JP2009001425A - Automatic transfer method, transfer robot, and automatic transfer system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a dynamic and flexible operation with respect to security level in automatic transfer using an autonomously movable transfer robot. <P>SOLUTION: A transfer robot 1, which stores and transfers a transferred article, comprises a transfer route storage portion 23, a movement mechanism portion 24, and a security level-setting portion 29. The transfer route storage portion 23 stores a transfer route that is set based on at least the information on a transfer destination of the transferred article. The movement mechanism portion 24 moves the transfer robot toward the transfer destination based on the transfer route. The security level-setting portion 29 switches the security level of the transfer robot 1 on the route based on zone levels predetermined for respective regions in the transfer route, current position information of the transfer robot, and kind information of the transferred article. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an automatic transfer method, a transfer robot, and an automatic transfer system. Specifically, the present invention relates to a technique for automatically transporting a transported object using a transport robot that can move autonomously.

  Patent Document 1 discloses a system for automatically transporting a transported object to a destination using a transport robot 101 capable of autonomous movement shown in FIG.

  The transport robot 101 stores important material storage 102 in which transported items are stored, a GPS receiving unit 103 and a position receiving unit 104 that acquire position information, and a memory that stores in advance position information of the transfer destination and a transfer order (circulation order). Unit 105 and storage control means 106. The storage control means 106 performs control so that the important item stored in the important item storage 102 can be taken out when two conditions are satisfied. Specifically, the storage controller 106 matches the acquired position information with the position information of a predetermined transfer place, and the actual transfer order of the transfer robot 101 matches the predetermined transfer order. In this case, the stored items can be taken out from the important item storage 102. In addition, when the transfer route is changed, the transfer robot 101 informs the monitoring center that an abnormal situation has occurred. With these configurations, security during transportation is ensured.

  However, in the automatic conveyance using the conventional autonomously movable conveyance robot including the one disclosed in Patent Document 1, the operation related to the security is uniform and lacks flexibility. Specifically, a flexible and dynamic operation of a security level according to conditions (type of transported object, change in environment around the transport route until reaching the destination, etc.) has not been realized.

JP 2004-142070 A

  An object of the present invention is to realize a dynamic and flexible operation of a security level in automatic conveyance using a conveyance robot capable of autonomous movement.

  According to a first aspect of the present invention, a transfer route of the transfer robot is set based on transfer destination information of a transfer object transferred by the transfer robot, and the transfer robot is directed to the transfer destination based on the information of the transfer route. Transfer that switches the security level of the moving robot based on the zone level predetermined for each area in the transfer route, the current position information of the transfer robot, and the type information of the transferred object. An automatic transfer method using a robot is provided.

  According to a second aspect of the present invention, there is provided a transport robot for transporting a transported object, the transport route storing unit storing a transport route set based on transport destination information of the transported object, and the transport route based on the transport route. Based on the moving mechanism for moving toward the transport destination, the zone level predetermined for each area in the transport route, the current position information, and the type information of the transported object, the security level during the travel is determined. A transport robot including a security level setting unit for switching is provided.

  According to a third aspect of the present invention, a transport route storage unit that stores a transport route set based on transport destination information, a moving mechanism unit that moves toward the transport destination based on the information of the transport route, A transport robot comprising a security level setting unit that switches a security level during movement based on a predetermined zone level for each area in the transport route, current position information, and type information of the transported object, An automatic transfer system is provided that includes an environment monitoring device that monitors a transfer route of a transfer robot and switches a monitoring level of the transfer route according to the security level.

  According to the present invention, it is based on the surrounding environment (specifically, the zone level predetermined for each area in the transport route, the current position information of the transport robot, the type information of the transport object, etc.) Change the security level of the transfer robot. Thereby, dynamic and flexible operation of the security level can be realized. And it becomes possible to ensure security with the minimum energy by dynamically maintaining the security level in an optimal state. Therefore, efficient energy-saving conveyance can be performed depending on the situation.

  Next, embodiments of the present invention will be described with reference to the accompanying drawings.

(First embodiment)

  FIG. 1 shows an autonomously movable transfer robot 1 according to an embodiment of the present invention. This embodiment demonstrates the case where a conveyed product is conveyed using the conveyance robot 1 in the apartment 2 shown in FIG.

  Referring to FIG. 2, there is an entrance hall 3 and a manager room 4 as a monitoring center on the first floor of the apartment 2. First, it is assumed that a resident, a visitor, a postman, a courier company, or the like enters and exits from the entrance hall 3. A manager is resident in the manager room 4 and provides services to the residents of the apartment 2 (for example, intermediaries of visitors, intermediaries of courier services, etc.). Further, in the case of this embodiment, it is desirable that an administrator performs maintenance management of the transfer robot 1 and response when an abnormality occurs. The upper floor of the apartment 2 can be moved using the elevator 5. On each floor of the condominium 2, there are residential spaces where residents live, and there are a corridor 6, a front door 7 of each room, and the like. Further, a garbage storage 8 and a parking lot 9 exist outside the apartment 2.

  Each point in the apartment 2 is assigned a code as a passing point. Specifically, the sign P00 is the manager room 4, the sign P01 is the parking lot 9, the sign P02 is the garbage storage place 8, the sign P10 is the first floor elevator opening 5a, the sign P20 is the second floor elevator opening 5b, and the signs P21 to 24 are The entrance of each residence on the second floor, symbol P30 indicates the third floor elevator opening 5c, and symbols P31 to 34 indicate the respective points of the entrance of each residence on the third floor.

  Referring to FIG. 1, the transfer robot 1 includes a storage unit 11 that stores (or places) a transfer object. A take-out port (not shown) of the conveyed product provided in the storage unit 11 can be locked by the locking unit 12.

  The transport robot 1 includes an external environment sensor 15 such as a camera 13, an RF tag reader 14, an infrared sensor, an ultrasonic sensor, and a laser sensor as devices for detecting the external environment. The transfer robot 1 also includes an input interface unit 16 such as a touch panel sensor, a keyboard, and the like for a user to input instructions and information. Instead of the input interface unit 16, an information terminal such as a handheld computer may be used to input a user instruction in a wired or wireless manner. Furthermore, the transfer robot 1 includes a fingerprint sensor 17. Furthermore, the transfer robot 1 includes a speaker 18 and a warning light 19 for warning which will be described in detail later.

  The transfer robot 1 includes an external environment information processing unit 21, a transfer route setting unit 22, a transfer route storage unit 23, a movement mechanism unit 24, a position detection unit 25, an unlocking condition setting unit 26, an unlocking condition storage unit 27, an unlocking operation. A determination unit 28, a security level setting unit 29, an abnormal transmission unit 31, a warning generation unit 32, and a communication unit 33 are provided.

  The external environment information processing unit 21 receives image information obtained by imaging by the camera 13 and information on an RF tag (non-contact IC) read by the RF tag reader 14. These pieces of information are input to the position detection unit 25. Further, as will be described later, the external environment information processing unit 21 performs abnormality detection, person authentication, and the like using these pieces of information.

  The transport destination of the transported object, the type of transported object, the time zone, and the like are input from the input interface unit 16 to the transport route setting unit 22. The transfer route setting unit 22 sets the transfer route of the transfer robot 1 based on the input information. The transfer route is defined by the order in which the transfer robot 1 passes through any of the above-described passing points P00 to P34. The transport route set by the transport route setting unit 22 is stored in the transport route storage unit 23.

  The transport route storage unit 23 stores the structure of the apartment 2 in advance. Further, in the transport route storage unit 23, points such as the entrance hall 3, the elevator 5, the corridor 6, etc. between the transport starting point and the transport destination of the transport route set by the transport route setting unit 22 are used as passing points. Saved.

  The movement mechanism unit 24 moves the transfer robot 1 according to the transfer route stored in the transfer route storage unit 23. The moving mechanism unit 24 uses two-wheel, four-wheel travel, bipedal walking, or the like depending on the environment when the transport robot 1 transports a transported object. In the present embodiment, description will be made assuming a two-wheel moving mechanism (wheel). This is because, in an environment like a condominium where the passage is narrow and there is a lot of leveled ground, the two-wheel moving mechanism is considered to be highly versatile.

The position detection unit 25 detects the current position of the transfer robot 1 based on information from the external environment information processing unit 21 and the movement mechanism unit 24. As described above, the transfer route of the transfer robot 1 is defined by the passing points P00 to P34, and the location of these passing points is confirmed by the position detection unit 25. In other words, the position detection unit 25 confirms that each passing point has been reached. When the movement mechanism unit 24 employs wheels as in the present embodiment, the position detection unit 25 can detect the current position of the transport robot 1 by odometry. Specifically, if the movement mechanism unit 24 is a wheel, the position detection unit 25 can detect the current position of the transfer robot 1 from the wheel rotation information input from the movement mechanism unit 24. Further, in order to confirm that the passing points P00 to P34 have been reached more reliably, the position detection unit 25 receives information from the external environment information processing unit 21 (for example, image information captured by the camera 13 or from the RF tag). The current position of the transfer robot 1 may be specified in consideration of (information). In this case, the position detection unit 25 obtains not relative position information using GPS or the like but relative position information corresponding to the movement state of the transport robot 1 from the travel start position. It is also possible to detect arrival at the passing point only by image information captured by the camera 13 or information from the RF tag.

  If the detected current position of the transfer robot 1 coincides with each passing point of the transfer route, the position detection unit 25 considers that the transfer robot 1 has normally reached the passing point. In this case, passage information that is information that has passed the passage point is output to the security level setting unit 29 and the communication unit 33. The passing information includes not only information that has reached the passing point but also information on a situation when the passing point is passed. This information includes, for example, information on whether the transport robot 1 “gets in” or “gets off” the elevator 5 at the passing point P10 (first floor elevator opening 5a), and the transport robot 1 passes the passing point P11 (entrance hall 3). The information about whether it “exited” or “entered” from the condominium 2 at the entrance, and the transfer robot 1 reached the entrance 7a at the passing point P33 (the entrance 7a of the third resident's house counting from the elevator opening 5c on the third floor). There is information such as whether or not it is “I have done”.

  In addition to detection of the current position and detection of arrival at the passing points P00 to P34 based on the detection of the current position, the position detection unit 25 detects the occurrence of an abnormality related to the current position of the transfer robot 1. Specifically, the position detection unit 25 determines that the position is abnormal when the detected current position deviates from the conveyance route stored in the conveyance route storage unit 23. Deviations from the transport route include, for example, when the image from the camera 13 or the RF tag information read by the RF tag reader 14 indicates a position that should not be on the transport route, or when the current position detected by odometry is a certain time It may indicate that the position is different from the transport route. In addition, the position detection unit 25 determines that the position is abnormal if the current position detected by odometry does not reach the passing point even after a predetermined time has elapsed. Further, the position detection unit 25 determines that the position is abnormal even when the current position detected by odometry does not match the image from the camera 13 or the information of the RF tag read by the RF tag reader 14. Furthermore, the position detection unit 25 determines that the position is abnormal even when the transport robot 1 loses sight of its own position. When the position detection unit 25 detects a position abnormality, the abnormality transmission unit 31 transmits an abnormality occurrence to the manager room (monitoring center) 4. The transmission from the abnormality transmitter 31 preferably uses wireless communication in consideration of the movement range of the transport robot 1 and the like. Moreover, the position detection part 25 will notify the unlocking determination part 28, if a position abnormality is detected.

  The external environment information processing unit 21 continues imaging of the surroundings by the camera 13 while the transport robot 1 is traveling, and monitors the presence of an object that is not predicted on the transport route. In addition, the external environment information processing unit 21 continues imaging of the surroundings by the camera 13 and, when a person is detected on the transport route, performs authentication using the face image of the person imaged by the camera 13. For example, it collates with a person's face registered in advance. If it is not registered as a result of the verification, it is determined that the person is a cautionary person or a suspicious person. Further, the external environment information processing unit 21 monitors the surroundings using the external environment sensor 15 while the transport robot 1 is traveling. When the external environment information processing unit 21 detects an abnormality by the camera 13 or the external environment sensor 15 or when the presence of a suspicious person is detected by face image authentication, the warning generation unit 32 emits light from the sound from the speaker 18 or the warning light 19. Notification of occurrence of abnormality from the abnormality transmission unit 31 to the manager room 4 is executed in the same manner as in the case of the occurrence of a warning due to the above or the position abnormality described above. Whether or not the external environment information processing unit 21 performs surrounding monitoring, the monitoring mode, processing upon abnormality detection, and the like vary depending on the security level described later.

  Information necessary for setting unlocking conditions is input from the input interface unit 16 in addition to the information necessary for setting the transport route described above. This information includes, for example, a password corresponding to each resident who needs to be input to the input interface unit 16 when unlocking the locking unit 12. The unlocking condition setting unit 26 sets unlocking conditions based on the input information. The unlocking conditions set by the unlocking condition setting unit 26 are stored in the unlocking condition storage unit 27. The unlocking condition storage unit 27 constitutes information necessary for biometric authentication of a resident such as a fingerprint and a face image, a regular transport route and a transport route set by the transport route setting unit 22 in addition to the above-described personal identification number. The reference time required for passage between passage points is stored as an unlocking condition.

  The unlocking determination unit 28 uses the unlocking conditions stored in the unlocking condition storage unit 27, information such as a personal identification number input from the input interface unit 16, fingerprint detection information input from the fingerprint sensor 17, external Whether or not the locking unit 12 can be unlocked is determined based on information such as a face image input from the environment information processing unit 21 and an input from the position detection unit 25. If the unlocking determination part 28 determines that the unlocking is possible, the locked part 12 is unlocked and the conveyed product stored in the storage part 11 can be taken out from the outlet. The content of the unlock determination in the unlock determination unit 28 and the difficulty level of the unlock determination are different depending on the security level described later.

  The transfer robot 1 can operate the intercom installed in the elevator 5 or the entrance 7 by the communication unit 33 wirelessly or by wire.

  The security level setting unit 29 sets and outputs a security level while the transfer robot 1 is moving. In the present embodiment, the security level setting unit 29 receives information about the current position of the transfer robot 1 input from the position detection unit 25, information about the type of the transfer object input from the input interface unit 16, and input from the input interface unit 16. The presence or absence of a person (accompaniment person) who moves along the transfer route accompanying the moving transfer robot 1, the surrounding image information captured by the camera 13 input from the external environment information processing unit 21, the external environment information processing unit 21 The security level is set on the basis of the information on the ambient state detected by the input external environment sensor 15 and information such as the current time (whether it is daytime or nighttime). Once the security level is set, the security level setting unit 29 is not fixed until the transport destination is reached, but the security level setting unit 29 performs security based on the information continuously input during the movement of the transport robot 1. Switch levels.

  Hereinafter, setting or switching of the security level by the security level setting unit 29 in the present embodiment will be described in more detail.

  The security level setting unit 29 in the present embodiment uses a pre-stored decision table as shown in FIG. 3 for setting the security level. In this decision table, the zone level to which the current position of the transport robot 1 belongs, the presence / absence and type of a transported object, and the presence / absence of a companion are considered as security level determination conditions. There are six security levels, SL0 to SL5. The security level SL0 is a security level that does not take security measures. Regarding the security levels SL1 to SL5, the security level SL1 is a low security level (recognized as a safe zone), and the security level SL5 is a high security level (recognized as a dangerous zone).

  The zone level is defined in advance for each area included in the transfer route of the transfer robot 1. For example, when the transport robot 1 moves in the apartment 2 as in the present embodiment, the respective zone levels are set in places such as the entrance hall 3, the hallway 6, and the parking lot 9. The security level setting unit 29 has the current position of the transfer robot 1 from the current position of the transfer robot 1 input from the position detection unit 25 (determined by odometry, image information, information from the RF tag, etc. as described above). Identify the zone level of the region. Then, a security level is set according to each zone level.

  In the present embodiment, the place (area) in the apartment 2 is divided into four zone levels. Hereinafter, this stage division will be described.

  Since the room of the resident of the apartment 2 is in contact with only the resident in the transfer of the transfer robot 1, it is defined as an AA zone (safe zone) that is a safe place.

  The inside of the apartment 2 (in the corridor 6, the passage, and the elevator 5) basically does not come into contact with an unspecified number of people, but a resident who is not the owner of the transported goods that the transport robot 1 is transporting or the apartment 2 Since there is a possibility of contacting with visitors to the area, it is defined as A zone (semi-safe zone) which is a relatively safe place.

  Although the parking lot 9 and the entrance hall 3 are within the premises of the condominium 2, an unspecified number of people can enter and exit, so the security risk for the transport robot 1 is high. It is defined as a zone (zone that needs attention).

  The garbage storage 8 and the public road outside the apartment 2 are defined as a C zone (dangerous zone) which is a very dangerous place for the transport robot 1.

  In the present embodiment, as the zone level shifts to the AA zone, A zone, B zone, and C zone, the security level increases.

  This zone classification is merely an example, and changes depending on the location conditions of the apartment 2, the difference in security awareness among the residents there, and the brightness of the surroundings. By making these conditions changeable by inputting these conditions, it is possible to set a flexible zone level according to the surrounding environment.

  When the transported object is not stored in the transport robot 1, the transport level is set to the security level SL0 (equivalent to no security measure) regardless of other conditions such as the zone level and the presence / absence of the accompanying person. If it is, the security level is set to one of the security levels SL1 to SL5 according to the importance (three levels). Specifically, mail, parcel delivery, baggage, etc. are classified as important items, newspapers, circulation boards, etc. are classified as general items, and garbage etc. are classified as unnecessary items. Importance is high in the order of important items, general items, and unnecessary items.

  When an accompanying person is present as an accompanying person of the transport robot 1, the security levels SL1 to SL5 are set higher than when no accompanying person exists.

  As described above, in the decision table of FIG. 3, there are a total of 28 security level items in four levels regarding the zone level, four levels regarding the presence / absence of the stored items and two levels regarding the presence / absence of the accompanying person to the transfer robot 1. There is. In this way, in addition to the change in security level depending on the location, the importance level of transported items (for example, important items such as mail, parcel delivery, baggage, general items such as newspapers and circulation boards, unnecessary items such as garbage) Further, by determining the presence or absence of a companion during transportation, this is used as an additional condition for setting the security level, and by setting the security level by combining these, a more flexible setting of the security level is realized.

  In the present embodiment, in addition to the conditions considered in the decision table of FIG. 3, the security level setting unit 29 captures information about the surrounding image captured by the camera 13 and the surrounding state detected by the external environment sensor 15, And the security level is set in consideration of the current time. Specifically, when the image information of the camera 13 or the detection information of the external environment sensor 15 detects an abnormality on the transport route, the security level other than the highest level SL5 in the items of the decision table of FIG. increase. For example, the security level SL2 is changed to the security level SL3. By changing the security level according to changes in the environment of the transport route, it is possible to realize a flexible security level setting. If the current time is daytime, the security level is as shown in FIG. 3, but if the current time is nighttime, the security level other than the highest level SL5 is raised by one step. By changing the security level according to the time, such as busy daytime or late at night when there are few people, it is possible to realize a flexible security level setting corresponding to the current time.

  In the present embodiment, the security level set by the security level setting unit 29 is output to the locking unit 12, the external environment information processing unit 21, the position detection unit 25, and the unlocking determination unit 28, and a transfer robot corresponding to the security level. 1 is used to control countermeasures for ensuring security. Specifically, the locking unit 12 controls the presence or absence of locking according to the security level. The external environment information processing unit 21 controls the presence / absence of person authentication and the presence / absence of a warning when a suspicious person is found according to the security level. The unlock determination unit 28 controls the degree of difficulty in establishing the unlock determination by changing the combination of biometric authentication (fingerprint or face authentication), personal identification number, key, etc. used for the unlock determination according to the security level ( The higher the security level, the harder the unlocking decision is made).

  Hereinafter, a security countermeasure method in each of the security levels SL1 to SL5 will be described more specifically.

  In the security level SL1, only when there is an abnormality without locking of the locking unit 12, no person authentication by an image, etc., or a warning to a suspicious person (for example, an action such as emitting a sound or light) Take action to report to the administrator room.

  At the security level SL2, the locking unit 12 locks, and performs the countermeasure of notifying the above-described person authentication and warning, and only reporting an abnormality when an abnormality occurs.

  At the security level SL3, the locking unit 12 locks and performs person authentication using an image or the like. When an abnormality occurs, only the abnormality is reported, but a warning is not issued.

  At the security level SL4, the locking unit 12 locks, performs personal authentication using an image or the like, and emits a warning to a suspicious person, such as sound or light. When an abnormality occurs, only the abnormality is reported. I cope with that.

  At the security level SL5, the locking unit 12 locks, performs personal authentication by an image or the like, and emits a warning for a suspicious person, such as sound or light. When an abnormality occurs, only the abnormality is reported, and the situation (such as an image of a suspicious person) is captured with a camera and stored.

  These coping methods are examples, and are not necessarily limited to these coping methods, and may be changed at any time according to circumstances such as the surrounding environment.

  Here, another operation using the security level will be described.

  In the case of a very dangerous level such as the security level SL5, the storage form of the storage unit 11 of the transfer robot 1 is further strengthened to transfer the transfer object, and the surrounding environment is enhanced by the external environment information processing unit 21 (Increase in sampling rate of camera 13 or external environment sensor 15 or expansion of monitoring range) can be considered. In addition to the strengthening of monitoring, it is conceivable that the transfer robot 1 executes measures such as positive exclusion of suspicious persons.

  On the other hand, in the case of a substantially safe level such as the security level SL1, in order to facilitate management, the storage form of the storage unit 11 of the transfer robot 1 can be simplified or the surroundings by the external environment information processing unit 21 can be simplified. Monitoring (decreasing the sampling rate of the camera 13 and the external environment sensor 15, reducing the monitoring range, limiting the types and number of external environmental sensors 15 used for monitoring), and very simple locking of the locking unit 12 A change to the method, omission of locking of the locking part 12, etc. can be considered.

  Note that the types and contents of the security level setting conditions are not necessarily limited to those of the present embodiment.

  Hereinafter, the operation of the transfer robot 1 according to the present embodiment will be described by taking as an example a case where a courier is transferred from the manager room 4 to the entrance 7a of the resident A without an accompanying person. A one-dot chain line R1 in FIG. 4 indicates a transfer route of the transfer robot 1 in this case. In this transfer route R1, after leaving the manager room 4, the transfer robot 1 passes through the entrance hall 3, gets on the elevator 5, and moves to the level (third floor) where the entrance 7a of the resident A is located. After that, the elevator 5 gets off the elevator 5, and automatically transports the transported goods through the corridor 6 to the entrance 7 a of the resident A.

  Referring to the flowchart of FIG. 5, first, in step S 5-1, the manager of the manager room 4 stores the courier service received from the courier in the storage unit 11 of the transport robot 1.

  Subsequently, in step S5-2, the locking part 12 of the storage part 11 in which the conveyed product is stored is locked.

  Subsequently, in step S5-3, the administrator uses the input interface unit 16 to input information such as the transport destination, the type of transported object, and the unlocking condition.

In step S5-4, the transport route setting unit 22 sets a transport route based on the input transport destination information, and stores the transport route in the transport route storage unit 23. FIG. 6 schematically shows the transport route stored in the transport route storage unit 23. In the case of the transport route R1 in FIG. 4, the passing point P00 (manager room 4), the passing point P11 (entrance hall 3), the passing point P11 (first floor elevator opening 5a), the passing point P30 (resident floor elevator opening 5c), A passing point P31 (entrance 7), a passing point P32 (entrance 7), and a passing point P33 (target resident's house entrance 7a) are sequentially stored in the transport route storage unit 23. The transport robot 1 transports the transported object while checking these passing points. In step S5-5, the unlocking condition setting unit 26 sets the unlocking condition and stores it in the unlocking condition storage unit 27.

  Next, in step S5-6, the transfer robot 1 moves to the transfer destination according to the transfer route R1 stored in the transfer route storage unit 23. At this time, the security level is switched according to the zone level or the like.

  The operation until the transfer robot 1 moves to the transfer destination in step S5-6 will be described with reference to FIG.

  In step S7-1, when the transfer robot 1 exiting the manager room 4 reaches the passing point P11 (entrance hall 3), the security level is set to SL4 (caution) according to FIG. 3 in step S7-2.

  Subsequently, when the transport robot 1 reaches the passing point P10 (first floor elevator opening 5a) via the entrance hall 3 in step S7-3, the security level SL3 (relatively safe) is set in accordance with FIG. 3 in step S7-4. Is set. The transfer robot 1 detects the arrival at the first floor elevator opening 5a from the rotation information of the wheels obtained from the movement mechanism unit 16. At this time, the camera 13 captures an image of the first floor elevator opening 5a. The location can be identified more reliably by taking an image of the elevator opening written as the first floor. The image to be captured is not limited to this image as long as the location can be identified. As a method for identifying a place other than imaging, the RF tag reader 14 may receive information from an RF tag installed in the first floor elevator opening 5a and detect the place. After detecting that the transfer robot 1 has reached the first floor elevator opening, the transfer robot 1 gets into the elevator 5 from the elevator opening. Simultaneously with the boarding, the transfer robot 1 recognizes that it has boarded the elevator 5. As this recognition method, for example, a method of recognizing by opening and closing the door of the elevator 5 is conceivable. Thereafter, the transfer robot 1 moves to the target floor by the elevator 5. When arriving at the target floor, the transfer robot 1 gets off the elevator 5.

  The transfer robot 1 controls the elevator 5 by wireless communication using the communication unit 33, gets into the elevator 5, operates it, and moves to the target floor. Further, the transfer robot 1 detects arrival at the target floor through communication with the elevator 5. The transport robot 1 may control the elevator 5 by another method.

  Subsequently, in step S7-5, the transfer robot 1 that has descended from the elevator 5 detects the passing point P30 (arrival at the elevator floor 5c on the target floor) based on wheel rotation information from the moving mechanism unit 16. Here, the arrival of the target floor to the elevator opening 5c is recognized again in the same manner as when reaching the first floor elevator opening 5a. Recognizing that it has arrived at the elevator exit of the target floor, the transfer robot 1 moves along the corridor 6 according to the transfer route R1, and reaches the passing point P33 (the entrance 7a of the target resident A) via the passing points P31 and P32. (Steps S7-6 to S7-8). The transfer robot 1 detects the arrival of the target resident A to the entrance 7a from the rotation information of the wheels from the movement mechanism unit 24. As a method of reaching the entrance 7a of the target resident A, for example, a method of capturing an image of the entrance 7a of the target resident A with the camera 13, or an RF tag installed at the entrance 7a of the target resident A with the RF tag reader 14 There is a method for detecting information from the location and detecting that the location is the location.

  After detecting arrival at the entrance 7a of the intended resident A, the transfer robot 1 calls the resident A there. As a means for calling the resident A, there is a means for notifying the intercom of the entrance 7a of the resident A by a wireless signal using the communication unit 33, but is not limited thereto. When the called resident A opens the entrance door, the transfer robot 1 enters the entrance 7a. Thereafter, in step S7-9, the security level is set to SL2 (relatively safe) according to FIG.

  In steps S7-1, S7-3, S7-5 to S7-8, if the arrival at the passing point cannot be detected for a predetermined time, an abnormality occurs in the manager room 4 from the abnormality transmitter 31 in step S7-10. Is reported.

  Next, in step S5-7 in FIG. 5, the unlocking determination according to the security level is executed. In this example, since the security level at the time of delivery of the courier is SL2 (relatively safe), the transport robot 1 images the face of the resident A by the camera 13 and is registered in advance in the unlocking condition storage unit 27. Match the image. If the images match, the unlocking determination unit 28 unlocks the locking unit 12 in the storage unit 11 in step S5-8, and the resident A can take out the home delivery service. The method for specifying the resident A may be collation by a personal identification number input by the input interface unit 16 or collation by biometric recognition by a fingerprint detected by the fingerprint sensor 17 other than collation by a face image.

  When the target resident A is met in the corridor 6 in the middle of the transfer, the transfer robot 1 can start delivery after confirming the target resident A with the camera 13 or the like. However, since this place (corridor 6) has the security level SL3 (caution) in FIG. 3, in addition to the above-described verification by the image and password, verification of the resident A is performed using an additional authentication means. Deliver the courier service with a higher security level than SL2. As an additional authentication means, for example, unlocking using the key of the entrance door of the resident A can be considered.

  Next, the operation of the transfer robot 1 when the transfer robot 1 leaving the manager room 4 carries baggage from the automobile parked in the parking lot 9 to the entrance 7a of the resident A will be described. A two-dot chain line R2 in FIG. 4 indicates the transfer route of the transfer robot 1 in this case. In this transport route R2, after leaving the manager room 4, it passes through the entrance hall 3, reaches the parking lot 9, and passes through the entrance hall 3 again after baggage is loaded. Then, the user boarded the elevator 5 and moved to the floor (third floor) where the entrance 7a of the resident A is located. After that, the elevator 5 gets off the elevator 5, and automatically transports the transported goods through the corridor 6 to the entrance 7 a of the resident A.

  First, in step S8-1 in FIG. 8, the administrator inputs necessary instructions including the transfer destination, the type of the transfer object, and the like to the transfer robot using the input interface unit 16. In step S8-2, the transport route setting unit 22 sets the transport route R2 and stores it in the transport route storage unit 23. Furthermore, the unlocking condition setting unit 26 sets the unlocking condition and stores it in the unlocking condition storage unit 27 in step S8-3.

  FIG. 9 schematically shows the transport route stored in the transport route storage unit 23. In the case of the transport route R2 in FIG. 4, the passing point P00 (manager room 4), the passing point P11 (entrance hall 3), the passing point P01 (parking lot 9), the passing point P11 (entrance hall 3), and the passing point P11 ( 1st floor elevator entrance 5), passing point P30 (resident floor elevator entrance 5c), passing point P31 (entrance 7), passing point P32 (entrance 7), passing point P33 (target resident's house entrance 7a) in order It is stored in the storage unit 23. The transport robot 1 transports the transported object while checking these passing points.

  In step S8-4 of FIG. 8, the transfer robot 1 moves to the transfer destination according to the stored transfer route R2. At this time, the security level is switched according to the zone level or the like.

  In the case of the transport route R2, since the transported object is not stored in the storage unit 11 at the start of transport, the security level is SL0 (no level) according to FIG.

  As shown in FIG. 10, the transfer robot 1 continues to move while checking the passage of the passing points P11, P01, P11, P10, P30, P31, P32, and P33 (steps S10-1, S10-2, S10-). 5, S10-6, S10-8 to S10-11). When the arrival at the passing point cannot be detected for a predetermined time, the abnormality transmitting unit 31 notifies the manager room 4 of the occurrence of abnormality in step S10-12.

  The transport robot 1 that has left the entrance hall 3 and arrives at the parking lot 9 has the resident A store the transported goods in the storage unit 11 (steps S10-1 to S10-3). At that time, it is determined from the image of the camera 13 whether the resident A is a resident A who should receive the transported object. Further, when the transported object (baggage) is stored in the storage unit 11, the transport robot 1 sets a security level according to FIG. 3 (step S10-4). In this case, in the parking lot 9, the transported item of the resident A is accommodated and accompanied by the resident A, so SL3 (caution) is taken according to FIG. 3, and a security system corresponding to the level is taken. Further, when the transport robot 1 detects arrival at the passing point P10 (boarding the elevator 5), the security level is set to SL2 (relatively safe) according to FIG. 3 (steps S10-6 and S10-7). After arrival of the entrance 24a of the resident A from the elevator hall 5c on the third floor (steps S10-8 to S10-11), the resident A is collated again by image information such as a camera. Can take out the conveyed product (steps S8-5 and S8-6 in FIG. 8).

(Second Embodiment)
FIG. 11 shows a transfer robot 1 capable of autonomous movement according to a second embodiment of the present invention. In the present embodiment, the transfer robot 1 includes a route passage storage unit 35. While the transfer robot 1 is moving on the transfer route from the transfer start point to the transfer destination, the passage of the passing points P00 to P34 detected by the position detection unit 25 is stored in the route pass storage unit 35. In other words, the route passage storage unit 35 stores passage states of the passage points P00 to P34.

  FIG. 12 schematically illustrates an example of a storage method of the passing state of the passing points by the route passing storage unit 35. In FIG. 12, the vertical axis represents the floor number, and the horizontal axis represents the door number. 12, the floor number is P2, the house number is 1, and the point number in the apartment 2 is P21, which represents the entrance of the first residence on the second floor. Moreover, the code | symbol B becomes the floor number P1, the house number is 0, and becomes P10, and represents the 1st floor elevator opening 5a. The storage method of FIG. 12 includes an electrical method such as an IC memory and a mechanical method such as a keyhole.

  Hereinafter, the operation of the transport robot 1 according to the present embodiment will be described by taking as an example the case where the courier is transported from the manager room 4 to the entrance 7a of the resident A without an accompanying person (see the one-dot chain line R1 in FIG. 4 and FIG. 6). . The overall operation is the same as that in the case of moving along the same transport route R1 in the first embodiment (see FIG. 5), and the administrator makes the transport robot 1 carry the courier to the entrance 7a of the resident A. Instruct. The transport route set by the transport route setting unit 22 is stored in the transport route storage unit 23, and the unlocking condition set by the unlocking condition setting unit 26 is stored in the unlocking condition storage unit 27. In the present embodiment, the transport route is also stored in the unlocking condition storage unit 27 for determination of the unlocking condition described later.

  As shown in FIGS. 13A and 13B, the transfer robot 1 moves to the transfer destination while executing the check and recording of the passing point and changing the security level when applicable. Specifically, in steps S13-1, S13-4, S13-7, S13-9, S13-11, and S13-13, when passing of the passing points P11, P10, P30, P31, P32, and P33 is detected, In steps S13-2, S13-5, S13-8, S13-10, S13-12, and S13-14, it is recorded in the route passage storage unit 35 that the passage point has been passed. In the present embodiment, passage of passage points is stored by counting up using a table as shown in FIG. In steps S13-3, S13-6, and S13-15, the security level is switched as in the first embodiment. It is the same as that of the first embodiment in that an abnormality notification is executed when the conveyance is moved (step S13-16).

  FIG. 14 shows the state of the rotation route passage storage unit 35 that has reached the conveyance destination (the entrance 7a of the resident A) when the conveyance is normally performed. In FIG. 14, I indicates that the passage point is passed once (if it is II, it indicates that the passage point is passed twice). Passing point P00 (manager room 4), passing point P11 (entrance hall 3), passing point P10 (first floor elevator opening 5a), passing point P30 (third floor elevator opening 5c), passing points P31, 32, and passing point It represents passing through P33 (resident A's entrance 7a) once. Since the route passage storage unit 35 has not passed any points before the start of conveyance, no mark indicating passage is stored.

  When the transport robot 1 arrives at the entrance 7a of the resident A, the unlocking determination unit 28 determines the unlocking conditions (see steps S5-7 and S5-8 in FIG. 5). At this time, the unlocking determination unit 28 compares the state of the route passage storage unit 35 with the transport route stored in the unlocking condition storage unit 27 in advance. In this example, the state of the route passage storage unit 35 coincides with the transport route stored in the unlocking condition storage unit 27 in advance, and therefore the locking unit 12 is unlocked if the determination of other unlocking conditions is established. If the transport route stored in the unlocking condition storage unit 27 does not match the state of the route passage storage unit 35, the unlocking determination unit 28 determines that the unlocking is impossible. As in the first embodiment, the combination of other conditions (such as biometric authentication of the resident A and password input) other than the match between the route passage storage unit 35 and the unlocking condition storage unit 27 is determined by the security level.

  Next, the case where the conveyance route setting unit 22 sets the one-dot chain line R1 in FIG. 4 and the conveyance route shown in FIG. 6 but the conveyance is not normally performed will be described.

  For example, the transport robot 1 temporarily gets off the elevator 5 on the second floor for some reason, passes in front of the residence on the first house on the second floor, returns to the elevator 5, returns on the third floor, and goes to the resident A's home. When it arrives, the data in the route passage storage unit 35 is as shown in FIG. In addition, the transfer robot 1 gets off the elevator 5 on the third floor for some reason and heads toward the entrance 7a of the resident A, but turns back in front of the first house on the third floor, passes again in front of the third floor elevator, and the resident When arriving at the home A, the data in the route passage storage unit 35 is as shown in FIG.

  In both cases of FIG. 15 and FIG. 16, the state of the transport route stored in the unlocking condition storage unit 27 and the state of the transport route storage unit 23 are different, so the unlock determination unit 28 determines that unlocking is impossible.

  Next, the operation of the transfer robot 1 of this embodiment when the transfer robot 1 leaving the manager room 4 carries baggage from the car parked in the parking lot 9 to the entrance 7a of the resident A will be described (2 in FIG. 4). Dotted line R2 and FIG. 9). The overall operation is the same as when moving on the same transport route R2 in the first embodiment (see FIG. 8).

  As shown in FIGS. 17A and 17B, the transfer robot 1 moves to the transfer destination while executing the check and recording of the passing point and changing the security level when applicable. Specifically, in steps S17-1, S17-3, S17-7, S17-9, S17-12, S17-14, S17-16, S17-18, passing points P11, P01, P11, P10, P30. , P31, P32, and P33 are detected, the route passage storage unit 35 is in S17-2, S17-4, S17-8, S17-10, S17-13, S17-15, S17-17, and S17-19. It is recorded that the vehicle has passed the passing point. In steps S17-6 and S17-11, the security level is switched as in the first embodiment. When there is an abnormality in the conveyance, an abnormality notification is executed (step S17-19).

  FIG. 18 shows a state of the route passing storage unit 35 of the rotation that has reached the conveyance destination (the entrance 7a of the resident A) when the conveyance is normally performed. Passing point P00 (administrator's room 4), passing point P01 (parking lot 9), passing point P10 (first floor elevator 5a), passing points P31 and 32, and passing point P33 (resident A's entrance 7a), respectively It is recorded that it has passed once, and it has been recorded that it has passed through the passing point P11 (entrance hall 3) twice. When the transfer robot 1 arrives at the entrance 7a of the resident A, the unlocking determination unit 28 determines the unlocking conditions (see steps S8-5 and S8-6 in FIG. 8). At this time, the unlocking determination unit 28 compares the state of the route passage storage unit 35 with the transport route stored in the unlocking condition storage unit 27 in advance. In this example, the state of the route passage storage unit 35 coincides with the transport route stored in the unlocking condition storage unit 27 in advance, and therefore the locking unit 12 is unlocked if the determination of other unlocking conditions is established.

  The method of checking each point in the route passage storage unit 35 is not limited to counting up, and can be realized by counting down. Further, counting up or counting down may be performed in consideration of the direction of passing through each point. For example, count up when boarding an elevator at the elevator exit, count down when getting off the elevator, count up when arriving at the entrance of each resident's house, count down when leaving (leaving), The method can be considered. Further, when passing through each point, a method of counting up when approaching the destination and counting down when leaving the destination can be considered. These methods can be dealt with more flexibly by operating freely according to the status of conveyance, the content of the conveyed item, and the importance.

  Since other configurations and operations of the second embodiment are the same as those of the first embodiment, the same elements are denoted by the same reference numerals and description thereof is omitted.

  The unlocking condition storage unit 27 is not necessarily incorporated into the main body of the transport robot 1 and may be carried by a resident by separating from the main body of the transport robot 1. When the resident possesses the unlocking condition storage unit 27 as a key and a transported object is carried by the robot, the unlocking condition storage unit 27 is set on the robot or transported using a wireless communication means or the like. It may be transmitted to the unlock determination unit 28 of the robot 1 and checked against the route passage storage unit 35 of the transfer robot 1. As a result, the security level can be further improved.

  19A and 19B show an example of an unlocking condition storage unit that is separate from the transfer robot 1.

  In FIG. 19A, an unlocking condition storage unit 27a and an unlocking condition storage unit 27b in which unlocking conditions are stored as data are attached to the unlocking key 36a as removable chips. Whether or not the unlocking key 36a actually operates is controlled according to the unlocking condition data stored in the attached unlocking condition storage units 27a and 27b. By using the unlocking key 36a, a key that can be controlled under complicated conditions can be obtained.

  In FIG. 19B, an unlocking key 36b is a part of a key tooth from which the unlocking condition storage unit 27c and the unlocking condition storage unit 27d in which unlocking conditions are mechanically formed are removable. Whether or not the unlocking key 36b actually operates is controlled according to the mechanism of the attached unlocking condition storage units 27c and 27d. By using the unlocking key 36b, a key that is difficult to duplicate can be formed.

  The configuration shown in FIGS. 19A and 19B can be adopted not only for the present embodiment but also for the first embodiment described above and the third embodiment described later.

(Third embodiment)
20 and 22 show an automatic conveyance system according to a third embodiment of the present invention. The automatic transfer system includes a transfer robot 1 that has a storage unit 11 for a transfer object and executes transfer, and a monitoring camera 41 and a monitoring sensor 42 (an infrared sensor, an ultrasonic sensor, a laser sensor, etc.) on the travel route of the transfer robot 1. An environment monitoring device 43 that monitors the presence or absence of suspicious persons, the presence or absence of obstacles, and a task / unlocking condition setting device 44 that sets a transport task such as a transport route and an unlocking condition of the storage unit 11 in the transport robot 1 The unlocking condition input device 45 is coupled with the task / unlocking condition setting device 44 to input the unlocking condition of the storage unit 11 when the task is completed. Further, in this automatic transfer system, as in the first embodiment, if the transfer robot 1 or the environment monitoring device 43 performs an abnormality (for example, if an unlocking process that does not meet the unlocking conditions is performed, a suspicious person who becomes a security problem) Is detected by the transfer robot 1, the manager room 4 as the monitoring center is notified.

  The environment monitoring device 43 includes a route environment detection unit 46 that notifies route environment information obtained from inputs from the monitoring camera 41 and the monitoring sensor 42 to the security level setting unit 29 of the transport robot 1. The information of the task / unlocking condition setting device 44 is sent to the transport route storage unit 23 and the unlocking condition storage unit 27, and the transport route and unlocking in the transport task instructed by the task / unlocking condition setting device 44. A condition is added.

  For example, the transfer robot 1 executes the following transfer tasks. The transfer robot 1 has a task / unlocking condition setting device 44 and is called by a resident 300. The resident 300 loads the transfer object, and is instructed to transfer the object to a target location. In FIG. 5, the transported object is delivered to the resident 301 having the unlocking condition input device 45 to complete the transport task. During the transportation, the transportation robot 1 locks the storage unit 11 to prevent the malicious object from being stolen or seen by other malicious persons. Here, as an example of the transfer task, (1) a resident in the room carries trash to the garbage storage area 8, (2) a resident in the parking lot 9 carries the luggage unloaded from the car to the room, (3) a manager (4) Turn the circulation board, etc.

  A series of processing performed by the transfer robot 1 for realizing a task is generally configured by the following steps 1 to 5.

Step 1: A resident registers a task.
A destination, a transport route, and an unlocking condition are input using the task / unlocking condition setting device 44. The transport route is not only stored in the transport route storage unit 23 but also stored in the unlocking condition storage unit 27 together with the unlocking conditions. The transport route may be directly input to the transport robot 1 by the user as in the first embodiment. A task including a transport route may be registered in advance in the task / unlocking condition setting device 44 or the transport robot 1 itself, and the resident may select a registered task.

Step 2: A resident places a load on the storage unit 11 and the transfer robot 1 locks it.
The storage unit 11 is locked until the unlocking conditions are met, so that the conveyed product cannot be taken out. Further, if necessary, the inside of the storage unit 11 may be made invisible so that the conveyed item is not known from the outside.

Step 3: The transfer robot 1 travels to the destination.
The transport robot 1 moves toward the destination based on information in the transport route storage unit 23. The transport route may be a fixed transport route. In addition, a transfer route selected by the transfer robot 1 taking in information from the external environment information processing unit 21 and environment information from the route environment detection unit 46 of the environment monitoring apparatus 43 and taking security into consideration may be used. Moreover, you may use the map memorize | stored in the conveyance route memory | storage part 23 for selection of a conveyance route. Similarly to the first embodiment, the position of the transport robot 1 is detected by the position detection unit 25, and an abnormality is notified from the abnormality transmission unit 31 to the manager room 4 in the case of deviation from the transport route. The security level setting unit 29 switches the security level in consideration of the environment information from the route environment detection unit 46. The route environment detection unit 46 receives the security level from the security level setting unit 29, and switches the monitoring mode of the conveyance route by the monitoring camera 41 and the monitoring sensor 42 based on the security level. For example, when the security level is high, the sampling rate of the monitoring camera 41 or the monitoring sensor 42 is increased or the monitoring range is expanded. When the security level is low, the sampling rate of the monitoring camera 41 or the monitoring sensor 42 is decreased. The monitoring range is reduced, and the type and number of monitoring sensors 42 used for monitoring are limited. The security level switching will be described in detail later.

Step 4: The transfer robot 1 reaches the destination, and the resident unloads the luggage.
After reaching the destination, the transport robot 1 unlocks the locking portion 12 when the unlocking conditions are met, so that the resident can take out the luggage. At this time, the unlocking condition is input by the unlocking condition input device 45.

Step 5: When the transfer task is completed, the transfer robot 1 moves to the standby position.
As described above, the transport robot 1, the environment monitoring device 43, the task / unlocking condition setting device 44, and the unlocking condition input device 45 function to realize a transport task.

  Next, switching of security levels by the security level setting unit 29 in the present embodiment will be described. FIG. 23 shows a division table provided in the security level setting unit 29 in the present embodiment.

  The security level setting unit 29 is input from the route environment detection unit 46 in addition to the same conditions as in the first embodiment, that is, the zone level to which the current position of the transport robot 1 belongs, the presence / absence and type of the transported object, and the presence / absence of the accompanying person. Set the security level in consideration of the environmental information. Specifically, the security level is changed depending on whether a security problem is detected, for example, the route environment detection unit 46 is present near a suspicious person or not. In FIG. 23, two levels (** / ++) are set even within the same frame, and ** (SL1 to SL5) is selected when there is no problem, and ++ (SL6 to SL10) is selected when a problem is detected. The In addition, in SL6 to SL10, in addition to SL1 to SL5, the unlocking conditions are tightened and the monitoring is strengthened. Further, the destination is the X zone, and the unlocking condition input device 45 is required to input the unlocking condition.

  For example, SL6 to SL10 have the following security settings.

SL6: In addition to the conditions of SL1, the sampling time of the route environment detection unit 46 is shortened.
In addition to the conditions of SL7: SL2, the sampling time of the route environment detection unit 46 is shortened.
In addition to the conditions of SL8: SL3, the sampling time of the route environment detection unit 46 is shortened, and the detection range of the monitoring camera 41 and the monitoring sensor 42 is expanded.
In addition to the conditions of SL9: SL4, the sampling time of the route environment detection unit 46 is shortened.
SL10: In addition to the conditions of SL5, the sampling time of the route environment detection unit 46 is shortened, the detection range of the monitoring camera 41 and the monitoring sensor 42 is expanded, and the monitoring camera 41 and the monitoring sensor 42 near the current transport route are also activated. .

  Thus, since the monitoring of the surrounding environment of the transfer robot 1 is enhanced in SL6 to SL10, security is enhanced compared to SL1 to SL5.

  A security execution method using the task / unlocking condition setting device 44 and the unlocking condition input device 45 will be described with reference to FIG. In FIG. 21, 300 is a resident who requests a task from the transfer robot 1, and 301 is a resident who receives a package from the transfer robot 1. As shown in FIG. 21, the task / unlocking condition setting device 44 and the unlocking condition input device 45 each play a role of a pair of tally, and there are two types of security execution and task execution content transmission. Also has a role. For example, if the role of the task / unlocking condition setting device 44 and the unlocking condition input device 45 is shared by the same object, usage such as “key” is possible. In addition, if a plurality of residents possess the same function card that also functions as the task / unlocking condition setting device 44 and the unlocking condition input device 45, the card is stored by a predetermined member such as the delivery of a circulation board. The conveyed product accommodated in the part 11 can be shared. Further, the task / unlocking condition setting device 44 and the unlocking condition input device 45 do not necessarily have to be registered with tasks and unlocking conditions from the beginning. It is also conceivable to register the task and the unlocking condition in 44 and notify the unlocking condition input device 45 as electronic information for use. In this method, in the delivery of the parcel described above, the administrator sets the unlocking condition using the task / unlocking condition setting device 44, and the unlocking condition information is sent to the unlocking condition input device 45 of the resident of the delivery destination. The delivery destination can also use the information to receive the package from the transfer robot 1 that has been delivered to the room.

  Since other configurations and operations of the third embodiment are the same as those of the first embodiment, the same elements are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 24, even when the transport robot 1 includes a route passage storage unit 35, an automatic transport system as in this embodiment can be constructed.

(Fourth embodiment)
Although the first to third embodiments are application examples for a physical transfer robot, the present invention can also be applied to transfer of electronic information. In the following, a fourth embodiment in which the present invention is applied to the conveyance of electronic information (data) will be described.

  In the present embodiment, an agent program for transporting electronic information is used as an electronic information transport robot, and a method for transporting electronic information by this robot will be described. FIG. 25 shows an electronic information carrying robot to which the present invention is applied.

  It is assumed that the electronic information to be transferred is transferred from the source computer 400 to the destination computer 401. The transmission source computer and the transmission destination computer are respectively sent via the transmission destination gateway server 402 to the transmission destination computer via the Internet gateway and the transmission destination gateway 403. In the Internet network, a message is sent from a gateway server to a destination via an adjacent server.

  On the Internet, there is a possibility that electronic information (data) passed by a malicious hacker 404 may be seen or falsified. In particular, there is a problem that confidential information such as development information in companies is taken away by competitors, so it is essential to strengthen security. In general, electronic information is sent after being encrypted, but if electronic information is stolen, its security is not absolute. In addition, on the Internet, since the route of normal data may change depending on the traffic conditions at that time, it is difficult to avoid a dangerous route where hackers exist without knowing where it passes.

  However, the route of electronic information (data) in the Internet can be traced, and the current location can also be found by using, for example, the traceroute command of Windows or Linux, because the IP address of the server on the communication path is known. At the same time, since the IP address is managed internationally, it is possible to check the address of the server in any region in any country and the owner of the server, so the current position of jurisdiction is determined based on this. It is also possible. Therefore, the safe route 405, the alert route 406, and the dangerous route 407 can be set according to the IP address of the server that passes through, and by changing the security depending on the route through which the electronic information passes and the location where the electronic information is taken out, the electronic information ( Data).

  Specifically, for example, security is executed as follows according to the electronic information transport flow of FIG.

  First, an agent program (conveyance robot) that takes in conveyance data (electronic information) checks a route to a transmission destination (step S26-1), and a security method such as encryption strength and password setting depending on the IP address of the server that passes through. Is set in the transport data program and packaged (step S26-2). At this time, packaging is performed together with the route information checked in step S26-1. Then, the package in which the conveyance data and the program are integrated is transmitted to the destination (step S26-3). However, when a dangerous route is included in the route checked in step S26-1, it is not necessary to perform transmission until traffic on the Internet changes and the route changes. At the destination, the received packaged agent program (conveyance robot) is executed (step S26-4). Here, the password set in step S26-1 is confirmed, the IP address of the gateway of the computer that executed the agent program, and the communication path to the transmission source are confirmed. If an abnormality is detected in the password, the IP address of the gateway, or the communication path to the transmission source, the conveyance program protects the conveyance data by destroying the data and the program itself (step S26-5). Further, the sender may be notified of the abnormality. If there is no abnormality, the transport data is taken out and restored to a state that can be utilized by the user (step S26-6).

  By checking the IP address at the program execution location, it is possible to prevent different users from taking out the transport data, and even when the IP address is spoofed, it is possible to detect the spoofing by looking at the communication path to the sender. Can be strengthened. At the same time, by reducing the complexity of encryption instead of path security, the amount of dummy information added for security is reduced, thereby reducing data traffic and communication time, and shortening restoration time. And efficient data transmission can be performed.

  Note that the present invention is not limited to the above-described embodiment as it is, and it goes without saying that the constituent elements can be modified and embodied without departing from the spirit of the invention in the implementation stage.

  Moreover, various inventions can also be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  According to the automatic transport method of the present invention, it is possible to provide a robot having a security function such as prevention of theft by a third party. In particular, in addition to residential spaces such as apartments, public centers such as shopping centers and airports can be provided. It can also be applied in space. Further, in the exchange of electronic information, security can be enhanced in transmission / reception, and it can be adapted to exchange of secret information and personal information.

The functional block diagram of the transfer robot which concerns on 1st Embodiment of this invention. The schematic diagram which shows the structure of the apartment in 1st Embodiment of this invention. The schematic diagram of the decision table of the security level in 1st Embodiment of this invention. The schematic diagram of the conveyance route in 1st Embodiment of this invention. The flowchart of an example of the conveyance flow in 1st Embodiment of this invention. The schematic diagram of an example of the passage point of the conveyance robot in 1st Embodiment of this invention. FIG. 6 is a detailed flowchart of step S5-6 in FIG. The flowchart of another example of the conveyance flow in 1st Embodiment of this invention. The schematic diagram of another example of the passing point of the transfer robot in the first embodiment of the present invention. FIG. 9 is a detailed flowchart of step S8-4 in FIG. The functional block diagram of the conveyance robot which concerns on 2nd Embodiment of this invention. The schematic diagram which shows a route memory | storage part. The flowchart of an example of the conveyance flow in 2nd Embodiment of this invention. The flowchart of an example of the conveyance flow in 2nd Embodiment of this invention. The schematic diagram which shows the state of a route memory | storage part when the conveyance flow of FIG. 13A and 13B is performed correctly. FIG. 14 is a schematic diagram illustrating an example of a state of a route storage unit when the transport flow of FIGS. 13A and 13B is not correctly executed. FIG. 14 is a schematic diagram illustrating another example of the state of the route storage unit when the conveyance flows of FIGS. 13A and 13B are not correctly executed. The flowchart of an example of the conveyance flow in 2nd Embodiment of this invention. The flowchart of an example of the conveyance flow in 2nd Embodiment of this invention. FIG. 18A is a schematic diagram illustrating a state of the route storage unit when the transport flow of FIGS. 17A and 17B is correctly executed. The typical perspective view which shows an example of an unlocking key. The typical perspective view which shows another example of an unlocking key. The functional block diagram of the conveyance robot which concerns on 3rd Embodiment of this invention. The schematic diagram for demonstrating a task and unlocking condition setting apparatus and an unlocking condition input device. The schematic diagram which shows the structure of the apartment in 3rd Embodiment of this invention. The schematic diagram of the decision table of the security level in 3rd Embodiment of this invention. The functional block diagram of the conveyance robot which concerns on the modification of 3rd Embodiment of this invention. The typical communication circuit diagram for demonstrating the electronic information conveyance robot which concerns on 4th Embodiment of this invention. The flowchart of the data conveyance by the electronic information conveyance robot which concerns on 4th Embodiment of this invention. Functional block diagram of a conventional transfer robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transfer robot 2 Mansion 3 Entrance hall 4 Manager's room 5 Elevator 6 Corridor 7 Entrance 8 Garbage place 9 Parking lot 11 Storage part 12 Locking part 13 Camera 14 RF tag reader 15 External environment sensor 16 Input interface part 17 Fingerprint sensor 18 Speaker 19 Warning Light 21 External environment information processing unit 22 Transport route setting unit 23 Transport route storage unit 24 Movement mechanism unit 25 Position detection unit 26 Unlocking condition setting unit 27 Unlocking condition storage unit 28 Unlocking determination unit 29 Security level setting unit 31 Abnormal transmission Unit 32 Warning generating unit 33 Communication unit 35 Route passage storage unit 36a, 36b Unlock key 41 Monitoring camera 42 Monitoring sensor 43 Environment monitoring device 44 Task / unlocking condition setting device 45 Unlocking condition input device 46 Route environment detection unit

Claims (14)

Set the transfer route of the transfer robot based on the transfer destination information of the transfer object transferred by the transfer robot,
Move the transfer robot toward the transfer destination based on the information of the transfer route,
Switching the security level of the moving robot based on the zone level predetermined for each area in the transfer route, the current position information of the transfer robot, and the type information of the transferred object Automatic transfer method.   The automatic conveyance method according to claim 1, wherein an outlet of the conveyed object is locked based on the security level information.   The automatic transfer method according to claim 1 or 2, wherein the security level switching further uses passage information of the transfer robot at a point set in advance in the transfer route.   The automatic transfer method according to any one of claims 1 to 3, wherein the security level switching further uses accompanying information on the transfer robot.   The automatic transfer method according to any one of claims 1 to 4, wherein the security level switching further uses route environment information from an environment monitoring device installed around the transfer route.   The automatic transfer method according to claim 2, wherein the security level switching further uses unlocking condition setting information from an unlocking condition setting device for setting an unlocking condition of the outlet.   The automatic conveyance method according to claim 6, wherein the unlocking information input from the unlocking condition input device paired with the unlocking condition setting device is required for unlocking the outlet. A transport robot for transporting a transported object,
A transport route storage unit for storing a transport route set based on transport destination information of the transported object;
A moving mechanism unit for moving toward the transport destination based on the transport route;
A transport robot comprising: a security level setting unit that switches a security level during movement based on a zone level predetermined for each region in the transport route, current position information, and type information of the transport object.   The transport robot according to claim 8, further comprising a locking unit that locks an outlet of the transported object based on the security level. An unlocking determination part for determining unlocking of the locking part;
The transport robot according to claim 9, further comprising: an unlocking condition storage unit that stores an unlocking condition used for determination in the unlocking determination unit.   The transport robot according to claim 10, wherein the unlocking condition storage unit is configured to be removable. A transport route storage unit that stores a transport route set based on the transport destination information, a moving mechanism unit that moves toward the transport destination based on the transport route information, and an area in the transport route in advance. A transport robot comprising a defined zone level, a current position information, and a security level setting unit that switches a security level during movement based on the type information of the transport object;
An automatic transfer system comprising: an environment monitoring device that monitors a transfer route of the transfer robot and switches a monitoring level of the transfer route according to the security level. An unlocking condition setting device for notifying the transport route and the unlocking condition setting information to the transport route storage unit and the unlocking condition storage unit in the transport robot;
The automatic conveyance system according to claim 12, further comprising: an unlocking condition input device that is paired with the unlocking condition setting device and performs unlocking by notifying the unlocking determination unit of unlocking information when unlocking.   The automatic conveyance system according to claim 13, wherein the unlocking condition storage unit detachable from the conveyance robot also serves as the unlocking condition setting device.

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