JP2017007753A - Delivery control device, delivery system, delivery controlling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a time required for delivery of an article.SOLUTION: A delivery control device, which causes a delivery device for delivering an article to deliver the article, comprises: a map information acquisition part which acquires map information concerning a map of a delivery range of the delivery device; a positional information acquisition part which acquires departure positional information concerning a position of a departure place of the delivery device and destination positional information concerning a position of a destination; an obstacle information acquisition part which acquires obstacle information concerning an obstacle which does not exist on the map; a delivery route preparation part which prepares a delivery route of the delivery device from the departure place to the destination on the basis of acquired map information, departure positional information, destination positional information and obstacle information; and a delivery control part causes the delivery device to deliver along the prepared delivery route.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a delivery control device, a delivery system, and a delivery control method.

  In recent years, an image forming apparatus used for outputting digitized information has become an indispensable device. Among such image forming apparatuses, there is known an image forming apparatus that delivers a printed matter output by printing on a recording medium to a user using a delivery device capable of autonomous traveling (for example, See Patent Documents 1 and 2).

  However, such a delivery device performs autonomous traveling according to a route stored in advance. When an obstacle that is not on the route is detected during traveling, the delivery device starts from the location. It is necessary to recreate a new route to and travel again according to the route.

  Therefore, in such a case, the delivery apparatus has a problem that the time required to move to the place where the obstacle is detected is lost and the delivery time becomes longer. Note that such a problem is not limited to a delivery device that delivers printed matter, but can be similarly caused by a delivery device that delivers a product.

  The present invention has been made to solve such a problem, and an object of the present invention is to shorten the time required for delivering an object.

  In order to solve the above-described problem, an aspect of the present invention is a delivery control device that causes a delivery device that delivers an object to deliver the product, and obtains map information related to a map of a delivery range by the delivery device. An acquisition unit, a position information acquisition unit that acquires departure position information about the position of the departure point of the delivery device and destination position information about the position of the destination, and obstacle information about an obstacle that does not exist on the map A delivery for creating a delivery route of the delivery device from the departure point to the destination based on the obstacle information acquisition unit and the acquired map information, the departure position information, the destination position information, and the obstacle information A route creation unit, and a delivery control unit for delivering to the delivery device according to the created delivery route are provided.

  According to the present invention, it is possible to reduce the time required to deliver an item.

It is a figure which shows an example of the operation | use form of the printed matter delivery system which concerns on embodiment of this invention. It is a figure which shows an example of the operation | use form of the printed matter delivery system which concerns on embodiment of this invention. It is a perspective view showing the state where the delivery device concerning the embodiment of the present invention is connected to the finisher. It is a perspective view of the delivery apparatus concerning the embodiment of the present invention. It is the schematic which shows the component goods provided in the trolley | bogie part of the delivery apparatus which concerns on embodiment of this invention. It is explanatory drawing which shows the relationship between the position of the actual obstruction with respect to the obstruction detection sensor which concerns on embodiment of this invention, and the recognized obstruction position. Explanatory drawing of the example of mounting of the printed matter detection sensor with which the tray which concerns on embodiment of this invention was equipped. It is a side view of the state which removed the cover of the side of the delivery apparatus concerning the embodiment of the present invention. It is the perspective view which looked at the delivery apparatus concerning the embodiment of the present invention from the back side. 1 is a block diagram schematically illustrating a hardware configuration of a printer according to an embodiment of the present invention. It is a block diagram which shows typically the hardware constitutions of the delivery apparatus which concerns on embodiment of this invention. 2 is a block diagram schematically illustrating a hardware configuration of a print server according to an embodiment of the present invention. FIG. It is a figure which shows an example of the operation | use form of the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a flowchart for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a flowchart for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a flowchart for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a flowchart for demonstrating the delivery method of the printed matter in the printed matter delivery system which concerns on embodiment of this invention. It is a figure for demonstrating exchange of the obstruction information in the printed matter delivery system which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, as a delivery control system for delivering an article to a delivery apparatus, a printed matter delivery system for delivering a printed matter will be described as an example. First, an operation mode of the printed material delivery system 500 according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an example of an operation mode of a printed material delivery system 500 according to the present embodiment.

  As shown in FIG. 1, a printed material delivery system 500 according to this embodiment includes a printer 100 that is an image forming apparatus main body, and a finisher 110 that is a post-processing device that performs post-processing such as stacking, sorting, duplexing, and stapling of printed materials. With.

  Further, the printed material delivery system 500 according to the present embodiment is connected to the finisher 110, receives the printed material discharged from the finisher 110, and delivers it to a predetermined delivery destination. Is provided. The delivery apparatus 200 includes a delivery-side communication unit 210 that is a communication unit that performs wireless communication with the printer 100 or the print server 300.

  The printer 100 includes a main body side communication unit 101 that is a communication unit that performs wireless communication with the delivery device 200 or the print server 300. The printer 100 also includes a main control unit 102 that is a control unit on the image forming apparatus main body side of a printed material delivery system 500 described later, a main body internal memory 103 that stores information necessary for delivery, and the like.

An operation mode of the printed matter delivery system 500 according to the present embodiment will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of an operation mode of the printed material delivery system 500 according to the present embodiment.

  As shown in FIG. 2, the printing system according to the present embodiment includes a network 1 to which a printer 100 is connected, a network 2 to which a print server 300 is connected, and PC (Personal Computer) groups (400-1, 400-). 2,..., 400-N) are connected to each other via a public line 4 such as the Internet or a telephone line.

  FIG. 2 shows an example in which a PC group (400-1, 400-2,..., 400-N) is connected to the network 3, but a plurality of PCs each having a different PC connected thereto are shown. The network may be connected to the printer 100 and the print server 300 via the public line 4.

  2 shows an example in which the printer 100, the print server 300, and the PC groups (400-1, 400-2,..., 400-N) are connected to different networks. They may be configured to be connected on the same network.

  2 are limited networks such as an office LAN (Local Area Network), for example, and include a printer 100, a print server 300, and PC groups (400-1, 400-2,...). .., 400-N) is connected to the public line 4 via the respective LANs, but may be directly connected to the public line 4.

  2 are, for example, Ethernet (registered trademark), USB (Universal Serial Bus), Bluetooth (registered trademark), Wi-Fi (Wireless Fidelity) (registered trademark), and FeliCa (registered trademark). ), PCIe (Peripheral Component Interconnect Express), VGA (Video Graphics Array), DVI (Digital Visual Interface) and IEEE (The Institute of Electronics, etc.).

  Each of the PC groups (400-1, 400-2, ..., 400-N) is an information processing terminal operated by a user. Each PC may be realized by a PDA (Personal Digital Assistant), a mobile information terminal such as a smartphone or a tablet terminal.

  Each of the PC groups (400-1, 400-2,..., 400-N) is digitized data (hereinafter referred to as “print file”) to be printed by the printer 100 in accordance with a user operation. Is transmitted to the print server 300 and accumulated, and a print instruction for a print file selected from the accumulated print files is issued.

  The print server 300 is a shared server on the network, and manages the printer 100 so that it can be used from each PC. Further, the print server 300 accumulates the print file transmitted from the PC according to the print instruction issued from each PC, and causes the printer 100 to print the print file selected from the accumulated print files.

  Next, the configuration of the delivery device 200 according to the present embodiment will be described with reference to FIGS. FIG. 3 is a perspective view illustrating a state in which the delivery device 200 according to the present embodiment is connected to the finisher 110. FIG. 4 is a perspective view of the delivery device 200 according to the present embodiment. FIG. 5 is a schematic view showing constituent articles provided in the carriage unit 230 of the delivery device 200 according to the present embodiment.

  As shown in FIGS. 3 and 4, the delivery device 200 according to the present embodiment includes a carriage unit 230 that is an autonomous traveling unit, an obstacle detection sensor 270 provided in the traveling direction, a tray 280 for stacking printed materials, and a tray 280. A tray lifting / lowering device 290 is provided as lifting / lowering means for lifting / lowering the tray. The printed matter for which delivery has been instructed is output from the discharge port below the finisher 110 and is loaded on the tray 280 of the delivery device 200.

  As shown in FIG. 5, the carriage unit 230 includes a drive tire 231 a, an auxiliary tire 231 b, a drive motor 232, a battery 240 serving as a power source for the delivery device 200, and a communication unit for communicating with the main control unit 102 of the printer 100. The delivery side communication unit 210 is provided.

  Further, the carriage unit 230 includes a sub-control unit 220 that is a control unit of the delivery device 200, a map database memory 250 necessary for autonomous travel, a route calculation unit that calculates a travel route to a specified destination, a distance, and the like. The route calculation device 260 is incorporated. That is, in the present embodiment, the sub control unit 220 functions as a delivery control unit and a delivery control device.

  The delivery device 200 according to the present embodiment includes electronic parts such as the delivery-side communication unit 210, the sub-control unit 220, the map database memory 250, and the route calculation device 260 on the carriage unit 230. It does not have to be mounted inside the carriage unit 230.

  Next, a method for the delivery apparatus 200 according to the present embodiment to detect an obstacle will be described with reference to FIGS. 6 (a) and 6 (b). 6A and 6B are recognized as the actual position of the obstacle 600 with respect to the obstacle detection sensor 270 in the state where the obstacle 600 such as a wall is in front of the delivery device 200 according to the present embodiment. It is explanatory drawing which shows the relationship with the obstruction position 600a.

  The obstacle detection sensor 270 mounted on the delivery device 200 according to the present embodiment is a distance measuring device called a laser range finder (LRF). The LRF emits a laser, receives the reflected light, and can measure the distance of the reflection point from the time between emission and light reception and the phase difference between the emitted laser light and the received laser light.

  Then, as shown in FIGS. 6A and 6B, the delivery device 200 according to the present embodiment indicates the direction in which the obstacle detection sensor 270 emits the laser beam by the arrow α in FIG. By performing horizontal scanning in the direction shown, the distance from the delivery device 200 to the obstacle 600 can be measured.

  At this time, since the delivery device 200 according to the present embodiment rotationally scans the direction in which the obstacle detection sensor 270 emits the laser light, for example, (1) to (11) in FIG. As described above, an unmeasured region is generated between the respective measurement points 601. Therefore, the delivery device 200 according to the present embodiment detects the obstacle position 600a recognized by the delivery device 200 by connecting the respective measurement points.

  Note that the printed material delivery system 500 according to the present embodiment allows the map data stored in the above-described map database memory 250 by running the delivery device 200 alone in the office before the printed material delivery system 500 is operated. May be created.

  In the printed matter delivery system 500 according to the present embodiment, the LRF is used as the obstacle detection sensor 270. However, recent ranging means are diversified, and the ranging means used for the obstacle detection sensor 270 is limited to the LRF. It is not a thing. For example, there are a stereo camera system using two cameras, a laser, slit light, a projection method for projecting various patterns by a projector and recognizing the position, and it is good to use them properly according to the target specification.

  Next, a method for detecting a printed material loaded with the delivery device 200 according to the present embodiment will be described with reference to FIG. FIG. 7 is an explanatory diagram of a mounting example of the printed matter detection sensor 281 provided in the tray 280 according to the present embodiment.

  The delivery apparatus 200 according to the present embodiment includes the printed matter detection sensor 281 so that it can be confirmed whether the printed matter discharged from the finisher 110 is reliably stacked on the delivery device 200.

  Further, the delivery device 200 according to the present embodiment can be used as an operation trigger of the delivery device 200 using the signal of the printed matter detection sensor 281. The printed matter detection sensor 281 according to the present embodiment uses a photo sensor, monitors whether light reflected by the printed matter enters the photo sensor, and confirms the presence or absence of the printed matter. Since this sensor only needs to be able to detect printed matter, it may be replaced with a weight sensor or the like.

  Next, a printed material stacking mode by the delivery device 200 according to the present embodiment will be described with reference to FIGS. 8 and 9. FIG. 8 is a side view of the delivery device 200 with the side cover removed. FIG. 9 is a perspective view of the delivery device 200 as seen from the rear side.

  As shown in FIGS. 7 to 9, the delivery device 200 according to the present embodiment is covered with a cover member on three sides other than the rear side when traveling. In addition, the delivery device 200 according to the present embodiment has a delivery port 285 through which a rear portion is opened during travel and the tray 280 is exposed, and a printed matter on the tray 280 can be taken out.

  The delivery device 200 according to the present embodiment is desirably miniaturized as much as possible in order to deliver the inside of the office. Further, when the number of printed materials is large, the tray 280 is preferably arranged on the lower side in view of the stacking amount of the delivery device 200.

  However, when there is a tray 280 below the downsized delivery device 200, the user has a disadvantage that it is difficult to remove the printed material. Therefore, the delivery device 200 according to the present embodiment includes the tray lifting / lowering device 290 that lifts and lowers the tray 280, thereby eliminating the above-described disadvantages.

  The tray lifting / lowering device 290 includes a lifting / lowering motor 291, a lifting / lowering link 292, a lifting / lowering shaft 293, and a ball screw 294, and the rotation of the lifting / lowering motor 291 is converted into a movement in an expansion / contraction direction by the ball screw 294.

  8A and 9A show a state in which the position of the tray 280 is at the lower end, and FIGS. 8B and 9B show a state in which the position of the tray 280 is at the upper end. Yes. In addition, it is desirable that the operation speed at which the tray elevating device 290 moves up and down the tray 280 be selected so that a plurality of operation speeds can be selected. If quietness is required, it is effective to control the operation speed slower.

  Next, a hardware configuration of the printer 100 according to the present embodiment will be described with reference to FIG. FIG. 10 is a block diagram schematically illustrating a hardware configuration of the printer 100 according to the present embodiment. As shown in FIG. 10, the printer 100 according to the present embodiment includes a main body side communication unit 101, a main control unit 102, a PC I / F 104, and a printing operation unit 150.

  The printing operation unit 150 is a general term for a scanner, an image forming unit, and the like in the printer 100. The main control unit 102 is a so-called CPU (Central Processing Unit) and includes a main body internal memory 103 for storing an OS (Operating System), application programs, print data, and the like.

  The main control unit 102 is connected to a printing operation unit 150 and a PC I / F 104 connected to a PC group (400-1, 400-2,..., 400-N) via a LAN. Further, the main control unit 102 is connected to a main body side communication unit 101 that communicates with the delivery device 200 or the print server 300.

  The main control unit 102 receives a print request or print data from the user's PC via the PC I / F 104, stores it in the main body internal memory 103, and controls the printing operation. In addition, when the main control unit 102 receives the delivery request together with the print request, the main body side communication unit 101 instructs the main body side communication unit 101 to check the delivery conditions of the delivery device 200 (whether the battery is remaining, calculation of the travel route, etc.) .

  Next, the hardware configuration of the delivery apparatus 200 according to the present embodiment will be described with reference to FIG. FIG. 11 is a block diagram schematically illustrating a hardware configuration of the delivery device 200 according to the present embodiment. As shown in FIG. 11, the delivery device 200 according to the present embodiment includes a delivery-side communication unit 210, a sub-control unit 220, a drive motor 232, a battery 240, an obstacle detection sensor 270, a lift motor 291 and a printed matter detection sensor 281. Prepare.

  Similar to the main control unit 102, the sub control unit 220 is a CPU, and includes a delivery internal memory 251 for storing a program for operating the delivery device 200, travel route information, position data, and the like.

  In addition, a battery 240, an obstacle detection sensor 270, a printed matter detection sensor 281, a drive motor 232, a lift motor 291, and the like are connected to the sub control unit 220. The sub-control unit 220 controls the drive motor 232 and the lift motor 291. Further, a main body side communication unit 101 that communicates with the printer 100 or the print server 300 is connected to the delivery side communication unit 210.

  Next, the hardware configuration of the print server 300 according to the present embodiment will be described with reference to FIG. FIG. 12 is a block diagram schematically illustrating a hardware configuration of the print server 300 according to the present embodiment. As illustrated in FIG. 12, the print server 300 according to the present embodiment includes a server control unit 301, a server I / F 303, and a server-side communication unit 304.

  The server control unit 301 is a CPU, like the main control unit 102, and includes a server internal memory 302 for storing an OS (Operating System), application programs, print data, and the like.

  A server I / F 303 connected to the printer 100 and PC groups (400-1, 400-2,..., 400-N) is connected to the server control unit 301 via a LAN. Furthermore, a server-side communication unit 304 that communicates with the printer 100 or the delivery device 200 is connected to the server control unit 301.

  The server control unit 301 receives a print request or print data from the user's PC via the server I / F 303, stores it in the server internal memory 302, and causes the printer 100 to perform a printing operation based on the print data. Further, the server control unit 301 receives obstacle information from the delivery device 200 via the server-side communication unit 304, stores it in the server internal memory 302, and transmits the obstacle information to each delivery device 200.

  Next, an operation mode of the printed matter delivery system 500 according to the present embodiment will be described with reference to FIG. FIG. 13 is a diagram illustrating an example of an operation mode of the printed material delivery system 500 according to the present embodiment.

  As shown in FIG. 13, in the printed material delivery system 500 according to the present embodiment, when the delivery device 200 delivers a printed material to a target user, an obstacle detection sensor 270 is arranged separately from the finisher 110. Go ahead the part that is. The delivery device 200 can be charged via the finisher 110 with the state connected to the finisher 110 as a home position.

  A PC group (400-1, 400-2,..., 400-N) used by each user and the printer 100 are connected via a LAN, and the printer 100 has a stack of printed materials, sorting, stapling, and the like. A finisher 110 that performs post-processing is connected.

  In the printed material distribution system configured as described above, when each of the PCs 400-1, 400-2,..., 400-N receives a print instruction and a delivery instruction for the printer 100 by a user operation, PJL ( A command such as “Printer Job Language” and print data are transmitted to the printer 100.

  Then, the main control unit 102 performs print control of the received print data and interprets the delivery instruction with the received command such as PJL, and then sends the sub control unit from the main body side communication unit 101 via the delivery side communication unit 210. 220 confirms whether delivery is possible.

  When it is determined that delivery is possible, the main control unit 102 controls the delivery device 200 to be disconnected from the finisher 110. Then, the delivery device 200 performs autonomous running control by the sub-control unit 220, moves to the PC that transmitted the delivery instruction, and after completion of delivery, similarly performs autonomous running control by the sub-control unit 220 and returns to the home position. And prepare for the next instruction.

  Note that the printed material delivery system 500 according to the present embodiment performs the paper discharge unit of the printer 100 or post-processing when there is no delivery instruction from the user or when the sub-control unit 220 determines that delivery is not possible. The printed matter is output to the paper discharge unit of the finisher 110.

  Next, a printed material delivery method in the printed material delivery system 500 according to the present embodiment will be described with reference to FIGS. 14 to 21 are diagrams for explaining a printed material delivery method in the printed material delivery system 500 according to the present embodiment. 14 to 21, dashed arrows represent routes, solid arrows represent a state in which the delivery device 200 is traveling in the direction of the arrows, and alternate long and short dash arrows represent the flow of obstacle information.

  As shown in FIGS. 14A and 14B, first, the delivery device 200 reads the map 700 from the map database memory 250 by the route calculation device 260, sets the departure point 701 and the destination 702, and sets the departure point. A route from 701 to the destination 702 is created.

  That is, in this embodiment, the route calculation device 260 functions as a map information acquisition unit, a position information acquisition unit, and a delivery route creation unit. In this embodiment, the map data is acquired by the map information acquisition unit as map information related to the map of the delivery range by the distribution device 200, and the departure position information, the target position information, and the current position information are acquired by the position information acquisition unit. The

  And as shown to Fig.15 (a), the delivery apparatus 200 starts driving | running | working according to the produced path | route. At this time, the delivery device 200 detects whether there is an obstacle around the obstacle detection sensor 270 each time.

  And as shown in FIG.15 (b), if the delivery apparatus 200 detects the obstruction 600 which is not in the map 700 during driving | running | working, it will become unable to continue driving | running | working further according to the path | route created first. End up.

  In such a case, in the conventional printed matter delivery system, as shown in FIG. 16 (a), the delivery device recreates a new route with the current location as a new departure point 703, as shown in FIG. 16 (b). Thus, it is necessary to travel anew according to the route. Therefore, in such a case, the time required for the delivery device to move to the place where the obstacle 600 is detected is lost, and the delivery time becomes longer.

  Therefore, when the delivery device 200 detects an obstacle 600 that is not included in the map 700, the printed matter delivery system 500 according to the present embodiment transmits obstacle information such as the size position of the obstacle 600 to the printer 100 or the print server 300. It is configured to accumulate and create a route using the obstacle information. Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  For this purpose, first, as shown in FIGS. 17A and 17B, when the delivery device 200a detects an obstacle 600 not on the map 700 during traveling, the obstacle 600 detected by the obstacle detection sensor 270 is detected. Is transmitted to the printer 100 or the print server 300.

  18A and 18B, when the printer 100 or the print server 300 receives the obstacle information from the delivery device 200a, the obstacle information is stored in the main body internal memory 103 and the server internal memory 302, respectively. And the obstacle information is transmitted to the other delivery device 200b on standby.

  Then, as shown in FIG. 19A, when receiving the obstacle information from the printer 100 or the print server 300, the delivery device 200b creates a route for avoiding the obstacle 600 based on the obstacle information. As shown in 19 (b), the vehicle starts traveling according to the route.

  As described above, the printed material delivery system 500 according to the present embodiment can create in advance a route that avoids the obstacle 600 that is not included in the map 700 before the delivery device 200 starts traveling. Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  20A and 20B, when the printer 100 or the print server 300 receives the obstacle information from the delivery device 200a, the obstacle information is stored in the main body internal memory 103 and the server internal memory 302, respectively. The obstacle information is transmitted to the other delivery device 200b that is delivering.

  Then, as shown in FIG. 21A, when the delivery device 200b receives the obstacle information from the printer 100 or the print server 300, based on the obstacle information, the delivery apparatus 200b sets the obstacle 600 with the current location as a new departure place 703. The avoidance route is newly created, and as shown in FIG. 21B, the vehicle starts traveling according to the route.

  As described above, the printed material delivery system 500 according to the present embodiment can recreate a route that avoids the obstacle 600 that is not in the map 700 each time during delivery. That is, the printed material delivery system 500 according to the present embodiment can recreate a route that avoids an obstacle 600 before detecting the obstacle 600 that is not on the map 700 even during delivery. .

  Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  Next, a printed material delivery method in the printed material delivery system 500 according to the present embodiment will be described with reference to FIGS. 22 to 25 are flowcharts for explaining a printed material delivery method in the printed material delivery system 500 according to the present embodiment.

  As shown in FIG. 22, first, in the delivery device 200, the sub-control unit 220 determines that the obstacle detection sensor 270 is in a detection state during travel (S2201), and the detection state has passed for a predetermined time (S2202 / YES). The object detected by the obstacle detection sensor 270 is determined as an obstacle that is not in the map 700 (S2203).

  On the other hand, when the sub-control unit 220 is traveling, the obstacle detection sensor 270 enters a detection state (S2201), and when the detection state is released before a predetermined time has passed (S2202 / NO), the obstacle detection sensor 270 It is determined that the detected object is not an obstacle (S2204).

  As described above, the delivery device 200 according to the present embodiment determines that the object detected by the obstacle detection sensor 270 is not an obstacle only when the detection state of the obstacle detection sensor 270 has elapsed for a predetermined time during traveling. Is configured to do.

  This is because if the detection state of the obstacle detection sensor 270 is released before the predetermined time has elapsed, the detection object by the obstacle detection sensor 270 is likely to be a temporary object such as a passerby. . For this reason, the delivery device 200 according to the present embodiment is set so that the predetermined time is longer in places where people come and go.

  Then, the sub control unit 220 transmits obstacle information regarding the obstacle detected by the obstacle detection sensor 270 to the printer 100 or the print server 300 via the delivery side communication unit 210 (S2205).

  As shown in FIG. 23, in the printer 100 or the print server 300, the main control unit 102 and the server control unit 301 are respectively connected to the obstacle from the delivery device 200 via the main body side communication unit 101 and the server side communication unit 304. When the information is received (S2301), the obstacle information is stored in the main body internal memory 103 and the server internal memory 302 (S2302).

  That is, in the present embodiment, the main body internal memory 103 and the server internal memory 302 function as a storage unit, and the main control unit 102 and the server control unit 301 function as a storage control unit.

  Then, the main control unit 102 and the server control unit 301 transmit the obstacle information to a delivery device 200 different from the delivery device 200 that transmitted the obstacle information via the main body side communication unit 101 and the server side communication unit 304, respectively. Transmit (S2303).

  Then, as shown in FIG. 24, in the delivery device 200, when the sub-control unit 220 receives the obstacle information via the delivery-side communication unit 210 (S2401), the sub-control unit 220 determines whether the delivery is currently in progress. (S2402). That is, in the present embodiment, the sub control unit 220 functions as an obstacle information acquisition unit.

  When the sub-control unit 220 determines in the determination process in S2402 that the delivery is not in progress (S2402 / NO), the sub-control unit 220 determines whether there is a delivery schedule thereafter (S2403).

  If the sub-control unit 220 determines in the determination process in S2403 that there is no delivery schedule thereafter (S2403 / NO), the sub-control unit 220 ends the process.

  On the other hand, when the sub-control unit 220 determines in the determination process in S2403 that there is a delivery schedule after this (S2403 / YES), the sub-control unit 220 uses the path calculation device 260 based on the obstacle information received from the printer 100 or the print server 300. A route avoiding the obstacle is created (S2404), and the vehicle is controlled to start traveling according to the route (S2405).

  As described above, the printed material delivery system 500 according to the present embodiment can create a route that avoids an obstacle that is not included in the map 700 before the delivery device 200 starts traveling. Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  Further, when the sub-control unit 220 determines in the determination process in S2402 that delivery is in progress (S2402 / YES), the sub-control unit 220 is on the currently traveling route based on the obstacle information received from the printer 100 or the print server 300. It is determined whether there is an obstacle not on the map 700 (S2406).

  If the sub-control unit 220 determines in the determination process in S2406 that there are no obstacles on the currently traveling route that are not on the map 700 (S2406 / NO), it is not necessary to change the currently traveling route. It judges (S2407), and it controls so that driving | running | working may be continued as it is (S2408).

  On the other hand, in the determination process in S2406, when the sub-control unit 220 determines that there is an obstacle that is not on the map 700 on the currently traveling route (S2406 / YES), it is necessary to change the currently traveling route. It is determined that there is (S2409). That is, in the present embodiment, the sub control unit 220 functions as a route change determination unit.

  Then, based on the obstacle information received from the printer 100 or the print server 300, the sub-control unit 220 recreates a route that avoids the obstacle with the current location as the new departure point 703 (S2410), and travels according to the route. Is controlled to start (S2411).

  As described above, the printed material delivery system 500 according to the present embodiment can recreate a route that avoids an obstacle that is not in the map 700, even during delivery. That is, the printed material delivery system 500 according to the present embodiment can recreate a route that avoids an obstacle before detecting the obstacle that is not on the map 700 even during delivery.

  Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  As shown in FIG. 25, in the printer 100 or the print server 300, when the main control unit 102 and the server control unit 301 each receive obstacle information from the delivery device 200, a predetermined period has elapsed (S2501 / YES). The obstacle information is deleted from the main body internal memory 103 and the server internal memory 302 (S2503).

  Further, each of the main control unit 102 and the server control unit 301 confirms that the obstacle has been removed from the delivery device 200 before a predetermined period of time elapses after receiving the obstacle information from the delivery device 200 (S2501 / NO). When obstacle removal information that is information for notification is received (S2502 / YES), the obstacle information related to the obstacle is deleted from the main body internal memory 103 and the server internal memory 302 (S2503). That is, in this embodiment, the main control unit 102 and the server control unit 301 function as an obstacle removal information acquisition unit.

  As described above, when the printed material delivery system 500 according to the present embodiment receives the obstacle information from the delivery device 200 and the obstacle removal information is received after a predetermined period of time has elapsed, the main body internal memory 103 and the server internal memory 302 receive the information. It is configured to delete the obstacle information. Therefore, the printed material delivery system 500 according to the present embodiment can always create an optimum route.

  Note that each of the main control unit 102 and the server control unit 301 does not receive obstacle removal information from the delivery device 200 before a predetermined period of time elapses after receiving the obstacle information from the delivery device 200 (S2501 / NO). (S2502 / NO), the obstacle information is stored in the main body internal memory 103 and the server internal memory 302.

  As described above, when the delivery device 200 detects an obstacle 600 that is not included in the map 700, the printed matter delivery system 500 according to the present embodiment transmits obstacle information regarding the obstacle 600 to the printer 100 or the print server 300. It is configured to accumulate and create a route using the obstacle information.

  That is, in the printed material delivery system 500 according to the present embodiment, when the delivery device 200 detects an obstacle 600 that is not on the map 700, the delivery device 200 transmits obstacle information regarding the obstacle 600 to the printer 100 or the print server 300.

  The printer 100 or the print server 300 stores the obstacle information received from the delivery device 200 in the server internal memory 302 and transmits the obstacle information to the delivery device 200.

  The delivery device 200 creates a route based on the obstacle information received from the printer 100 or the print server 300. As a result, the delivery device 200 can create in advance a route that avoids the obstacle 600 that is not in the map 700.

  Therefore, the printed material delivery system 500 according to the present embodiment is configured as described above, so that it is possible to reduce the time for delivering the printed material by the delivery device 200.

  Note that, in the present embodiment, the printed material delivery system 500 configured to exchange obstacle information via the printer 100 or the print server 300 between the delivery device 200a and the delivery device 200b has been described.

  In addition, as shown in FIG. 26, the printed material delivery system 500 according to the present embodiment may be configured such that obstacle information is directly exchanged between the delivery device 200a and the delivery device 200b. FIG. 26 is a diagram for explaining the exchange of obstacle information in the printed material delivery system 500 according to the present embodiment.

  Further, in the present embodiment, the printed material delivery system 500 configured so that the delivery device 200 creates a route has been described. In addition, in the printed material delivery system 500 according to the present embodiment, the printer 100 or the print server 300 creates a route and transmits the route to the delivery device 200, so that the delivery device 200 delivers the printed material according to the route. It may be configured as follows.

  Further, in the present embodiment, the printed material delivery system 500 that delivers printed matter has been described. However, the configuration, processing, operation, and the like described in this embodiment can be similarly applied to any delivery system that delivers products. .

DESCRIPTION OF SYMBOLS 100 Printer 101 Main body side communication part 102 Main control part 103 Main body internal memory 104 Interface 110 Finisher 150 Printing operation part 200 Delivery apparatus 200a Delivery apparatus 200b Delivery apparatus 210 Delivery side communication part 220 Sub control part 230 Carriage part 231a Drive tire 231b Auxiliary tire 232 Drive motor 240 Battery 250 Map database memory 251 Delivery internal memory 260 Path calculation device 270 Obstacle detection sensor 280 Tray 281 Printed matter detection sensor 285 Delivery port 290 Tray lifting device 291 Lifting motor 292 Lifting link 293 Lifting shaft 294 Ball screw 300 Print server 301 Server control unit 302 Server internal memory 303 Server I / F
304 Server side communication unit 400 PC
500 Print Distribution System 600 Obstacle 600a Obstacle Position 601 Measurement Point 700 Map 701 Origin 702 Destination 703 New Origin

JP 2001-012546 A Japanese Patent No. 4557257

Claims (8)

A delivery control device for delivering a product to a delivery device for delivering the product,
A map information acquisition unit for acquiring map information relating to a map of a delivery range by the delivery device;
A position information acquisition unit for acquiring departure position information regarding the position of the departure place of the delivery device and destination position information regarding the position of the destination;
An obstacle information acquisition unit for acquiring obstacle information relating to an obstacle that does not exist on the map;
A delivery route creation unit that creates a delivery route of the delivery device from the departure location to the destination based on the acquired map information, the departure location information, the destination location information, and the obstacle information;
A delivery control unit for delivering to the delivery device according to the created delivery route;
A delivery control device comprising:   The delivery control device according to claim 1, wherein the obstacle information acquisition unit acquires the obstacle information from a delivery device different from the delivery device. When the obstacle information is acquired by the obstacle information acquisition unit during the delivery of the delivery device, the delivery route creation unit starts from the current location of the delivery device when the obstacle information is acquired. , Based on the map information, current position information regarding the position of the current location, the target location information, and the obstacle information, create a new delivery route of the delivery device from the current location to the destination,
The delivery control device according to claim 1, wherein the delivery control unit causes the delivery device to deliver in accordance with the newly created delivery route. When the obstacle information is acquired by the obstacle information acquisition unit during the delivery of the delivery device, it is determined whether or not the delivery route of the delivery device being delivered needs to be changed based on the obstacle information. A path change determination unit for determining,
When it is determined that the delivery route needs to be changed, the delivery route creation unit, based on the map information, the current location information, the destination location information, and the obstacle information, from the current location to the destination A new delivery route for the delivery device of
The delivery control device according to claim 3, wherein the delivery control unit causes the delivery device to deliver according to the newly created delivery route. A storage control unit for storing the obstacle information in a storage unit;
The delivery control according to any one of claims 1 to 4, wherein the storage control is configured to delete the obstacle information from the storage unit when a predetermined period has elapsed since the obstacle information was acquired. apparatus. A storage control unit for storing the obstacle information in a storage unit;
An obstacle removal information acquisition unit for acquiring obstacle removal information for notifying that the obstacle has been removed from the delivery route;
With
The said storage control part deletes the said obstruction information regarding the said obstruction removed from the said memory | storage part, when the said obstruction removal information is acquired. The delivery control device described. A delivery device for delivering goods;
A map information acquisition unit for acquiring map information relating to a map of a delivery range by the delivery device;
A position information acquisition unit for acquiring departure position information regarding the position of the departure place of the delivery device and destination position information regarding the position of the destination;
An obstacle information acquisition unit for acquiring obstacle information relating to an obstacle that does not exist in the map;
A delivery route creation unit that creates a delivery route of the delivery device from the departure location to the destination based on the acquired map information, the departure location information, the destination location information, and the obstacle information;
A delivery control unit for delivering to the delivery device according to the created delivery route;
A delivery system comprising: A delivery control method for delivering a product to a delivery device that delivers the product,
Obtaining map information relating to a map of a delivery range by the delivery device;
Obtaining departure position information regarding the position of the departure place of the delivery device and destination position information regarding the position of the destination;
Obtain obstacle information about obstacles that do not exist in the map,
Based on the acquired map information, the departure location information, the destination location information, and the obstacle information, create a delivery route of the delivery device from the departure location to the destination,
A delivery control method, wherein the delivery device is delivered according to the created delivery route.