothly receive the conveyed article.

Next, another embodiment of the present invention will be described. Also in this embodiment, as shown in the control block diagram of FIG. 26, each transfer destination receives the transfer information of the robot 2 from the remote monitoring operation unit 7, and the robot 2 transmits the status of the receiver to the robot 2 through the remote monitoring operation unit 7. Is provided. In the present embodiment, when the client loads a conveyed article on the robot 2 and the client inputs a recipient or a password to the robot 2, the robot 2 transmits the present location of the recipient through the remote monitoring operation unit 7. Terminal device 8
0, the robot 2 sends a message indicating that the robot 2 wants to carry it. Then, if the recipient can receive, the terminal device 80 transmits a transfer permission signal to the robot 2 through the remote monitoring operation unit 7. Since the robot 2 unlocks the lock portion 3 of the storage door 12 only after the permission of the transfer from the terminal device 80 is obtained, the client can store the transported material in the storage portion 1. After storing the goods in the storage section 1, the client stores
2 is closed and the lock unit 3 is locked.
Starts transport to the appropriate recipient. In this case, if the permission from the terminal device 80 cannot be obtained, the client cannot release the lock portion 3 of the storage door 12 to store the article in the storage portion 1 and request the transport. ing. As described above, in the present embodiment, only after the robot 2 confirms that the recipient can receive, the robot 2 can receive the conveyed article from the client and convey it to the recipient. .

Next, still another embodiment of the present invention will be described. Also in this embodiment, as shown in the control block diagram of FIG. 26, each transfer destination receives the transfer information of the robot 2 from the remote monitoring operation unit 7, and the robot 2 transmits the status of the receiver to the robot 2 through the remote monitoring operation unit 7. Is provided. In the present embodiment, when the client inputs the personal identification number, the receiver's name, the contents of the conveyed goods, and the like to the robot 2 and stores the conveyed goods, the robot 2 performs communication / M
The scheduled transfer time is calculated from the transfer distance data and the like input in advance by the MI control device 34. Then, the terminal device 80 at the current location of the recipient is transmitted through the remote monitoring operation unit 7.
Data such as recipient name, contents of conveyed goods, scheduled time of conveyed, etc. can be sent to inform the recipient in advance of information on the conveyed goods, so that the conveyed goods can be smoothly delivered. I have.

Next, still another embodiment of the present invention will be described. Also in this embodiment, as shown in the control block diagram of FIG. 26, each transfer destination receives the transfer information of the robot 2 from the remote monitoring operation unit 7, and the robot 2 transmits the status of the receiver to the robot 2 through the remote monitoring operation unit 7. Terminal device 8 for transmitting
0 is provided. In the present embodiment, a means is provided for inputting a desired transfer time of the transfer time to the interface unit 10 of the robot 2 when the client loads the transfer object. If it is expected that the scheduled transfer completion time exceeds the desired transfer time, the robot 2 stops the transfer and notifies the client of the transfer stop information by the terminal device 80. That is, the client inputs a desired scheduled time (allowable limit time) required for the robot 2 to carry the goods when the robot 2 stores the goods by inputting the recipient name and the password into the robot 2. Further, the robot 2 calculates a scheduled transfer time from the transfer distance data and the like input in advance by the communication / MMI control device 34. Then, the scheduled transport time is compared with the desired scheduled time input by the client, and when the scheduled transport time exceeds the desired scheduled time, the start of the transport is temporarily stopped, and the requester is notified of the display on the display, voice, etc. To convey that information. The robot 2 works under the instruction of the client. At this time, the robot 2 works under the instruction of the client. If the client determines that the setting may be changed so that the desired transfer time is later than the scheduled transfer time, the client inputs the changed desired transfer time again and requests the robot 2 to transfer again. . When the client stops the transport operation, the terminal device 80 located at the current location of the receiver through the remote monitoring operation unit 7.
The request information is sent to the recipient to retrieve the transported goods. Further, even during the movement, the same check is performed at predetermined time intervals. When the robot 2 stops transporting during the movement, the transported product is transferred to the current address of the client. FIG. 27 shows a flowchart of the present embodiment.

Next, still another embodiment of the present invention will be described. A means for inputting the transport priority of the transported article is provided in the interface unit 10 of the robot 2, and when a plurality of transports are started, the transport order is determined according to the level of the transport priority. In other words, the client inputs the name of the recipient and the personal identification number when storing the transported object, and also inputs the transport priority of the transported object. The transport priority is, for example, within 15 minutes, within 30 minutes,
Within 3 hours, Within 6 hours, Within 12 hours, 2 hours
Classification is made within 4 hours, and the client selects a menu from the interface unit 10 provided in the robot 2 and
This transport priority is input. When there are a plurality of conveyed objects, the robot 2 sequentially conveys the objects having the highest transport priority at the start of the transfer. If the transport priorities are the same, the transport is disclosed starting from the one with the shorter reception time. In this way, the robot 2 can automatically and efficiently transfer from the one with the highest priority according to the degree of the transfer priority. Also, the order may be such that they can be transported on the most efficient route.

Next, still another embodiment of the present invention will be described. In each of the above embodiments, the client takes the transported object to the robot 2 and stores it in the robot 2 to transport. However, in the present embodiment, the client moves to the collection position designated by the client. The robot 2 comes and the goods (storage)
Is collected, and the collected articles are conveyed to a recipient designated by the requester (article collection requester).
In the present embodiment, as shown in FIG. 28, a terminal device 90 is provided at the collection request source, and information such as a request position, a requester name, a conveyed product name, and a destination of the item collection requester is input to the terminal device 90. The robot 2 goes to the collection position designated by the collection client based on the information input to the terminal device 90, and the robot 2 After arriving at the designated collection position, the collection item is transported to the designated destination. That is, when the robot 2 is not near the current location of the client, the client (item collection requester) is the collection requester (for example, the client's current location).
When information such as the name of the client, the name of the conveyed object, and the destination information is input from the interface unit 91 built in the terminal device 90 provided in the terminal device 90, this information is transmitted to the robot 2 via the remote monitoring operation unit 7, Based on this transmission information, the robot 2 goes to the collection position specified by the client to pick up the transported object. When the robot 2 arrives at the position specified by the client,
The arrival of the robot 2 is notified to the client via the terminal device 90. With this, the client knows that the robot 2 has arrived, stores the transported goods in the robot 2, and
Is started. In the present embodiment, the (client) collection requester does not go to the robot 2 and the robot 2 goes to the collection location designated by the collection requester to collect the transported goods, and is designated after collection. It can be transported to the destination.

As described above, the case where the robot 2 is allowed to go to the collection location to collect the transported goods, the case where the client carries the transported goods to the robot 2 and stores them, In either case where the collection object is collected at the collection point and the collection requester stores the conveyance object at the collection point, the requester transfers the conveyance object to the robot 2 so that the conveyance object can be stored. When carrying an object and storing it in the storage unit 1, storage in the storage unit 1 is accepted until the set number of empty storage units 1 (for example, one empty storage unit) remains, and the remaining set units are set. The number of empty storage units 1 (for example, the remaining one empty storage unit) is set so as to accept storage when storing a transported object at the collection destination when a collection request is received from the terminal device 90 of the collection request source. I have. That is, as shown in FIG. 29, the storage unit 1 provided in the robot 2 is replaced with a plurality of storage units 1.
a, 1b, 1c, 1d... (four in FIG. 29), and the base 41 of each of the storage sections 1a, 1b, 1c, 1d is constituted by a common member.
, A rotation shaft 42 is provided at the center, and the base 41 and the four storage portions 1a, 1b, 1c, 1
d has a structure that can be rotated integrally. The rotation is driven using a motor 43 coupled to a rotating shaft 42. As for the control of the storage unit 1, when storing the storage items in the storage unit 1, the empty storage units 1 are sequentially stopped at the positions of the access openings 26 having the storage doors 12, and thereafter,
The storage door 12 is opened, and the opening 26 is opened.
When a storage object is put into the storage unit 1 facing the opening / exit opening 26 from the access opening 26 and the storage door 12 is closed, the contents of the storage are recorded, and the storage object is stored in one storage unit 1. It rotates by the number of minutes to make the next storage unit 1 be able to store the stored items. On the other hand, when taking out the stored items, the necessary stored items are automatically moved from the stop position of the robot at the time of taking out the ID card of the handling registrant to the front of the loading / unloading opening 26, and then the storage door 12 is moved. Is controlled so as to open. In this case, the lock mechanism is installed on the storage door 12, but for the purpose of further securing the security, it is possible to provide a lock mechanism for each of the divided storage sections 1 respectively. In the storage unit 1 having such a structure, when the client carries the transported object to the place of the robot 2 and transports it, the empty storage unit 1 among the plurality of storage units 1 is set in advance. The storage is accepted until the number is reduced to a number. However, when the number of empty storage units 1 is reduced to a preset number, the robot 2 does not accept the storage any more. For example, assuming that the number of empty storage units 1 set in advance is 1, when a requester carries a conveyed object to the robot 2 and conveys it, the storage is not performed until the storage unit 1 becomes one remaining. However, the robot 2 does not accept storage at the remaining one place. On the other hand, when the collection requester is the terminal device 90 at the collection request source.
The robot 2 receives a collection request via the remote monitoring operation unit 7, and when the robot 2 goes to the collection location, the robot 2 receives the remaining storage in the storage unit 1. Thereby, the robot 2
Where the client takes the goods and stores them at
In both cases, where the collection request is made and the robot 2 retrieves and stores the conveyed goods at the collection place, the conveyed goods can be stored, and the storage unit can be secured according to the purpose. Things.

Next, still another embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the connecting cart 1 that forms the storage unit 1 with respect to the robot 2
02 is detachably connected. The connecting trucks 105 and 106 are provided on the connecting cart 102 constituting the robot 2 and the storage unit 1, respectively.
Are connected to the connecting cart 102 to the robot 2. The connecting cart 102 is provided with wheels 109, connecting portions 106 are provided on both sides of the connecting cart 102, and one connecting portion 106 is connected to the robot 2.
The connecting cart 106 is detachably connected to the connecting portion 106 so that the connecting cart 102 can be pulled by the robot 2 and run. Also,
The other connecting portion 106 of the connecting vehicle 102 is connected to the connecting portion 106 of another connecting vehicle 102 separated from the other robot 2.
Can be detachably connected to the robot 2
With this, a plurality of connecting carts 102 can be connected and travel.
The storage section 1 of the connecting cart 102 is divided into a plurality of parts, and a base 41 'of each storage section 1 is formed of a common member, and a rotation shaft 42' is provided at the center of the base 41 '. The base 41 ′ and the plurality of storage sections 1 are configured to be integrally rotatable about a rotation shaft 42 ′.
The rotation is driven using a motor 43 'coupled to a rotating shaft 42'. As for the control of the storage unit 1, when storing the storage items in the storage unit 1, the empty storage units 1 are sequentially stopped at the positions of the opening / closing openings 26 'having the storage doors 12'. 12 'is opened to open the opening 26'. When a storage object is put into the storage unit 1 facing the opening / closing opening 26 'from the opening / closing opening 26' and the lock portion 3 'of the storage door 12' is closed,
The contents of the stored items are recorded, and the stored items are rotated by one storage unit for one minute so that the next storage unit 1 can store the stored items. On the other hand, when taking out stored items,
From the stop position of the robot at the time of taking out the D card, the necessary stored items are automatically moved to the front of the opening / outlet 26 ', and thereafter the storage door 12' is opened. In this case, the lock mechanism is installed on the storage door 12 ′, but it is possible to provide a lock mechanism for each of the divided storage sections 1 for the purpose of further ensuring safety.

The connecting truck 102 constituting the storage unit 1 includes a connecting truck interface unit 103 having the same function as the interface unit 10 provided on the robot 2 and the communication means 1.
04 is provided. Here, when the client wants to request the transfer, the connection truck interface unit provided on the connection truck 102 closest to the current position of the client is used in the same manner as the method of inputting the transfer request information to the interface unit 10 of the robot 2. At 103, a transfer request can be made. When there is a transfer request to the robot 2 from the connection trolley interface unit 103 via the remote monitoring operation unit 7, the robot 2 goes to the requested connection trolley 102 to retrieve the transported object, and transfers the connection trolley 102 to the robot 2 It is connected, and the whole carriage 102 is transported to a predetermined destination position. As described above, in the present embodiment, even when the robot 2 is not nearby, the transfer can be performed promptly.
FIG. 31 is a control block diagram of the present embodiment.

As described above, the storage unit 1 is
In this embodiment, the camera 110 and the distance sensor attached to the robot 2 are connected so that the robot 2 can be automatically connected to the connection cart 102 at the collection destination. The robot 2 is automatically connected to the robot 2 by using the robot 2 and the connecting vehicle 102 placed at a predetermined position in advance, and the robot 2 transports the connecting vehicle 102 to a destination specified by the client. That is, in the present embodiment, as shown in FIG.
A camera 110 is arranged in the periphery of the robot 05. The image taken by the camera 110 is processed by an image processing device 115 provided in the robot 2 so that the connection unit 1 of the robot 2 is processed.
The position of the connecting part 05 of the connecting carriage 102 is corrected. The position correction at this time is limited to a plane perpendicular to the optical axis of the lens of the camera 110. Further, the robot 2 is provided with a distance sensor 111 near the connecting portion 105,
The distance sensor 111 corrects the position of the lens in the optical axis direction, and finally the robot 2 in a three-dimensional space.
Of the connecting portion 105 of the connecting truck 102 and the connecting portion 106 of the connecting truck 102 are corrected. The position correction can be performed using a plurality of cameras and using the principle of triangulation. These methods are used for the final fine adjustment at the time of connection since the connection cart 102 is installed at a predetermined position. When the connection is completed, the robot 2 pulls and conveys the connection cart 102 to the transfer destination. Thereby, from the collection to the transportation including the connection between the robot 2 and the connecting cart 102 can be automatically performed.

Next, still another embodiment of the present invention will be described. As described above, in the case where the connecting cart 102 constituting the storage unit 1 is detachably connected to the robot 2,
According to the present embodiment, when the recipient is absent, the connecting cart 102 is separated from the robot 2 and stored in a predetermined position, and when the recipient is confirmed, the robot 2 is reactivated.
Go to the storage location of the connecting truck 102 to connect the connecting truck 102 and start the conveyance. That is, at the time when the connecting cart 102 is connected to the robot 2, the terminal device 80 of the recipient is received from the robot 2 via the remote monitoring operation unit 7.
Is sent to the robot 2 via the remote monitoring operation unit 7 because the recipient cannot be received due to absence or the like. The connecting trolley 102 is transported to the storage location of the determined connecting trolley 102, and the connecting trolley 102 is temporarily stored in the storage location. When a signal indicating that the robot 2 can be received is transmitted from the recipient's terminal device 80 to the robot 2, the robot 2 again goes to retrieve the connecting truck 102 corresponding to the storage location, and the robot 2 and the corresponding connecting truck 102. 102 and is conveyed to the recipient. In the present embodiment, even if the recipient is absent, untransported articles can be efficiently transported.

Incidentally, in the present invention, a temperature adjusting device 13 may be added to the storage section 1 shown in each of the above embodiments. FIG. 33 shows an example thereof. In each of the above-described embodiments, a heat insulating material 45 is provided outside the storage section 1 as shown in FIG. I do. The temperature inside the storage section 1 can be warmed or cooled by the Peltier element 46, and the temperature inside the storage section 1 is set to a desired temperature by the temperature management device 47 so as to maintain the temperature. The Peltier element 46 is controlled. When a plurality of storage units 1 are provided, the temperature in each storage unit 1 may be individually set from a display 35 installed on the robot 2 as necessary. Things. Further, by setting and storing the storage state of the stored items, it is possible to automatically manage the temperature in the storage section 1 simply by inputting the name of the stored items. In addition, a list of the contents of each storage item and the storage state may be displayed on the display 35.

However, as in the present embodiment, the storage unit 1
By adding a temperature control device 13 to a sample, for example, when transporting a sample or medicine for examination at a hospital or the like, cooling does not cause germs to propagate, and it is possible to transport the sample in a good storage state. is there. Further, since various settings can be made on the display 35, it is possible to easily and finely manage the stored items.

FIG. 34 shows another embodiment of the storage section 1 provided in the robot 2. In this embodiment, a sterilization device 14 is added to the storage section 1. The disinfecting device 14 is, for example, an ultraviolet ray generating device, which can obtain a disinfecting effect by irradiating ultraviolet rays to the storage items stored in the storage unit 1. In addition, it is possible to individually set the sterilization time and the like of each storage unit 1 from the display 35 installed on the upper part of the robot 2. Furthermore, by setting and storing the sterilization state of the stored items, it is possible to automatically perform the sterilization management in the storage unit 1 simply by inputting the name of the stored items. Further, a list of the contents of each storage item and a sterilization state can be displayed on the display 35.

Thus, as in the present embodiment, the storage unit 1
By adding a disinfecting device 14 to, for example, when transporting instruments and sheets for inspection in hospitals and the like, by disinfecting by disinfecting, germs do not adhere, do not propagate,
The transport can be performed while maintaining the cleanliness. In addition, bacteria in the stored material before the specimen or the like do not remain in the storage unit 1, preventing the spread of the bacteria and enabling the stored material to be always transported in a clean state.

Next, another embodiment of the present invention will be described. This embodiment is an example in which the storage unit 1 has a vibration-proof structure. That is, as shown in FIG. 35, the base 41 of the storage unit 1 is provided with a plurality of guide shafts 48, and the guide shafts 48 are slidably fitted in a receiving portion 49 provided on the body of the robot 2 in a vertical direction. A coil spring 50 is mounted on the guide shaft 48, and the base 41 is also supported by the damper 51 on the body of the robot 2. As described above, when the robot 2 is moving, the storage unit 1 supporting the base 41 by the coil spring 50 and the damper 51 receives the shock when the robot 2 is moved over a step or an impact due to disturbance. The vibration of the robot 2 is absorbed by the effect of 51 and the storage unit 1
It is possible to prevent the stored items stored in the storage unit 1 from being overturned and damaged, or the stored items stored in the storage unit 1 from being diffused and damaging the surroundings. Means for absorbing other vibrations include the coil spring 50 and the damper 51.
Instead, a rubber elastic body or an air cushion may be used. In the case of a rubber elastic body or an air cushion, the structure is relatively simple, cost can be reduced, and space is also saved.

Here, in forming the storage section 1 with a vibration-proof structure, the vibration-proof structure may be constituted by the variable viscosity damper 15.
FIG. 36 shows an example in which the vibration damping structure is a variable viscosity damper 15. As shown in FIG.
An electrode 52 is provided on the side of the robot 2, an electrode 53 is provided on the vehicle body side of the robot 2, and an electrorheological fluid 54 is sealed between the two electrodes 52, 53 to constitute a viscous variable damper 15. By changing the electric field, The viscosity of the electrorheological fluid 54 is changed. Thus, by changing the viscosity of the electrorheological fluid 54 according to the magnitude of the electric field, the viscosity
The strength of the viscous variable damper 15 is changed by inputting the weight of the stored item from the display 35 provided on the upper part of the robot 2. ing.

As in the present embodiment, the vibration damping structure is constituted by the variable viscosity damper 15, so that the vibration damping effect can be easily changed due to the difference in the weight of the conveyed object, and the vibration damping effect is further enhanced. Is what you can do.

[0109]

As described above, according to the first aspect of the present invention, there is provided a traveling unit which travels in a self-propelled manner to a designated destination position, a storage unit having a storage door which can be opened and closed, and the storage unit. A lock unit for holding the door in a closed state, a lock control unit for controlling the release of the lock unit, an interface unit with an operator, and a registrant of robot handling is recognized based on information input at the interface unit. Registrant recognition section to
A robot provided with position detecting means for detecting the current position of the robot, wherein the position detecting means confirms the arrival of the robot at a designated target position and the registrant recognizing unit confirms the handling registrant. Since the control unit is set so that the lock unit is released by the operation, the lock unit is released when the arrival of the robot at the designated target position and the confirmation of the registrant have been performed. In the event that the transfer is carried out, the registrant can surely take out the conveyed goods stored in the storage section of the robot at the designated destination position, and as a result, the conveyed goods may be stolen by a third party or dangerous. The object can be safely and securely transported to the designated target position by the robot without being inadvertently spread, and the registrant can reliably take out the conveyed product at the designated target position.

According to the second aspect of the invention, in addition to the effects of the first aspect, at least one of recognition of the arrival of the robot at the designated target position and confirmation of the registrant of the handling is performed. Since the remote monitoring operation unit performs the remote monitoring operation unit, the remote monitoring operation unit can surely confirm the arrival of the recipient and the arrival thereof, thereby improving the safety and reliability of the transport of the conveyed product. In the remote monitoring operation unit, the robot can immediately cope with the absence of the recipient or in the event of an abnormality, and can quickly perform the next countermeasure, and can easily and quickly control the robot according to the situation. .

According to the third aspect of the present invention, in addition to the effects of the first aspect of the present invention, since there is provided an abnormality detecting section for detecting an abnormality of the robot, the abnormality detecting section detects an abnormality of the robot 2. Is detected, and a response can be made in the event of an abnormality.

In the invention according to claim 4, in addition to the effect of the invention described in claim 1, in addition to the effect of the invention described in claim 1, the registrant recognizing unit includes a password input by a password input device provided in the interface unit. Since the registrant is recognized by the number, the recipient can enter the password at the robot's arrival position (designated target position), and the ID can be recognized, making it easy and reliable to confirm the registrant. Can be done.

According to the fifth aspect of the present invention, in addition to the effects of the first aspect, the registrant recognizing unit comprises an ID card reader provided by the handling registrant on the interface unit. Therefore, at the robot's arrival position,
Recognize the registrant by the D card reader
By reading the D card, the ID can be easily and reliably recognized.

According to the sixth aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, the registrant recognizing unit comprises a device for reading the characteristics of a human body. , The characteristics of the human body such as a fingerprint, a voiceprint, a retina, and a face are read at the arrival position, and the registrant can be confirmed more reliably.

According to the seventh aspect of the present invention, in addition to the effects of the first or second aspect, the registrant recognizing unit transmits a signal transmitted from a signal transmitting device of the registrant. It consists of a signal receiving device that receives the signal received and recognizes the registrant. Therefore, it is possible to recognize the registrant by receiving the signal transmitted by the signal transmitting device at the arrival position of the robot. It is possible to perform ID recognition easily and reliably by non-contact.

According to the eighth aspect of the present invention, in addition to the effect of any one of the first to seventh aspects, the position detecting means includes a traveling distance integrating section and a traveling direction recognition section. The position of the robot can be easily and reliably detected by obtaining the traveling distance and traveling direction of the robot.

According to the ninth aspect of the present invention, in addition to the effect of the first aspect of the present invention, the position detecting means is provided for detecting a specific moving environment during traveling. Since this is a means for recognizing an image, it can easily and surely detect the position of the robot by recognizing an environmental image during traveling or a landmark in the environment.

Further, in the invention according to claim 10,
In addition to the effect of the invention described in any one of claims 1 to 7, the position detecting means is means for recognizing a sign indicating position information previously set in the moving environment of the robot, so that the position of the robot It can easily and reliably detect the position of the robot by recognizing position information such as a barcode, ID, or magnetism installed in a moving environment.

Further, in the invention according to claim 11,
In addition to the effect of the third aspect of the present invention, the abnormality detection unit detects an abnormality when the robot deviates from a predetermined reference distance by a predetermined distance or more. When the vehicle deviates from the route, it is easily and reliably detected that the vehicle is abnormal, thereby enabling stable driving.

In the invention according to claim 12,
In addition to the effects of the ninth or tenth aspect of the present invention, an abnormality detection unit for detecting an abnormality of the robot is provided, and the abnormality detection unit includes an image of a specific moving environment during traveling or movement of the robot. It has time measuring means for measuring the time until the sign indicating the position information installed in the environment is recognized, and if the elapsed time exceeds a predetermined time, it is detected as abnormal, so the robot moving environment It measures the time until the robot recognizes the sign indicating the position information set in advance in the inside, and if this elapsed time exceeds a predetermined time by more than a fixed time, it is easily and reliably detected that it is abnormal, This enables stable running.

In the invention according to claim 13,
In addition to the effect of the third aspect of the present invention, since the abnormality detecting section is provided with the grounding detection sensor for detecting the contact between the grounding portion of the robot and the floor, the abnormality due to the falling of the robot can be easily detected by the grounding detection sensor. Can be detected.

Further, in the invention according to claim 14,
In addition to the effects of the ninth or tenth aspect of the present invention, an abnormality detecting unit for detecting an abnormality of the robot is provided, and the abnormality detecting unit determines an image of a predetermined traveling place in the moving environment in advance. If the robot deviates from the route, it is determined that the captured image does not match the predetermined image and is abnormal because the robot has an image processing device that detects it as abnormal if it does not match the image. Can be easily and reliably detected.

In the invention according to claim 15,
In addition to the effects of the third, eleventh to fourteenth aspects of the present invention, since the abnormality detection unit is provided with a voice alarm unit that notifies the surroundings of the occurrence of the abnormality by voice when the abnormality is detected, In the event of an abnormality, the occurrence of the abnormality can be notified to the surroundings by voice, and mischief or theft can be prevented.

In the invention according to claim 16,
In addition to the effects of the invention according to any one of claims 1 to 15, the robot is provided with communication means, and since this communication means is wireless communication means, the robot can be remotely controlled by wireless communication means. Thus, for example, getting on and off the elevator can be easily and reliably performed by remote control using wireless communication means.

In the invention according to claim 17,
In addition to the effects of the invention according to any one of claims 1 to 16, if the lock is not released within a predetermined time after confirming that the robot has reached the designated target position, the robot moves to the next designated target position. Since the robot is moved, it is possible to transfer the conveyed article to the next position without stopping the robot at the position when the recipient is absent, and as a result, it is possible to respond when the recipient is absent, It can be transported efficiently.

In the invention according to claim 18,
In addition to the effect of the invention described in claim 2, if the lock is not released within a predetermined time after confirming that the robot has reached the designated target position, the robot is stopped until there is an operation from the remote monitoring operation unit If the lock is not released within a certain period of time at the designated target position, the robot is stopped until there is an operation from the remote monitoring operation unit. Can be prevented from moving.

In the invention according to claim 19,
In addition to the effects of the invention according to any one of claims 1 to 18, when the robot is transported to the designated transfer position, the sheet that records the transfer is left at the designated transfer position. Therefore, the fact that the sheet is issued by the sheet issuing device at the designated target position and the conveyed object is conveyed by the robot to the designated target position can be notified to the other party.

Further, in the invention according to claim 20,
In addition to the effects of the invention according to any one of claims 1 to 19, a plurality of storage sections are provided, each storage section is movable, and any of the plurality of storage sections is selectively opposed to the storage door. Since it is free, a plurality of types of conveyed articles can be stored separately in a plurality of storage sections, and the stored articles stored in each of the storage sections can be reliably conveyed to their respective designated target positions.

Further, in the invention according to claim 21,
In addition to the effects of the invention according to any one of claims 1 to 20, in addition to the transfer information of the robot received from the remote monitoring operation unit at each destination, the robot can receive the recipient information through the remote monitoring operation unit. A terminal device for transmitting the situation is provided, and the robot starts transporting after the robot receives information from the terminal device that the recipient can receive, so the robot is transported in a state where the recipient can receive the transported object The object can be conveyed and the object can be smoothly received.

Further, in the invention according to claim 22,
In addition to the effects of the invention according to any one of claims 1 to 20, in addition to the transfer information of the robot received from the remote monitoring operation unit at each destination, the robot can receive the recipient information through the remote monitoring operation unit. Provide a terminal device for transmitting the situation, and when the client loads the goods to the robot, after the robot receives information from the terminal device that the recipient can receive, it can receive the package from the client. The lock on the storage door is released so that the robot can receive the goods from the client and transport it to the recipient when the robot confirms that the recipient can receive it. Thus, the conveyed article can be surely conveyed to the recipient.

[0131] In the invention according to claim 23,
In addition to the effects of the invention according to claim 21 or 22, before the robot starts the transfer, information on the transfer such as the name of the client, the contents of the transferred object, the estimated arrival time, etc. is stored in the terminal device beforehand. Since the information is sent to the recipient through the, the information on the transport can be notified to the recipient in advance, so that the transport can be smoothly received.

In the invention according to claim 24,
In addition to the effects of the invention according to claim 21 or 22, a means for inputting a desired transfer time of a transfer time in the interface section of the robot when the client loads a transfer object is provided, In the case, when the estimated transfer completion time estimated by the traveling unit is expected to exceed the desired transfer time, the robot stops the start of the transfer and notifies the client of the transfer stop information by the terminal device. Before the start, troubles due to transport delay can be prevented.

In the invention according to claim 25,
In addition to the effects of the invention described in claim 21 or claim 22, a means for inputting the transport priority of the transported article is provided in the interface section of the robot, and when a plurality of transports are started,
Since the transfer order is determined based on the transfer priority, the transfer can be performed efficiently from the one with the highest priority, and the transfer to a plurality of transfer locations by the robot can be performed efficiently and smoothly.

In the invention according to claim 26,
In addition to the effects of the invention according to any one of claims 1 to 25, a terminal device is provided at a collection request source, and a request position, a client name, a conveyed product name, and a destination of an item collection requester are provided at the terminal device. An interface for inputting information such as information is provided, and the robot goes to the collection position specified by the collection client based on the input information, and arrives at the collection position specified by the robot. It is preferable to convey the conveyed goods stored therein to a specified destination. With such a configuration, the (requester) collection requester does not go to the robot and goes to the collection point specified by the collection requester, the robot goes to the collection location, and the collection requester is designated after collection. Can be transported to the destination.

In the invention according to claim 27,
In addition to the effect of the invention according to claim 26, when a plurality of storage sections are provided in the robot and the client carries the transported goods to the robot and stores them in the storage sections, the number of empty storage sections is preset. Until the number is reduced to the set number, the storage in the storage section is accepted, and the remaining set number of empty storage sections are used when storing the transported goods at the collection destination when the collection request is received from the collection requesting terminal device It is preferable that the storage be accepted. With such a configuration, the case where the client brings and stores the transported goods at the robot and the case where the robot requests the collection and the robot goes to the collection place to store the transported goods are stored. In either case, it is possible to store the conveyed articles, and it is possible to secure a storage section according to the purpose.

In the invention according to claim 28,
In addition to the effects of the above-mentioned claim 26, in addition to the effect of the invention according to claim 26, the storage unit is a connecting truck that is detachable from the robot and can be connected to another storage unit separated from the other robot, and the connecting vehicle is similar to the interface unit of the robot. Since a connecting trolley interface with the function of is added, a large amount of goods can be transported by connecting the connecting trolley,
Even if the requester does not go to the place where the robot is present, a transfer request can be made by the connecting bogie interface unit.

In the invention according to claim 29,
In addition to the effect of the invention according to claim 28, at the collection destination, the robot is automatically connected to the connecting cart placed at a predetermined position in advance by using at least one camera and a distance sensor attached to the robot, Since the connecting trolley is transferred by the robot to the designated transfer destination, the process from collection to transfer can be performed automatically, and the connection between the robot and the connecting trolley can be performed automatically.

In the invention according to claim 30,
In addition to the effect of the above-mentioned claim 29, when the notification that the recipient can be received is not transmitted to the robot from the terminal device of the transfer destination via the remote monitoring operation unit, the connecting cart is disconnected from the robot. The robot will go to the storage location of the connecting truck again, connect the connecting truck, and start transporting when the recipient is confirmed. The transported object can be efficiently transported.

In the invention according to claim 31,
In addition to the effects of the invention according to any one of the first to thirty aspects, a temperature control device is added to the storage section, so that the stored items can be transported while being managed by the temperature control device. As a result, it is possible to improve the heat retaining state during transport.

In the invention according to claim 32,
In addition to the effects of the invention according to any one of claims 1 to 31, a sterilization device is added to the storage section, so that the stored items are kept clean by the sterilization device, and bacteria and the like are removed. It can be safely transported while preventing the spread of the particles.

In the invention according to claim 33,
In addition to the effects of the invention according to any one of claims 1 to 32, since the storage portion has an anti-vibration structure, the stored items stored in the storage portion can be protected by impact, and the stored items can be impacted. It can be transported to a designated destination position without being damaged by the above-mentioned method.

In the invention according to claim 34,
In addition to the effect of the invention described in claim 33, since the vibration isolating structure is constituted by the variable viscosity damper, the vibration damping effect can be easily changed depending on the difference in the weight of the conveyed object.

[Brief description of the drawings]

FIG. 1 is a front view of the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is a schematic control block diagram of the above.

FIG. 4 is an explanatory diagram illustrating a lock release method according to the embodiment.

FIG. 5 is a configuration diagram of a password input method according to the embodiment.

FIG. 6 is a configuration diagram of an ID card reading system according to the embodiment.

FIG. 7 is a configuration diagram of a method for reading characteristics of a human body according to the embodiment.

FIG. 8 is a configuration diagram of a signal transmission / reception system according to the embodiment.

FIG. 9 is a configuration diagram of a landmark recognition method according to the embodiment.

FIG. 10 is a flowchart of an example of detecting the current position of the robot according to the first embodiment using landmarks.

FIG. 11 is a control block diagram of an example in which the current position of the robot is detected by a barcode.

FIG. 12 is a flowchart of an example in which the current position of the robot is detected by a barcode.

FIG. 13 is a flowchart showing an example of the abnormality detection of the robot of the above.

FIG. 14 is a flowchart showing another example of detecting an abnormality of the robot of the above.

FIG. 15 is a front view of the robot showing still another example of the abnormality detection of the above.

FIG. 16 is a side view of the robot.

FIG. 17 is a flowchart showing still another example of the abnormality detection of the robot of the above.

FIGS. 18 (a) and (b) are control block diagrams showing respective examples in a case where the occurrence of an abnormality is notified to the surroundings by voice when an abnormality is detected.

FIG. 19 is a control block diagram for notifying an abnormality of the robot to a remote monitoring operation unit when the abnormality is detected.

FIG. 20 is a control block diagram when the robot moves up and down by an elevator.

FIG. 21 is a flowchart of an example in which, when the recipient of the above-mentioned conveyed article is absent, an instruction for the next destination is obtained from the conveyer and the conveyed article is transferred to that position.

FIG. 22 is a flowchart of an example in which the conveyed article is brought back to the original position when the recipient of the conveyed article is absent.

FIG. 23 is a control block diagram of an example in which a sheet on which conveyance has been recorded is left at a designated conveyance position.

FIG. 24 is a side view showing an example in which a plurality of storage units are provided.

FIG. 25 is a schematic plan view of the storage unit showing an example in which a plurality of the storage units are provided.

FIG. 26 is a control block diagram in which a terminal device is provided at the transfer destination and the state of the recipient at the time of loading a load is checked.

FIG. 27 is a flowchart in the case where the client inputs a desired transport time when transporting a transported object.

FIG. 28 is a control block diagram in the case where a terminal device is provided at the collection request source of the above.

FIG. 29 shows an embodiment in which the storage unit is separated into a storage storage unit for transport and a storage unit for collection, where (a) is a side view of the robot and (b) is a schematic plan view of the storage unit. It is.

FIG. 30 is a side view showing an example in which the storage unit is configured with a connecting cart and the connecting cart is detachably connected to the robot.

FIG. 31 is a control block diagram in a case where the above-described connecting cart is provided.

FIG. 32 is a front view showing another example in which the storage unit is configured with a connecting cart and the connecting cart is detachably connected to the robot.

FIG. 33 is a schematic plan view showing an example in which a temperature adjusting device is provided in the storage unit of the above.

FIG. 34 is a schematic plan view showing an example in which a disinfecting device is provided in the storage unit.

FIG. 35 is a side view showing an example in which the accommodating section has an anti-vibration structure.

FIG. 36 is a side view showing an example in which the accommodating section is made to have a vibration-proof structure by a variable viscosity damper.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Storage part 2 Robot 3 Lock part 4 Registrant recognition part 6 Abnormality detection part 7 Remote monitoring operation part 8 Communication means 9 Voice input device 10 Interface part 11 Position detection means 12 Storage door 13 Temperature control device 14 Sterilization disinfection device 15 Viscosity variable Damper 16 PIN input device 17 ID card reading device 18 Landmark recognition device 19 Signal transmission device 20 Signal receiving device 21 Ground detection sensor 22 Voice alarm means 23 Wheels 24 Encoder 25 Sheet issuing device 80 Terminal device 100 Transport storage unit 101 Collection Storage unit 102 connecting truck 103 connecting truck interface unit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G05D 1/02 G05D 1/02 Y (72) Inventor Hisato Nakajima 1048 Kazuma Kadoma, Kadoma City, Osaka Matsushita Electric Works Within the Company (72) Inventor Shigeru Dono 1048, Kazuma Kadoma, Kadoma City, Osaka Prefecture Inside the Company (72) Inventor Hidekazu Araki 1048, Kazuma Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Works F-term (reference) 3F059 AA01 BB07 BC07 BC09 BC10 CA02 CA05 CA06 DA02 DA05 DA08 DB04 DB06 DB09 DC07 DD01 DD08 DD11 DD18 DE06 FA03 FA05 FA10 FB01 FB12 FB15 FB26 FB28 FC02 FC07 FC13 FC14 3F060 AA01 CA12 GA05 GA11 GA13 GB33 GD13 HA03 DD15 EE06 EE13 FF15 GG09 GG12 HH10 MM04 MM09

Claims (34)

[Claims] 1. A traveling unit that travels in a self-propelled manner to a designated destination position, a storage unit having a storage door that can be opened and closed, a lock unit that holds the storage door in a closed state, and control of release of the lock unit. A lock control unit, an interface unit with an operator, and a registrant recognition unit that recognizes a registrant handling and handling the robot based on information input at the interface unit.
A robot provided with position detecting means for detecting the current position of the robot, wherein the position detecting means confirms the arrival of the robot at a designated target position and the registrant recognizing unit confirms the handling registrant. An automatic transport robot having a control unit that is set so that the lock unit is released by the control unit. 2. The automatic transport robot according to claim 1, wherein at least one of the recognition of the arrival of the robot at the designated destination position and the confirmation of the handling registrant is performed by a remote monitoring operation unit. 3. The automatic transfer robot according to claim 1, further comprising an abnormality detection unit that detects an abnormality of the robot. 4. A registrant recognizing unit for recognizing a registrant using a password input by a password input device provided in an interface unit.
Automatic transfer robot as described. 5. The automatic transport robot according to claim 1, wherein the registrant recognizing unit comprises an ID card reading device provided on the interface unit by the registrant. 6. The automatic transfer robot according to claim 1, wherein the registrant recognizing unit comprises a device for reading a feature of a human body. 7. The registrant recognizing unit comprises a signal receiving device for receiving a signal transmitted from a signal transmission device of the service registrant and recognizing the service registrant. Item 4. The automatic transfer robot according to Item 2. 8. The automatic transport robot according to claim 1, wherein the position detecting means includes a traveling distance integrating section and a traveling direction recognizing section. 9. The automatic transport robot according to claim 1, wherein the position detecting means is means for recognizing an image of a specific moving environment during traveling. 10. The automatic conveyance according to claim 1, wherein the position detection means is means for recognizing a marker indicating position information previously set in a moving environment of the robot. robot. 11. The automatic transfer robot according to claim 3, wherein the abnormality detection unit detects an abnormality when the robot deviates from a predetermined reference distance by a predetermined distance or more. 12. An abnormality detection unit for detecting an abnormality of a robot, wherein the abnormality detection unit recognizes an image of a specific moving environment during traveling or a sign indicating position information installed in the moving environment of the robot. The automatic transport robot according to claim 9, further comprising a time measuring unit that measures a time until the time elapses, detecting an abnormality when the elapsed time exceeds a predetermined time. 13. The automatic transport robot according to claim 3, wherein the abnormality detection unit includes a ground detection sensor that detects a contact between a ground part of the robot and a floor. 14. An abnormality detection unit for detecting an abnormality of a robot, wherein the abnormality detection unit detects an abnormality when an image of a predetermined traveling place in a moving environment does not match a predetermined image. The automatic transport robot according to claim 9, further comprising a device. 15. An apparatus according to claim 3, wherein said abnormality detecting section includes a sound alarm means for notifying the occurrence of the abnormality by voice when the abnormality is detected.
4. The automatic transfer robot according to 4. 16. The automatic transfer robot according to claim 1, wherein a communication means is provided on the robot, and the communication means is a wireless communication means. 17. The method according to claim 1, wherein if the lock is not released within a predetermined time after the arrival of the robot at the designated target position is confirmed, the robot is moved to the next designated target position. The automatic transfer robot according to any one of the above. 18. If the lock is not released within a predetermined time after confirming that the robot has reached the designated destination position, the robot is stopped until an operation is performed from the remote monitoring operation unit. 2. The automatic transfer robot according to 2. 19. A sheet publishing device for leaving a sheet, which has been transported, recorded at the designated transfer position when the robot is transferred to the designated transfer destination position. An automatic transfer robot according to any one of claims 1 to 18. 20. The storage device according to claim 1, wherein a plurality of storage sections are provided, and each of the storage sections is movable and any one of the plurality of storage sections can be selectively opposed to the storage door.
9. The automatic transfer robot according to any one of 9 above. 21. A terminal device for receiving a transfer information of the robot from a remote monitoring operation unit at each transfer destination and transmitting a status of a recipient to the robot through the remote monitoring operation unit,
21. The automatic transfer robot according to claim 1, wherein the transfer starts after the robot receives information from the terminal device that the recipient can receive the information. 22. A terminal device for receiving a transfer information of the robot from a remote monitoring operation unit at each transfer destination and transmitting a status of a recipient to the robot through the remote monitoring operation unit,
When the client loads the goods to the robot, after the robot receives information from the terminal device that the recipient can receive, the lock part of the storage door is installed so that the luggage can be received from the client. The automatic transfer robot according to any one of claims 1 to 20, wherein the automatic transfer robot is released. 23. The method according to claim 23, wherein before the robot starts the transfer, information relating to the transfer such as the name of the client, the contents of the transferred object, the estimated arrival time, etc. is sent to the receiver through the terminal device in advance. The automatic transfer robot according to claim 21 or 22. 24. A means for inputting a desired transfer time of a transfer time in the interface section of the robot when the client loads a transfer article, and the transfer completion estimated by the traveling section at the start of the transfer. 23. The robot according to claim 21, wherein, if the time is expected to exceed the desired transport time, the robot stops the transport and notifies the client of the information of the transport stop by the terminal device. Transfer robot. 25. An apparatus according to claim 25, further comprising means for inputting the transport priority of the transported article to the interface of the robot, wherein when starting a plurality of transports, the transport order is determined according to the degree of the transport priority. The automatic transfer robot according to claim 21 or 22. 26. A terminal device is provided at the collection request source, and the terminal device is provided with an interface unit for inputting information such as a request position, a requester name, a conveyed product name, and a destination of an item collection requester. The robot goes to the collection location specified by the collection client based on the robot, and after arriving at the collection position specified by the robot, transports the package stored by the collection client to the specified destination. The automatic transfer robot according to any one of claims 1 to 25, characterized in that: 27. A robot in which a plurality of storage units are provided, and when a client carries a transported object to the robot and stores it in the storage unit, storage is performed until the number of empty storage units is reduced to a preset number. Receiving the storage in the collection destination, and receiving the storage at the collection destination when receiving the collection request from the terminal device of the collection request source when the remaining set number of empty storage units is received. The automatic transfer robot according to claim 26, wherein: 28. A storage truck which is detachable from the robot and which is a connecting truck that can be connected to another storage unit separated from another robot, wherein the connecting truck has a function similar to that of the interface of the robot. 28. The automatic transfer robot according to claim 26, further comprising: 29. At the collection destination, the robot and the connecting trolley placed at a predetermined position are automatically connected using a camera and a distance sensor attached to the robot, and the connecting trolley is transferred to the specified transfer destination by the robot. 29. The automatic transfer robot according to claim 28, wherein the transfer is performed. 30. When a notification that the recipient can be received is not transmitted to the robot from the terminal device of the transfer destination via the remote monitoring operation unit, the connecting vehicle is separated from the robot and stored in a predetermined position. 30. The automatic transfer robot according to claim 29, wherein when the recipient is confirmed, the robot again goes to the storage location of the connection truck, connects the connection truck, and starts the transfer. 31. The automatic transfer robot according to claim 1, wherein a temperature adjusting device is added to the storage section. 32. The automatic transfer robot according to claim 1, wherein a sterilization device is added to the storage section. 33. The automatic transfer robot according to claim 1, wherein the storage section has a vibration-proof structure. 34. The automatic transfer robot according to claim 33, wherein the vibration isolation structure is constituted by a variable viscosity damper.