JP2006321583A - Image forming device and mobile finisher - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image forming device capable of safely and reliably delivering printed matters to a user even in a narrow office or the like. <P>SOLUTION: The image forming device comprises an image forming device body which receives the print data from a personal computer of a user and prints the data on a paper sheet, and outputs the printed paper sheet, and a mobile finisher as a post-processing device to be connected/disconnected to/from the image forming device body. When the image forming device body receives the instruction for the print and the delivery from the personal computer of the user, the printed paper sheet is fed to the mobile finisher side, information on the traveling path is transmitted to the mobile finisher and the delivery is instructed. The mobile finisher performs the autonomous traveling based on the information on the traveling path while holding the printed paper sheets inside thereof, and when the finisher reaches the personal computer of the user to which the print and the delivery are instructed, the printed paper sheets are discharged and delivered to the user. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an image forming apparatus such as a printer, a facsimile machine, and a copying machine, and a self-propelled finisher thereof. Specifically, the main body of the image forming apparatus including the printing unit, and the recording paper that is detachably connected to the main body of the image forming apparatus and is ejected from the main body of the image forming apparatus is stacked, sorted, double-sided, stapled, etc. The present invention relates to a self-propelled finisher that performs post-processing and further self-propelled to deliver recorded paper to a desired person and place.

  In recent years, image forming apparatuses of MFPs (Multi-Function Peripherals) in which the functions of OA devices such as printers, facsimiles, and copiers are integrated into one unit have been widely used in offices and the like. . This MFP image forming apparatus is provided with a display unit, a printing unit, an imaging unit, and the like in a single housing, and a plurality of types of applications corresponding to printers, facsimiles, copiers, scanners, and the like. By switching, it operates as a printer, facsimile, copier, scanner, or the like.

  In general, an MFP is expensive, requires a large and large installation area, and noise increases when a high-speed and high-function MFP is used. For this reason, the MFP is installed in a location far away from where the users are in the office, and is connected to a personal computer (personal computer), which is the user's device, via a network such as a LAN and shared by multiple users. Often done. In such an office environment, a user who operates a personal computer and issues a print request to the MFP is bothersome because he / she has to go to the MFP placed at a distant place. Since work must be interrupted, the efficiency is reduced. Furthermore, there is always a risk that the contents can be seen by others or the printed matter itself can be taken away before the user goes to pick up the printed matter.

  As a conventional technique for solving such a problem, for example, the printer device itself is configured to be movable, and the printer device itself moves based on a user's instruction to automatically deliver a printed matter to a desired location. There is a self-propelled printer (see, for example, Patent Document 1). However, this self-propelled printer has to be transported together with the printer's process engine, power supply and supply, etc., which increases the structure, which may hinder the movement in the office, and also increases the weight. It's also dangerous because it can be quite substantial. In particular, in the MFP, since the structure and weight further increase, there is a problem in moving the MFP itself.

JP 2001-125646 A

  SUMMARY OF THE INVENTION In view of the problems of conventional self-propelled printers, the present invention relates to an image processing apparatus equipped with a small, small and self-propelled self-propelled finisher capable of delivering a printed matter safely and securely even in a small office and the like, and the self-propelled type To provide a finisher.

  An image forming apparatus according to the present invention includes an image forming apparatus main body provided with a standard function of an MFP or the like that receives print data from a user using apparatus such as a terminal or a personal computer, prints it on paper, and outputs it. It consists of a self-propelled finisher that can be connected and disconnected. The self-propelled finisher has a function of autonomously running like a robot, in addition to a function of post-processing such as stacking, sorting, double-sided, and stapling of printed paper printed out by the image forming apparatus main body. . The self-propelled finisher is equipped with, for example, a battery as a power source, and is charged from the image forming apparatus main body when connected to the image forming apparatus main body.

  When the printing and delivery are instructed from the user utilization device, the image forming apparatus main body sends the printed paper to the self-propelled finisher and sends the travel route information to the self-propelled finisher to instruct the delivery. . The self-propelled finisher autonomously travels based on the travel route information while holding the printed paper inside, and discharges the printed paper to the user when it reaches the user using device that has instructed printing and delivery. hand over. After that, the self-propelled finisher similarly travels autonomously and returns to the image forming apparatus main body, connects to the image forming apparatus, charges the battery, and waits for the next delivery.

  In the present invention, since most of the configuration such as the MFP is left as it is in the image forming apparatus main body, the self-propelled finisher can be reduced in size, can be turned in a small office environment, and the user is placed in a remote place. It is not necessary to go to an MFP or the like for printing, and productivity is improved because there is no interruption of work.

  In addition, the self-propelled finisher keeps the printed matter inside until it reaches the location of the user who has instructed printing and delivery, so there is no danger of others seeing or taking away the printed matter. Is kept confidential. Further, a battery or the like mounted on the self-propelled finisher is charged from the image forming apparatus main body when the traveling finisher is connected to the image forming apparatus main body, but the installation location of the image forming apparatus main body is fixed. And since it is occupied by a certain size, a charging place and electric power can be ensured reliably.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is an overall configuration diagram showing an embodiment of an image forming apparatus according to the present invention. In FIG. 1, reference numeral 100 denotes an image forming apparatus main body having an apparatus configuration similar to that of an MFP or the like. The self-propelled finisher 300 includes a main body connection unit that connects and separates the image forming apparatus main body 100 and the self-propelled finisher 200. FIG. 1 shows a state in which the image forming apparatus main body 100 and the self-propelled finisher 200 are connected via a main body connection unit 300.

  The image forming apparatus main body 100 includes a wireless device (communication device) 101 and a main body discharge unit 102. Similarly, the self-propelled finisher 200 includes a wireless device (communication device) 201 and a finisher paper discharge unit 202. Printed paper printed by the image forming apparatus main body 100 is discharged to the main body discharge unit 102 by switching the sheet conveyance path in the main body 100 or sent to the self-propelled finisher through the main body connection unit 300. After being post-processed, it can be discharged to the finisher discharge unit 202. As will be described later, the self-propelled finisher 200 is provided with an autonomous traveling means, which is disconnected from the image forming apparatus main body 100 by releasing the connection with the main body connecting portion 300 and can be autonomously traveled by the finisher alone. It is. During the autonomous traveling, communication between the image forming apparatus main body 100 and the self-propelled finisher 200 is performed wirelessly via the wireless devices 101 and 201.

  Since most of the functions of an image forming apparatus such as an MFP are handled by the image forming apparatus main body 100, the self-propelled finisher 200 can be reduced in size, has a small turn, and can hinder movement even in a narrow office. Absent.

  FIG. 2 is a cross-sectional configuration diagram showing the first embodiment of the self-propelled finisher 200. The self-propelled finisher 200 includes a print paper feed unit 211, an internal print paper discharge unit 212, a print paper discharge tray 213 (finisher paper discharge unit 202 in FIG. 1), a sheet conveyance path switching unit 214, a driving battery 215, a drive The motor 216, the drive wheel 217, the auxiliary wheel 218, the work arm 219, the position recognition sensor 220, the obstacle sensor 221 and the control unit 230 are included. Also, as shown in FIG. 1, a wireless device 201 is provided, but is omitted in FIG. Printed paper printed by the image forming apparatus main body 100 is taken into the self-propelled finisher 200 by the print paper feeding unit 211 via the main body connection unit 300. The printed sheet taken into the self-propelled finisher 200 is discharged to the print discharge tray 213 via the internal print discharge unit 212 by the sheet conveyance path switching unit 214 or directly printed. The paper is discharged to the paper tray 213.

  The self-propelled finisher 200 uses the driving battery 215 as a power source. Driving the drive wheel 217 with the drive motor 216 enables autonomous movement of the finisher alone. The drive motor 216 and the drive wheel 217 constitute a traveling means. The drive wheel 217 is composed of two wheels. Correspondingly, two drive motors 216 are mounted, and the left and right wheels are independently driven by a two-wheel independent differential drive system to change the rotation speed, thereby reducing a small turning radius. The direction of travel can be changed with. Further, a steering wheel may be provided to change the traveling direction by changing the wheel angle. Further, the auxiliary wheel 218 can be omitted if a gyroscope or an acceleration sensor is used to balance the front and rear. A crawler may be used instead of the wheel. Moreover, the moving means of the walk form by the leg | foot of 2 or more legs may be sufficient.

  The drive battery 215 is charged from the image forming apparatus main body 100 through the main body connection section 300 when the self-propelled finisher 200 is connected to the image forming apparatus main body 100 via the main body connection section 300. Since the installation place of the image forming apparatus main body 100 is fixed and is occupied with a certain size, it is possible to secure a place for charging the driving battery 215 mounted on the self-propelled finisher 200 and power. The driving battery 215 is preferably a nickel-cadmium battery, a nickel-mercury battery, a lithium-ion battery, or the like rather than a lead battery that uses an electrolyte, assuming use in an office. In the case of an office space where the travel distance is limited, a capacitor having a short charge time even if the capacity is small is also effective. A fuel cell is also conceivable if the image forming apparatus main body 100 is provided with replenishing means such as alcohol or a hydrogen cartridge tank.

  The work arm 219 is provided in the vicinity of the print paper discharge tray 213 and is used to grab the printed paper from the print paper discharge tray 213 and deliver it to the user. Further, as a method of using the work arm 219, it is conceivable to remove an obstacle, press an elevator button, and supply a supply of toner, paper, and the like to the image forming apparatus main body 100.

  As will be described later, the position recognition sensor 220 detects a position recognition marker (landmark) provided on the ceiling or the like of the office, and grasps the accurate movement position and movement posture of the self-propelled finisher 200. Used for Further, as will be described later, the position recognition sensor 220 is used to detect a landmark provided in the image forming apparatus main body 100 and grasp the home position of the self-propelled finisher 200. The obstacle sensor 221 is used to detect an obstacle when the self-propelled finisher 200 is traveling.

  The control unit 230 is responsible for autonomous movement control of the self-propelled finisher 200, discharge control of printed paper, and the like. The control unit 230 also monitors the remaining capacity of the driving battery 215.

  FIG. 3 is a cross-sectional configuration diagram showing a second embodiment of the self-propelled finisher 200. The self-propelled finisher 200 is obtained by adding an image recognition camera 222 and an operation monitor 223 to the first embodiment of FIG. In FIG. 3, the working arm and the position recognition arm are omitted. As will be described later, the image recognition camera 222 is used to read a user confirmation pattern displayed on a personal computer monitor of a user who has issued a print instruction and confirm a delivery destination user. It is also possible to remotely operate the work arm using the image recognition camera 222 to perform maintenance of the image forming apparatus main body 100, processing of paper on the left discharge tray, and the like. The operation monitor 223 can be used as an auxiliary to the operation monitor of the image forming apparatus main body 100, for example. Since the configuration other than this is the same as that of FIG.

  FIG. 4 is a block diagram illustrating a hardware configuration of the image forming apparatus main body 100. In FIG. 4, the mechanism unit 110 is a general term for a scanner unit, a printing unit, and the like in the image forming apparatus main body 100. The main control unit 120 is a so-called CPU and includes an internal memory 122 for storing a desired program, print data, and the like. The main control unit 120 includes a control unit of the mechanism unit 110, a personal computer interface (personal computer I / F) 130 connected to a user's personal computer group via a LAN, and a wireless device that controls communication with the self-propelled finisher 200 ( Communication apparatus) 102, a map database 142 indicating the map information of the office, a storage device 140 storing other information, and the like. The main control unit 120 receives a print request, print data, and the like from the user's personal computer via the personal computer I / F 130 and stores them in the internal memory 122 to perform print control of the mechanism unit 110. When the main control unit 120 receives the delivery request together with the print request, the main control unit 120 refers to the map database 142 of the storage device 140 to plan the travel route of the self-propelled finisher 200 and sets the travel route information as the self-propelled finisher. Send to 200 and instruct delivery. A specific processing flow of the main control unit 120 will be described later.

  FIG. 5 is a block diagram showing a hardware configuration of the self-propelled finisher 200. In FIG. 5, the paper discharge mechanism 240 is a general term for the print paper feed unit 211, the internal print paper discharge unit 212, and the sheet conveyance path switching unit 214 in FIGS. 2 and 3. The control unit (control unit) 230 is a so-called CPU, similar to the main control unit 120 in FIG. 4, and an internal memory 232 for storing desired programs (including a main body connection program described later), travel route information, position data, and the like. It has. The control unit 120 includes a wireless device 202, a position recognition sensor 220, an obstacle sensor 221, an image recognition camera 222, a drive battery 215, a control unit for the paper discharge mechanism 240, a drive motor 216, and a work arm 219. And a storage device 250 storing user confirmation data 252 unique to each user. Note that the image recognition camera 222 is not necessary in the first embodiment of FIG.

  When there is an inquiry about the remaining capacity of the drive battery 215 from the image forming apparatus main body 100, the control unit 230 checks it and notifies the image forming apparatus main body 100 of it. When the control unit 230 receives the travel route information together with the delivery command from the image forming apparatus main body 100 via the wireless device 202, the control unit 230 stores the travel route information in the internal memory 232, drives the drive motor 216, and The finisher 200 is controlled to travel according to the travel route information. At this time, the position recognition sensor 220 confirms the movement position and the like, and corrects it if it deviates from the travel route. Further, when the obstacle sensor 221 detects an obstacle, the obstacle is detoured. The printed paper discharged from the image forming apparatus main body 100 controls the paper discharge mechanism 240 and is held in the finisher, for example, and is discharged to the print paper discharge tray 213 when it reaches the target position. At this time, it is also possible to deliver the printed paper in the paper discharge tray 213 to the user by controlling the work arm 219. The user confirmation data 252 stored in the storage device 250 is used to confirm the user who has instructed printing, and then the printed paper is discharged to the paper discharge tray 213 and the work arm 219 is operated. It is also possible. Thereafter, the controller 230 returns to the installation position of the image forming apparatus main body 100 by controlling the finisher 200 so as to reverse the travel route. A specific processing flow of the control unit 230 will be described later.

The specific operation of the image forming apparatus according to the present invention will be described in detail below.
FIG. 6 is a diagram illustrating a state in which the self-propelled finisher 200 is separated from the image forming apparatus main body 100 and delivers the printed paper to the target user. In FIG. 6, an image forming apparatus main body such as an MFP equipped with personal computers (personal computers) 400-1 to 400 -N as information processing devices used by each user and functions such as a facsimile, a printer, a copy, and a scanner as standard functions. 100 is connected by a LAN 500. The self-propelled finisher 200 has a function of performing post-processing such as stacking, sorting, screens, and stapling of printed sheets printed by the image forming apparatus main body 100. Normally, as shown in FIG. It is connected to the image forming apparatus main body 100 via 300. In this connected state, the driving battery 215 mounted on the self-propelled finisher 200 can be charged from the image forming apparatus main body 100 via the main body connecting portion 300.

  For example, in the personal computer 400-1, when the user instructs printing and delivery to the image forming apparatus main body 100 by using a print instruction screen on the monitor, the personal computer 400-1 displays a PJL (Printer Job Language) or the like. The command and print data are transmitted to the image forming apparatus main body 100. The main control unit 120 of the image forming apparatus main body 100 performs print control of the received print data, and interprets the delivery request by the received command such as PJL, and then automatically runs the printed paper via the main body connection unit 300. This is sent to the mold finisher 200, and a delivery instruction is instructed to the self-propelled finisher 200. The self-propelled finisher 200 is separated from the image forming apparatus main body 100 in accordance with the instruction of the delivery instruction, and thereafter, autonomously runs under the control of the control unit 230 in the self-propelled finisher 200, and the personal computer 400-1 instructing the delivery. Deliver the printed paper to the user. At this time, necessary communication is performed in a wireless format via the wireless devices 101 and 102 provided in the image forming apparatus main body 100 and the self-propelled finisher 200. After delivery, the self-propelled finisher 200 is autonomously run under the control of the control unit 230 and returns to the installation location of the image forming apparatus main body 100 again. Connect and prepare for the next delivery instruction.

  When delivery is not instructed by the user, the main control unit 120 of the image forming apparatus main body 100 controls to discharge the printed paper to the main body discharge unit 102.

  FIG. 7 shows a processing flow example of the main control unit 120 of the image forming apparatus main body 100 until the image forming apparatus main body 100 receives a print request from the personal computer side and the self-propelled finisher 200 separates and autonomously travels. Is.

  When the main control unit 120 of the image forming apparatus main body 100 receives a print request and print data from the user's personal computer via the personal computer I / F 130 via a print instruction screen on the personal computer monitor, the print data is stored in the internal memory 122. Then (step 1001), the mechanism unit 110 is controlled to print on the paper (step 1002). Then, it is confirmed whether or not a delivery request is instructed in the print request (step 1003). If no delivery request is instructed, the printed paper is discharged to the main body discharge unit 102 (step 1015), and processing is performed. Ends. In this case, the user goes to the installation place of the image forming apparatus main body 100 to obtain the printed matter.

  On the other hand, if a delivery request is instructed in the print request, it is confirmed whether or not the self-propelled finisher 200 is connected to the main body connection unit 300 (step 1004). This is performed, for example, by inquiring the main body connection unit 300 or by holding a flag indicating connection / non-connection in the internal memory 122. If the self-propelled finisher 200 is not connected, the user is informed on the print screen on the personal computer monitor of the user who has instructed printing and delivery that the self-propelled finisher is currently being delivered and cannot be used (step 1005). It waits for an instruction whether to wait (step 1006). If the user gives an instruction to wait through the personal computer, the process returns to step 1004. If the user gives up delivery, the printed sheet is discharged to the main body discharge unit 102 (step 1015), and the process ends. And

  When the connection of the self-propelled finisher 200 is confirmed, the personal computer of the user who instructed printing and delivery is specified by the unique information on the network such as the IP address added to the print request, and the map database 142 of the storage device 140 is stored. Based on the plan, the travel route of the self-propelled finisher 200 from the image forming apparatus main body 100 to the personal computer of the corresponding user is planned to create travel route information (step 1007). In the map database 142, as the office map information (layout information), the image forming apparatus main body 100 existing in the office, each user's personal computer, desk, chair, bookcase, names of other objects, coordinates, etc. are digitized. Further, each personal computer is added with unique information on the network such as an IP address. The main control unit 120 of the image forming apparatus main body 100 obtains the installation location of the user's personal computer instructing printing and delivery based on the IP address of the print request, etc., from the map database 142 of the storage device 140, and further, image formation The installation location of the apparatus main body 100 is obtained, the shortest movement path between the image forming apparatus main body 100 and the user's personal computer is determined, the travel path of delivery of the self-propelled finisher 200 is planned, and travel path information is created. This is basically the same as the route selection operation of a general navigator. The map database 142 of the storage device 140 is updated whenever the layout in the office is changed.

  Next, the main control unit 120 of the image forming apparatus main body 100 calculates the reciprocating movement distance of the self-propelled finisher 200 based on the travel route information (step 1008), and the control unit of the self-propelled finisher 200. 230 is inquired about the remaining capacity of the driving battery 215 (step 1009), and it is determined whether or not the self-propelled finisher 200 can reciprocate (step 1010). Here, when the remaining capacity of the driving battery 215 of the self-propelled finisher 200 is small and reciprocation is impossible, the fact is notified on the monitor print screen of the user's personal computer instructing printing and delivery (step 1011), The user waits for an indication as to whether or not to wait until charging is complete (step 1012). If the user gives an instruction to wait through the personal computer, the process returns to step 1009. However, if the user gives up delivery, the printed paper is discharged to the main body discharge unit 102 (step 1015), and the process is terminated. To do.

  On the other hand, when the remaining capacity of the driving battery 215 of the self-propelled finisher 200 is sufficient and reciprocal travel is possible, the printed paper is sent into the self-propelled finisher 200 via the main body connection unit 300 (step 1013). ) The travel route information is transmitted to the control unit 230 of the self-propelled finisher 200 to instruct delivery (step 1014). At this time, the processing in the main control unit 120 in the image forming apparatus main body 100 is temporarily terminated, and the self-propelled finisher 200 starts autonomous traveling under the control of the built-in control unit 230. It should be noted that transmission route information transmission and delivery instructions from the image forming apparatus main body 100 to the self-propelled finisher 200 may be performed either via the main body connection unit 300 or via the wireless devices 101 and 201. Is possible. The travel route information can also be displayed on a monitor print screen of a personal computer instructed to print and deliver via the personal computer I / F 130.

  FIG. 8 shows an example of a processing flow of the control unit 230 of the self-propelled finisher 200 until the self-propelled finisher 200 receiving the delivery instruction autonomously travels and reaches the vicinity of the user.

  When receiving the delivery instruction and the travel route information from the image forming apparatus main body 100, the control unit 230 of the self-propelled finisher 200 stores the travel route information in the internal memory 232 (step 2001), and in parallel with the delivery instruction. After the printed paper discharged from the image forming apparatus main body 100 via the main body connection unit 300 is discharged to the internal print discharge unit 212 (step 2002), the wheels 217 are driven by the motor 216, and the self-propelled finisher 200 is driven. And the main body connection unit 300 are released, and autonomous traveling is started according to the traveling route information (step 2003). During this autonomous traveling, the rotational speed of the drive wheel 217 is constantly monitored to estimate the moving distance, moving position, moving posture, etc. from the traveling speed and the rotational angular speed. Although omitted in FIGS. 2 and 3, the rotational speed of the drive wheel 217 is measured by an encoder, a potentiometer, a resolver, or the like provided on the drive motor 216 or the drive wheel 217. Further, the drive wheel 217 controls the traveling direction by driving the left and right wheels independently and changing the number of revolutions in a two-wheel independent differential drive system.

  Although the movement position and movement posture can be estimated from the rotational speed of the drive wheel 217, there may be a deviation between the estimated position of the finisher 200 and the actual position due to wheel slip, calculation error, drive system error, and the like. For this reason, during autonomous traveling, the position recognition sensor 220 provided in the self-propelled finisher 200 always makes it possible to recognize at least two locations such as the ceiling of an office that are easy to recognize and do not obstruct work, as shown in FIG. The position recognition marker (landmark) provided in the position is detected, and an accurate movement position is confirmed by the triangulation method using the two or more fixed landmarks (step 2004).

  FIG. 12 shows an example of an office layout. Reference numeral 400 denotes a user personal computer, 410 denotes a user disk, 420 denotes a chair, and 430 denotes position recognition markers installed at four corners of the ceiling of the office. During the autonomous running of the self-propelled finisher 200, the position recognition sensor 220 provided in the finisher 200 always detects the position recognition marker 430 installed on the ceiling of the office. As the position recognition marker (landmark) 430, one that emits light emission, color, pattern display, radio wave, ultrasonic wave, sound wave, heat, or the like can be considered. In particular, office lighting is easy to use as a landmark. In addition, if high-luminance LED illumination is used, information can be obtained by a blinking pattern. Corresponding to the position recognition marker 430, as the position recognition sensor 220 of the self-propelled finisher 200, a visual sensor (photodiode, CCD, CMOS, etc.), a laser sensor, an infrared sensor, an ultrasonic sensor, or the like can be considered. In addition, it is conceivable to use a gyroscope, a geomagnetic sensor, GPS or the like as a position recognition method. In FIG. 12, reference numeral 103 denotes a main body connection position recognition marker (home position landmark) provided in the image forming apparatus main body 100. The use of this will be described later.

  The control unit 230 of the self-propelled finisher 200 always determines whether the finisher 200 needs to deviate from the planned travel route and correct the position during the autonomous traveling, and the failure is not in the map information on the planned travel route. It is checked whether there is an object and whether the finisher 200 has reached the vicinity of the target user's seat (near the target position) (steps 2005, 2006, 2007). When the self-propelled finisher 200 deviates from the planned travel route and requires position correction, it is determined whether or not position correction can be performed autonomously (step 2008). If it is, the position is corrected autonomously and returned to the planned travel route (step 2009). Even when an obstacle is confirmed, it is determined whether or not the obstacle can be avoided autonomously (step 2010). If the obstacle can be avoided autonomously with a small obstacle, the obstacle is autonomously avoided. To return to the planned travel route (step 2011). The obstacle is detected by an obstacle sensor 221 provided in the self-propelled finisher 200 shown in FIGS. The obstacle sensor 221 may be a visual sensor (photodiode, CCD, CMOS, etc.), laser sensor, infrared sensor, ultrasonic sensor, contact sensor, or the like.

  Thus, there is no need for position correction, even if it is corrected autonomously, and there is no obstacle, and even if it is avoided autonomously, the self-propelled finisher 200 is near the seat of the user who requested printing and delivery. When it reaches (near the target position), the control unit 230 performs user seat vicinity control.

  On the other hand, in autonomous driving, when the self-propelled finisher 200 is largely out of the planned driving path and the position cannot be corrected autonomously, or there are obstacles that cannot be avoided autonomously. The control unit 230 of the self-propelled finisher 200 notifies the monitor screen of the user's personal computer that has instructed printing and delivery that the delivery is difficult (step 2012), stops the running of the finisher 200 and waits. (Step 2013). Then, if the user gives an instruction to cancel the delivery, the control unit 230 of the self-propelled finisher 200 stops the delivery (step 2014), and uses the reverse route of the forward route based on the travel route information in the internal memory 232. Carry out return autonomous driving control. The notification of difficulty in delivery from the self-propelled finisher 200 to the user and the instruction to stop delivery from the user to the finisher 200 are sent by the wireless devices 201 and 101 provided in the self-propelled finisher 200 and the image forming apparatus main body 100. This can be performed via the image forming apparatus main body 100. Similarly, via the image forming apparatus main body 100, the user can try to remove an obstacle by remotely operating the working arm 219 of the self-propelled finisher 200.

  FIG. 9 shows a processing flow example of the control unit 230 of the self-propelled finisher 200 when the self-propelled finisher 200 arrives near the seat (near the target position) of the user who has instructed printing and delivery. .

  The control unit 230 of the self-propelled finisher 200 stops the travel of the finisher 200 when the finisher 200 arrives near the target user seat (target position) without hindrance (step 3001), and passes through the image forming apparatus main body 100. Then, the user is notified of the arrival by voice or the like (step 3002). If a voice response device is provided in the self-propelled finisher 200, it is possible to notify the user directly from the finisher 200. It is also possible to display the arrival on the user's personal computer monitor using the image forming apparatus main body 100.

  After the traveling of the self-propelled finisher 200 is stopped, the user who has instructed printing and delivery is confirmed (step 3003). For example, the user confirmation pattern data specific to each user is stored as the user confirmation data 252 in the storage device 250 included in the self-propelled finisher 200, while the user's personal computer monitor has the user A unique confirmation pattern is displayed, the pattern is read by a visual sensor such as the image recognition camera 222 provided in the self-propelled finisher 200, and the corresponding user confirmation pattern data (for example, an IP address) is stored in the storage device 250. This is done by matching with the corresponding pattern data. In addition, as the user confirmation data 252 in the storage device 250, the user's face data, password, etc. are stored, and the user's face pattern is read by the image recognition camera 222, or the password is It is also possible to notify the input and collate this with the information in the storage device 250. In addition, use of an ID card, a small radio wave chip, biometric authentication, and the like are also conceivable.

  If the user who has instructed the printing and delivery can be confirmed, the printed paper held in the internal print paper discharge unit 212 in the self-propelled finisher 200 shown in FIGS. The paper is discharged to the finisher paper discharge unit 202 in FIG. 1 (step 3004). At this time, as shown in FIG. 2, by providing a working arm 219 on the self-propelled finisher 200, the working arm 219 can grasp the printed matter from the print discharge tray 213 and deliver it to the user. Until the self-propelled finisher 200 arrives in the vicinity of the target user seat, the printed matter remains held in the internal print discharge unit 212, so that the content of the printed matter can be seen or taken away by others during the self-running. And the confidentiality of the printed material is maintained. Also, by confirming the user who has instructed printing and delivery, the printed matter can be reliably delivered to the user. In the case of a printed matter that does not particularly require secrecy, the user can instruct it to discharge the printed matter to the print abandonment tray 213 from the beginning without storing it in the internal print discharge unit 212. It is.

  After the printed paper is delivered to the user, the control unit 230 of the self-propelled finisher 200 performs the return autonomous traveling control based on the traveling route information stored in the internal memory 232 through the reverse route.

  Upon confirming the end of delivery (step 3005), the control unit 230 of the self-propelled finisher 200 follows the path opposite to the forward path based on the travel path information in the internal memory 232, and performs return path autonomous travel control. Here, as a method of confirming the end of delivery, (1) a paper detection sensor is provided in the print paper discharge tray 213 of the self-propelled finisher 200, and the paper is removed from the print paper discharge tray 213 by the sensor. (2) A method of detecting that the user has pressed a paper acquisition end button (return instruction button) on the side surface of the self-propelled finisher 200, and (3) a self-propelled finisher. A method of monitoring the presence / absence of a sheet with an image recognition camera 222 provided in 200 is conceivable. In the method (2), it is conceivable that the button is prepared on the user's personal computer monitor screen, and it is confirmed via the image forming apparatus main body 100 that the user clicked the button.

  FIG. 10 shows an example of a processing flow by the control unit 230 of the self-propelled finisher 200 until the self-propelled finisher 200 autonomously travels and returns to the vicinity of the image forming apparatus main body 100. In this return autonomous driving operation, when it becomes impossible to correct the position or avoid an obstacle during delivery and the user gives an instruction to stop delivery (step 2014 in FIG. 8), or when the end of delivery is confirmed. (Step 3005 in FIG. 9).

  The control unit 230 of the self-propelled finisher 200 confirms the current position of the self-propelled finisher 200 (step 4001), and starts from the current position according to the travel path information in the internal memory 232, and the return travel path reverse to the forward path. Is planned (step 4002), and autonomous traveling on the return path is started (step 4003). Since the position confirmation in step 4004, the position autonomous correction in steps 4005, 4008, and 4009, the autonomous avoidance of obstacles in steps 4006, 4010, and 4011 are basically the same as in the case of autonomous traveling on the outward path in FIG. The description here is omitted.

  The control unit 230 of the self-propelled finisher 200 checks whether the finisher 200 has returned to the vicinity of the home position during the return home autonomous traveling (step 4007). The home position (HP) is a position set in advance in the vicinity of the installation location of the image forming apparatus main body 100 as shown in FIG. When the self-propelled finisher 200 returns to the vicinity of the home position without hindrance, the control unit 230 performs connection control with the image forming apparatus main body 100. On the other hand, when a situation occurs in which autonomous return is impossible during the return journey autonomously (NO in steps 4008 and 4010), the control unit 230 instructs printing and delivery via the image forming apparatus main body 100. It is notified on the user's personal computer monitor that it is difficult to return (step 4012), and the running of the finisher 200 is stopped (step 4013). In this case, the finisher 200 is carried to the image forming apparatus main body 100, for example, when the user goes to a stop point.

FIG. 11 shows an example of a processing flow of a connection operation between the self-propelled finisher 200 and the image forming apparatus main body 100.
When the finisher 200 returns to the vicinity of the home position, the control unit 230 of the self-propelled finisher 200 first confirms the home position and adjusts the position and orientation of the finisher and the image forming apparatus main body 100 (step 5001). As shown in FIG. 12, the home position is confirmed by using two body connection position recognition markers 103 (landmarks) provided on the image forming apparatus main body 100 for position recognition provided on the self-propelled finisher 200. This is possible by detecting with the sensor 220 and performing a triangle measurement. Next, the control unit 230 of the self-propelled finisher 200 controls the drive motor 216 based on the main body connection travel program to drive the wheels, thereby connecting the finisher 200 to the main body connection unit 300 (step 5002). This operation is basically the same as a general robot matching operation. When the home position is changed, the parameters of the traveling program for main body connection may be changed. The control unit 230 of the self-propelled finisher 200 confirms complete connection with the main body connection unit 300 (step 5003), and then stops the traveling of the self-propelled finisher 200 (step 5004). After the connection, the drive battery 215 is charged via the main body connection unit 300 and waits for the next printing and delivery instruction.

  Although one embodiment of the present invention has been described above, a plurality of self-propelled finishers 200 may exist for one image forming apparatus main body 100. In this case, for example, a plurality of self-propelled finishers 200 are connected in cascade to the image forming apparatus main body 100, and the self-propelled finishers 200 are sequentially separated every time printing and delivery requests are received from the user's personal computer. As a result, a plurality of self-propelled finishers 200 can be simultaneously operated in the same time zone, and the user's work efficiency is improved as compared with a single self-propelled finisher 200. Of the plurality of self-propelled finishers 200, only one self-propelled finisher 200 is connected to the image forming apparatus main body 100, and the rest are arbitrarily arranged around the image forming apparatus main body 100 and connected. If the self-propelled finisher 200 in the state is separated and starts autonomous traveling, the next self-propelled finisher 200 may be connected to the image forming apparatus main body 100 and waited. The behavior of each self-propelled finisher 200 is managed by the image forming apparatus main body 100.

1 is a diagram showing an embodiment of an image forming apparatus main body and a self-propelled finisher constituting an image forming apparatus of the present invention. The cross-sectional block diagram which shows 1st Embodiment of a self-propelled finisher. Sectional block diagram which shows 2nd Embodiment of a self-propelled finisher. 2 is a diagram illustrating an example of a hardware configuration of an image forming apparatus main body. FIG. The figure which shows the hardware structural example of a self-propelled finisher. The figure which showed a mode that the self-propelled finisher was isolate | separated from the image forming apparatus main body, and operate | moves. The figure which shows the example of a processing flow until an image forming apparatus main body receives a printing request from a user terminal, and instruct | indicates delivery to a self-propelled finisher. The figure which shows the example of a processing flow which self-propelled finisher separates from an image forming apparatus main body, and autonomously travels to the user terminal vicinity. The figure which shows the example of a processing flow until a self-propelled finisher delivers printed paper to a user. FIG. 10 is a diagram illustrating an example of a processing flow until the self-propelled finisher returns to the vicinity of the image forming apparatus main body. FIG. 6 is a diagram illustrating an example of a processing flow when a self-propelled finisher is connected near the image forming apparatus main body. 1 is a diagram showing an example of an office environment where an image forming apparatus of the present invention is used.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Image forming apparatus main body 101 Wireless apparatus 102 Main body discharge part 103 Main body connection position recognition marker 120 Main control part 122 Internal memory 140 Storage apparatus 142 Map database 200 Self-propelled finisher 201 Wireless apparatus 202 Finisher discharge part (print discharge) tray)
212 Internal print paper discharge unit 215 Drive battery 216 Drive motor 217 Drive wheel 219 Work arm 220 Position recognition sensor 221 Obstacle sensor 222 Image recognition camera 230 Control unit 250 Storage device 252 User confirmation data 300 Main unit connection unit 400 User terminal (PC)
430 Ceiling marker for position recognition 500 LAN

Claims (15)

An image forming apparatus comprising: an image forming apparatus main body that receives print data from a user utilization apparatus, prints it on a sheet, and outputs it; and a self-propelled finisher that is detachably connected to the image forming apparatus main body.
The image forming apparatus main body includes means for sending printed paper to the self-propelled finisher, communication means for wireless communication with the self-propelled finisher, and main control means,
The self-propelled finisher includes a holding unit that holds the printed paper sent from the image forming apparatus main body, a paper discharge unit that discharges the printed paper held by the holding unit, and the self-propelled finisher. A traveling means for autonomously traveling the mold finisher from the image forming apparatus main body, a power source of the traveling means, sensors for autonomous traveling, and a communication means for wirelessly communicating with the image forming apparatus main body, Control means,
An image forming apparatus. The image forming apparatus according to claim 1.
The self-propelled finisher includes a battery as the power source of the traveling unit, and charges the battery from the image forming apparatus main body when connected to the image forming apparatus main body.
An image forming apparatus. The image forming apparatus according to claim 1, wherein
The main body of the image forming apparatus includes a map database representing an office environment of the image forming apparatus and a user using device, and the main control unit uses the user based on the map database when instructed to deliver from the user using device. Create travel route information of the self-propelled finisher to the device and send it to the self-propelled finisher,
The self-propelled finisher includes means for storing the travel route information received from the image forming apparatus main body, and a position recognition sensor for detecting a position recognition marker provided at an arbitrary place in the office environment. The control means controls the travel of the travel means based on the travel route information while confirming the position of the self-propelled finisher with the position recognition sensor.
An image forming apparatus. The image forming apparatus according to claim 3.
The main control means of the image forming apparatus main body confirms whether or not the self-propelled finisher can travel back and forth to the vicinity of the user using apparatus that has instructed the delivery, and if possible, sends the travel route information to the self-propelled finisher. If it is impossible, the printed sheet is discharged to a main body discharge unit provided in the main body of the image forming apparatus.
An image forming apparatus. The image forming apparatus according to claim 3.
The self-propelled finisher includes an obstacle sensor that detects an obstacle, and when the obstacle sensor detects an obstacle on a travel route, the control unit determines whether or not the obstacle can be avoided. Controlling the travel of the travel means to avoid obstacles,
An image forming apparatus. The image forming apparatus according to claim 3.
The main control unit of the main body of the image forming apparatus transmits the travel route information to the self-propelled finisher when delivery is instructed from the user utilization device, and the printed paper is sent to the self-propelled finisher by the sending unit. To the side,
The control unit of the self-propelled finisher holds the printed sheet sent from the image forming apparatus main body in the holding unit, and if the self-propelled finisher arrives in the vicinity of the user using device that has instructed the delivery. An image forming apparatus, wherein the printed sheet of the holding unit is discharged to the discharge unit. The image forming apparatus according to claim 6.
The control means of the self-propelled finisher confirms the user when the self-propelled finisher arrives near the user using device, and discharges the printed paper of the holding means to the paper discharge means when the confirmation is obtained. To
An image forming apparatus. The image forming apparatus according to claim 7.
The self-propelled finisher includes a visual sensor for image recognition, and the control means reads the user confirmation pattern displayed on the monitor of the user-use device that has instructed delivery. An image forming apparatus. The image forming apparatus according to claim 7.
The control means of the self-propelled finisher receives user confirmation information from the user utilization apparatus that has instructed delivery via the image forming apparatus body, and confirms the user.
An image forming apparatus. The image forming apparatus according to claim 6 or 7,
The self-propelled finisher includes a work arm, and grabs the printed paper of the paper discharge means with the work arm and passes it to a user.
An image forming apparatus. The image forming apparatus according to any one of claims 1 to 10,
The self-propelled finisher includes paper detection means for detecting the presence or absence of paper in the paper discharge means, and when the paper detection means detects that there is no printed paper in the paper discharge means, the control means includes: Start feedback control of the self-propelled finisher,
An image forming apparatus. The image forming apparatus according to any one of claims 1 to 10,
The self-propelled finisher includes a feedback instruction button, and when the feedback instruction button is pressed, the control means starts feedback control of the self-propelled finisher.
An image forming apparatus. The image forming apparatus according to claim 1,
The image forming apparatus main body includes a position recognition marker,
The control means connects the self-propelled finisher and the image forming apparatus main body by detecting a recognition marker of the image forming apparatus main body with a position recognition sensor provided in the self-propelled finisher. Recognize home position for
An image forming apparatus.   14. The image forming apparatus according to claim 1, further comprising a plurality of self-propelled finishers for one image forming apparatus main body.   The self-propelled finisher used by being detachably connected to an image forming apparatus main body that receives print data from a user utilization apparatus, prints it on paper, and outputs it. A self-propelled finisher consisting of a composition.

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