JP2017109861A - Delivery device, delivery system, and delivery method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a delivery device, a delivery system and a delivery method which suppress consumption of a battery, ensure that the autonomous delivery device goes to and returns from a destination, and prevents hindrance in the next travel operation.SOLUTION: A delivery device 200 autonomously travels the shortest travel route 303 from a previously set departure position P1 to an indicated target position P2 on the basis of map information stored in a map database memory 250 to deliver printed matters and returns from the target position P2 to the departure position P1 after completion of the delivery. It makes its sub-control part calculate an estimate value of a previously set physical quantity (time or energy consumption) required in traveling from the departure position P1 to the target position P2 on the map information, measures the physical quantity actually required in the traveling, and compares the calculated physical quantity and the measured physical quantity, and if the difference between the two is greater than a previously set value, changes the returning route from the target position P2 to the departure position P1.SELECTED DRAWING: Figure 16

Description

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

  In recent years, in an office or the like, a multi-function peripheral (MFP) image forming apparatus in which functions of each OA device such as a printer, a FAX, and a copier are integrated is widely used. By using a multifunction device, there is an advantage that it can be used at a lower cost than purchasing OA devices individually, and the total installation area can be reduced. However, although it is inexpensive, it is generally expensive as equipment, so there are few cases where a plurality of MFPs are introduced. Therefore, in the office environment, the user needs to go to a distant MFP for the printed matter output from the PC (Personal Computer), and there is a problem that the work efficiency during that time decreases.

  As a solution to this problem, a self-propelled printer is known in which the printer itself is configured to be movable, and the printer itself can be moved based on a user instruction so that printed matter can be output at a desired location. There is also known a self-propelled finisher in which the finisher itself autonomously travels without moving the image forming apparatus main body.

  This type of self-propelled printer or self-propelled finisher is equipped with a battery because it is self-propelled. Therefore, the distance traveled by the vehicle depends on the amount of charge of the battery.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2010-243484 (Patent Document 1) or Japanese Patent No. 4557257 (Patent Document 2), the movable distance is calculated from the remaining amount of the battery to determine whether or not to move, or charging is performed. It is described to control.

  On the other hand, an autonomous delivery device (mobile device) such as a self-propelled printer or a self-propelled finisher moves from the home position (departure position) to the target position (under the requester). It returns to the home position from the target position. At that time, the shortest distance to the destination is determined based on the map information (map data) in the apparatus, and the robot moves back and forth.

  However, if the delivery device moves autonomously in an office environment where an obstacle (such as a chair or a box) that was not at the time the map was formed is placed on the movement route, the target position, The movement time for moving from the target position to the home position may take longer than expected. In addition, depending on the obstacle, the route to be avoided becomes long, and the power consumption when moving may increase. In such a case, the battery is consumed quickly, and there is a possibility that the movement for the next job may be hindered.

  Therefore, the problem to be solved by the present invention is to suppress battery consumption and to ensure that the autonomous delivery device reciprocates reliably and does not hinder the next movement operation.

  In order to solve the above-mentioned problems, the present invention delivers a transported object by self-propelling the shortest distance from a preset starting position to a designated target position based on map information stored in the storage means, and the delivery ends. A delivery device for returning from the target position to the departure position, and calculating means for calculating a predicted value of a preset physical quantity when moving from the departure position to the target position on the map information; The measurement means for measuring the physical quantity required to move to the physical quantity is compared with the physical quantity calculated by the calculation means and the physical quantity measured by the measurement means, and the difference between the two is larger than a preset value. And a route changing means for changing the route of the return route returning from the target position to the departure position.

  According to the present invention, battery consumption can be suppressed, and the autonomous delivery device can reliably reciprocate so that the next movement operation is not hindered. Note that problems, configurations, and effects other than those described above will be clarified in the following description of embodiments.

It is a figure which shows an example of the printed matter delivery supply apparatus which concerns on embodiment of this invention. It is a perspective view showing the state where the self-propelled delivery device concerning the embodiment of the present invention was connected to the finisher. It is a perspective view which expands and shows the self-propelled delivery apparatus in FIG. It is a figure which shows the component provided in the trolley | bogie part of the self-propelled delivery apparatus in FIG. It is explanatory drawing which shows the detection principle of an obstacle detection sensor. It is explanatory drawing which shows the example of mounting of the printed matter detection sensor installed in the tray. It is a front view which shows the internal structure of the raising / lowering mechanism of a tray. It is a perspective view which shows the internal structure of the raising / lowering mechanism of a tray. FIG. 2 is a block diagram illustrating a hardware configuration of a printer. It is a block diagram which shows the hardware constitutions of a self-propelled delivery apparatus. It is explanatory drawing which shows the delivery operation | movement of the printed matter in the printed matter delivery system which concerns on this embodiment. It is the figure which modeled the state where a self-propelled delivery device moves from a starting position to a target position. It is explanatory drawing which replaces FIG. 12 with an office and shows. It is explanatory drawing which shows the state which drive | works the new driving | running route in FIG. It is explanatory drawing which shows operation | movement when a delivery apparatus arrives at a target position. It is a flowchart which shows the delivery control procedure of a self-propelled delivery apparatus. It is a figure which shows the shortest traveling locus of a self-propelled delivery apparatus. It is a figure which shows the driving | running | working locus | trajectory of the self-propelled delivery apparatus which travels avoiding a hazard. It is a figure which shows the driving | running | working locus | trajectory of the self-propelled delivery apparatus which calculates and drive | works the new movement route which considered electric power consumption. It is a figure which shows the driving | running | working locus | trajectory of the self-propelled delivery apparatus when there exists a long slope on a moving route and it moves on this. It is a block diagram which shows the function part set to the control board of a sub control part. It is a characteristic view which shows the relationship between motor input current and rotation speed, and load. It is a figure which shows the example of delivery operation | movement of the self-propelled delivery apparatus in the system comprised by including the server in the printed matter delivery system shown in FIG.

  The present invention compares the predicted value (power consumption and travel time) calculated based on the map information before moving and the actual measured value (power consumption and travel time) of the target position from the actually moved starting position (home position). In addition, the moving path from the target position to the starting position (home hi-position) is changed based on the comparison result.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of a printed material delivery / supply device according to an embodiment of the present invention. In FIG. 1, the printed material delivery supply device 1 includes a printer 100, a finisher 110, and a self-propelled delivery device 200. The printer 100 is an image forming apparatus main body, and the finisher 110 has a function of performing post-processing. Post-processing is paper processing that is performed on a printed matter that is printed by the printer 100 and discharged from the printer 100, for example, each processing such as stacking, sorting, alignment, stapling, and punching. is there. In the present embodiment, a self-propelled delivery device 200 that is smaller than the finisher 110 is connected to the finisher 110.

  The printer 100 and the finisher 110 constitute a delivery supply device according to the present invention, and the self-propelled delivery device 200 which is the delivery device of the present invention is electrically connected to the delivery product supply device, here the finisher 110, via a contact 202. It is connected. The contact 202 is a charging terminal for charging a battery mounted on the self-propelled delivery device 200. The contact 202 includes a main body side contact 111 of the finisher 110 and a delivery side contact 201 on the self-propelled delivery device 200 side. The self-propelled delivery device 200 is connected from the finisher 110 side by connecting the main body side contact 111 and the delivery side contact 201. Can be charged.

  The self-propelled delivery device 200 is connected to the finisher 110 and functions as a printed product delivery / supply device that receives the printed matter discharged from the finisher 110 and delivers it to a predetermined delivery destination. In addition, the printer 100 includes a main body communication unit 101 as a communication unit that communicates with the self-propelled delivery device 200. The printer 100 also includes a main control unit 102 which is a control unit on the printer main body side of the printed material delivery and supply apparatus 1 described later, a main body internal memory 103 which stores information necessary for delivery, and the like. Therefore, in this embodiment, it can be seen that the printed product delivery / supply apparatus 1 includes the printer 110 and the finisher 110 that are delivery products supply devices, and the self-propelled delivery device 200 that is a delivery device.

  FIG. 2 is a perspective view showing a state where the self-propelled delivery device is connected to the finisher. FIG. 3 is an enlarged perspective view showing the self-propelled delivery device in FIG. FIG. 4 is a diagram showing components provided in the cart section of the self-propelled delivery device.

  As shown in FIGS. 2 and 3, the self-propelled delivery device 200 includes an autonomous traveling device 230, an obstacle detection sensor 270 installed in the direction of travel, a tray 280 for loading printed materials, and a lift that raises and lowers the tray 280. A mechanism 290 is provided. The printed matter instructed to be delivered is output from the discharge port below the finisher 110 and is loaded on the tray 280 of the self-propelled delivery device 200.

  The autonomous traveling device 230 includes a drive tire 231a and an auxiliary tire 231b in the lower part of the device for autonomous driving, and includes a drive motor 232, a battery 240, and a delivery side communication unit 210 in the device. The delivery side communication unit 210 is a communication unit for communicating with the main control unit 102 of the printer 100. The battery 240 is a power source for the self-propelled delivery device 200.

  Further, the autonomous traveling device 230 calculates a sub-control unit 220 which is a control means of the self-propelled delivery device 200, a map database memory 250 necessary for autonomous traveling, a route to a designated destination, a distance, and the like. A route calculation unit 260 is incorporated. That is, in the present embodiment, the sub control unit 220 functions as a delivery control unit or a delivery control device.

  In the present embodiment, the autonomous traveling device 230 includes electronic components or electronic circuits such as the delivery side communication unit 210, the sub control unit 220, the map database memory 250, and the route calculation unit 260. It may be installed or mounted externally instead of inside.

  Obstacle detection sensor 270 installed in front of the traveling direction of self-propelled delivery device 200 is a distance measuring device called a laser range finder (LRF). The LRF emits a laser, receives the reflected light, and measures the distance of the reflection point from the time between emission and reception and the phase difference between the emitted laser light and the received laser light.

  FIG. 5 is an explanatory diagram showing the detection principle of the obstacle detection sensor (LRF). In the LRF, when the distance of the reflection point is measured, the obstacle detection sensor 270 performs a horizontal scan in the direction of arrow α in FIG. 5A (FIG. 13: angle θ) to self-run. The distance from the portable delivery device 200 to the obstacle 600 including the wall can be measured. At this time, since the self-propelled delivery device 200 rotationally scans the direction in which the obstacle detection sensor 270 emits the laser light, each measurement indicated by (1) to (11) in FIG. An unmeasured area occurs between the points 601. Therefore, the sub-control unit 220 of the self-propelled delivery apparatus 200 connects the measurement points 601 as shown in FIG. 5B, thereby setting the position of the connected virtual measurement point 601 as an obstacle position 600a. To detect.

  Further, the map information (map data) stored in the map database memory 250 may be created by causing the self-propelled delivery apparatus 200 to autonomously run in the office before operating the printed matter delivery system. In the printed material delivery system 500 (FIG. 11) 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 used. Is not limited to LRF, and other types of distance measuring means can be used. Other distance measuring means include, for example, various methods or methods such as a stereo camera method using two cameras, a laser, slit light, a projection method for projecting various patterns by a projector, and recognizing the position. What is necessary is just to use properly according to the specification or installation condition of the self-propelled delivery apparatus 200.

  On the other hand, in the self-propelled delivery device 200, the printed material is discharged from the finisher 110 and loaded on the tray 280. Therefore, the self-propelled delivery device 200 needs to know whether or not the printed material is loaded on the tray 280. Therefore, a printed matter detection sensor 281 is provided on the tray 280.

  FIG. 6 is an explanatory diagram showing an example of mounting the printed matter detection sensor 281 installed on the tray 280. The printed matter detection sensor 281 is arranged on the back side of the detection hole 282 formed in the tray 280 as shown in the partial enlarged view (β shown in FIG. 6), and detects that if the detection object 282 is blocked by the printed matter. It detects that there is a printed material, in other words, that the printed material is loaded. Therefore, for example, a reflection type photosensor is used as the printed matter detection sensor 281. The printed matter detection sensor 281 monitors whether light reflected from 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 can be replaced with a weight sensor or the like.

  In this way, it is possible to confirm whether the printed matter discharged from the finisher 110 is reliably loaded on the tray 280 of the self-propelled delivery device 200. Moreover, it is also possible to use it for the operation trigger of the self-propelled delivery apparatus 200 using the signal of this printed matter detection sensor. Control in the printed material delivery system 500 will be described later.

  7 and 8 are diagrams showing a tray lifting mechanism, FIG. 7 is a front view showing the internal configuration, and FIG. 8 is a perspective view showing the internal configuration. In order to deliver the inside of the office, it is desirable that the self-propelled delivery device 200 be as small as possible. 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 self-propelled delivery device 200. However, if there is a tray 280 below the miniaturized self-propelled delivery device 200, the user needs to bend and take the printed material, which makes it difficult to remove the printed material. Therefore, in the present embodiment, an elevating mechanism 290 is provided on the tray 280 so that printed matter can be taken without bending.

  The lifting mechanism 290 basically includes a lifting motor 291, a link 292, a shaft 293, and a ball screw 294. The ball screw 294 is installed at the lowermost part of the shaft 293 and is rotated by the lifting motor 291 and has a function of converting the rotation into linear motion in the expansion / contraction direction of the shaft 293. The link 292 converts the expansion and contraction of the shaft 293 into its own rotation, and moves the tray 280 connected to the upper end of the link 292 up and down.

  7A and 8A show a state where the tray 280 is positioned at the lowermost end, and FIGS. 7B and 8B show a state where the tray 280 is positioned at the uppermost end. As can be seen from the drawing, when the tray 280 is located at the lowermost end, the shaft 293 is in the most contracted state, and when the tray 280 is located at the uppermost end, the shaft 293 is in the most extended state. is there.

  It is desirable that a plurality of operation speeds of the lifting / lowering means can be selected. When quietness is required, it is effective to control the operation speed slower, and when productivity is required, it is effective to control the operation speed faster. This control can be easily executed by driving control of the lifting motor 291.

  FIG. 9 is a block diagram illustrating a hardware configuration of the printer. As described above, the hardware of the printer 100 basically includes a main body communication unit 101, a main control unit 102, a PC interface (PC I / F) 104, and a printing operation unit 105. The printing operation unit 105 is a general term for each unit that executes an operation of performing printing by a scanner and a print engine in the main body of the printer 100. The main control unit 102 is a so-called CPU. The main control unit 102 includes a main control unit internal memory 103 for storing a desired program, print data, and the like.

  A PC interface (PC I / F) 104 is used to connect a user's PC group and the main control unit 102 via a LAN. The main control unit 102 is also connected to a control unit (print controller) (not shown) of the printing operation unit 105. The main body communication unit 101 is for communicating with the self-propelled delivery device 200.

  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 internal memory 103, and controls the printing operation. When a delivery request is received together with a print request, the main body communication unit 101 instructs confirmation of delivery conditions (whether battery level is present, delivery route calculation, etc.). A specific processing procedure will be described later with reference to FIG.

  FIG. 10 is a block diagram showing a hardware configuration of the self-propelled delivery device. The self-propelled delivery device 200 basically includes a sub-control unit 220, a delivery-side communication unit 210, a battery 240, an obstacle detection sensor 270, a drive motor 232, and a lift motor 291.

  Similar to the main control unit 102, the sub control unit 220 is a CPU. A sub-control unit internal memory 251 is provided for storing a program for operating the self-propelled delivery device 200, travel route information, position data, and the like. The delivery-side communication unit 210 and the sub-control unit 220 are connected to be able to communicate with each other, the battery 240 notifies the sub-control unit 220 of the remaining capacity, and the obstacle detection sensor 270 notifies the sub-control unit 220 of the obstacle detection information. To do. The printed matter detection sensor 281 notifies the sub-control unit 220 of information on whether or not a printed matter exists on the tray 280. The sub-control unit 220 controls the drive motor 232 and the lift motor 291 via the motor control circuit 224 (FIG. 21) based on the notified information.

  FIG. 11 is an explanatory diagram illustrating a printed material delivery operation in the printed material delivery system according to the present embodiment. Hereinafter, the basic operation of the printed material delivery system 500 will be described.

  FIG. 11 shows the printed matter delivery system 500 in which the self-propelled delivery device 200 is separated from the finisher 110 of the printed matter delivery and supply device 1 to deliver the printed matter to a called PC (user) 400-1 and after delivery. , Schematically showing how to return.

  As shown on the right side of FIG. 10, the self-propelled delivery device 200 is connected to the finisher 110 via the contact 202 in the initial state located at the home position. At the home position thus connected, the self-propelled delivery device 200 can be charged from the finisher 110 side via the contact 202 as described above.

  In this state, when there is a print delivery request from a certain PC (user), the self-propelled delivery device 200 faces the front surface of the obstacle detection sensor 270 with the surface on which the obstacle detection sensor 270 is disposed ( It starts to proceed along the direction of FIG. As a result, the self-propelled delivery device 200 is separated from the finisher 110 and proceeds to the target PC (user) along the delivery route set by self-judgment.

  On the other hand, the first to Nth PC groups (400-1, 400-2,..., 400-N: N is an integer equal to or greater than 1) used by each user and the printer 100 (or the printed material delivery / supply device 1) are LANs. And a printed material delivery system 500 is formed. For example, when the user instructs printing and delivery to the printer 100 from the first PC terminal 400-1, the first PC terminal 400-1 sends a command such as PJL (Printer Job Language) and print data. Transmit to the printer 100 main body. The main control unit 102 built in the printer 100 performs print control of the received print data and interprets the delivery request with the received command such as PJL. Based on this interpretation, the sub-control unit 220 confirms whether the delivery is possible from the main body communication unit 101 via the delivery-side communication unit 210.

  When it is determined that the delivery is possible, the self-propelled delivery device 200 is disconnected from the finisher 110 and the autonomous control is performed by the sub-control unit 220. In the autonomous traveling control, the self-propelled delivery device 200 moves to the first PC terminal 400-1 instructed to deliver. After delivery, the sub-control unit 220 similarly returns to the home position and prepares for an instruction.

  When there is no delivery instruction from the user or when the delivery judgment is NG, the printed matter is output to the paper discharge unit 107 of the printer 100 main body or the finisher 110 that has performed the instructed post-processing.

  12 and 13 are diagrams schematically illustrating a state in which the self-propelled delivery device moves from the current position (departure position) to the destination (target position). In the initial map information, map information in a state where there is nothing on the travel route 351 is stored in the map database memory 250 of the sub-control unit 220. However, if the obstacle M is present on the travel route 351 at the time when the self-propelled delivery device 200 starts delivery, the self-propelled delivery device 200 is not obstructed when the map information was created during travel. (FIG. 13).

  Therefore, in the present embodiment, when the self-propelled delivery device 200 detects the obstacle 650 as shown in FIGS. 12 and 14, it proceeds by avoiding the obstacle 650 by itself. That is, the self-propelled delivery device 200 departs from the home position and proceeds on the travel route 351 determined initially. In the meantime, the obstacle detection sensor 270 always monitors the surroundings, and when the obstacle 650 that did not exist at the beginning is detected during traveling, a new traveling route is calculated in consideration of the wall and the entry prohibition area. Then, based on this calculation, the direction is changed to the new travel route 352 and travels to the target position P2.

  FIG. 15 is an explanatory diagram showing an operation when the delivery device arrives at the target position. After arriving near the user terminal, the delivery apparatus 200 stops with the tray 280 side facing the user so that it is easy to receive the printed matter.

  FIG. 16 is a flowchart showing a delivery control procedure of the self-propelled delivery device. FIG. 17 to FIG. 20 are diagrams showing a traveling locus of the self-propelled delivery device. This delivery control procedure is executed by the CPU 221 of the sub-control unit 220 based on the procedure described in the program. The program is stored in the memory 251 and downloaded to the CPU 221 for execution.

  First, the outline of operation control of the self-propelled delivery device 200 according to the present embodiment will be described first. In order for the self-propelled delivery device 200 to go to the requester who requested delivery, that is, the delivery destination 306 (target position P2), the delivery destination 306 and the home position (departure position P1) based on the map information created in advance. Calculate the distance. Then, the shortest travel route 303 is obtained as shown in FIG. The self-propelled delivery device 200 moves to the delivery destination 306 along this shortest travel route 303.

  However, in an office environment or the like, there may be a new hazard that is not reflected in the initially stored map information such as the chair 305, the box 301, and the code 300 as shown in FIG. For this reason, in this embodiment, the user moves while searching for a new moving route 304 while detecting a hazard. Therefore, the user moves from the home position to the delivery destination 306 and moves from the delivery destination 306 to the home position while moving. Time loss occurs.

  Also, as shown in FIG. 20, when there is a hazard such as a slope 310 that the self-propelled delivery device 200 needs to get over, extra power is consumed in order to ascend the slope 310 compared to the plane movement. That is, the power consumption is lost because the slope 310 is moved up, and the battery 240 mounted is consumed quickly. Therefore, in such a case, as shown in FIG. 19, a new movement (detour) route 302 taking into account power consumption is calculated, and control is performed so as to move along this movement route 302.

  Further, the return route is changed from the position of the delivery destination 306 to the route without the hazard shown in FIG. 19 (the route that follows the moving route 302 in the reverse direction) without passing the route with the hazard shown in FIG. Thereby, useless power consumption is suppressed, the amount of charge to be charged before the next delivery is small, and the charge time is inevitably reduced. Therefore, when the next call is made, the possibility of being able to respond immediately becomes extremely high, and the delivery apparatus 200 can be efficiently operated.

  FIG. 16 is a flowchart including processing for calculating such a movement route. In the figure, first, the sub-control unit 220 of the self-propelled delivery device 200 recognizes the location of the requester (location of the delivery destination 306) based on the map information stored in the map database memory 250 (step S1: Note that In the figure, it is abbreviated as S1, and so on.)

  Next, the shortest travel route 303 from the home position (departure position) to the location of the delivery destination 306 is determined from the map information stored in the map database memory 250. Then, the predicted arrival time X1 is calculated for the travel route 303 (step S3), and the predicted energy consumption Y1 at that time is calculated (step S4).

  Thereafter, the self-propelled delivery device 200 starts moving along the shortest moving route 303 (step S5). Simultaneously with the movement, measurement of the time Y2 and the energy consumption Y2 until the position of the requester (delivery destination) 306 is started in parallel with the movement (step S6). This monitoring is continued until the self-propelled delivery device 200 arrives at the delivery destination 306 (step S7). Upon arrival, the measured arrival time X2 is compared with the calculated predicted arrival time X1 (step S8), and the measured consumption energy Y2 is compared with the predicted consumption energy Y1 (step S9).

In step S8,
X1 << X2
If the measurement time X2 is longer than the expected time X1, the process proceeds to step S11. If the measurement time X2 is smaller than the expected time X1, the process proceeds to step S9.
Y1 << Y2
Judging. If the measured consumption energy Y2 is larger than the predicted consumption energy Y1 in this determination, the process proceeds to step S11. If the measured consumption energy Y2 is smaller, the travel is reversed on the same route as the shortest travel route 303 from the home position set in step S2 toward the requester 309. Then, the position returns from the position of the requester 309 to the home position (step S10). That is,
X1 << X2 and Y1 << Y2
If not, the process proceeds to step S10.

On the other hand, when the process proceeds to step S11, that is,
X1 << X2 or Y1 << Y2
In this case, another route, that is, another route 2 is set and the process returns. Then, the process ends when the self-propelled delivery device 200 reaches the home position which is the departure position (step S12).

On the other hand, the control board of the sub-control unit 220 has a circuit for detecting the current value of the battery 240 mounted on the self-propelled delivery device 200, as shown in the block diagram of FIG. This circuit includes a DC power supply 222 connected in series between the battery 240 and the CPU 221 and a power supply detection circuit 223 connected in parallel to the DC power supply 222. In this circuit, if the current value can be detected, the battery voltage is multiplied and the power consumption W2 of the self-propelled delivery device 200 is
W2 = current value × battery voltage.

Further, assuming that the time (X2) required for movement on the movement route 351 from the home position (departure position P1) to the position of the requester 309 (purpose note P2), the energy Y2 actually consumed by the battery 240 on the movement route 351 is ,
Y2 = W2 × X2
It can be calculated by

  Note that the situation of the route that satisfies X1 << X2 in step S8 is, for example, the situation shown in FIG. That is, since there is a hazard on the movement route 304 (route 1) and it is avoided while detecting it, it takes time to move to the position of the requester 309.

  Further, in step S9, the form of Y1 << Y2 and the state of the route are as shown in FIG. 20, for example. That is, there is a long slope 310 on the moving route 303, and it moves on this. If the drive motor 232 of the self-propelled delivery device 200 has sufficient power, even if it moves on the slope 310, the movement time can be moved in the same time as on the plane. However, the torque of the drive motor 232 is necessary and consumed. The current increases.

  When Step S8 is No and Step S9 is Yes (when X1 << X2 is not Y1 << Y2), in other words, the travel time is not so long, but when the power consumption is large, the consumption like the slope 310 It can be inferred that the route situation increases power.

  By processing in this way, the situation of X1 << X2 or Y1 << Y2 is detected, and the return route from the target position P2 that is the position of the requester 309 to the departure position P1 that is the home position is the forward route 1 If the route is changed to route 2 different from the above, a hazard can be avoided, so that the travel time can be shortened and an increase in power consumption can be prevented.

  In the present embodiment, time and energy consumption are set as physical quantities, but the reason for comparing not only travel time but also power consumption (Y1 and Y2) is the motor input current and rotation speed in FIG. This will be described with reference to a characteristic diagram showing the relationship between the load and the load.

  When the self-propelled delivery device 200 moves up the slope 310 as shown in FIG. 20, the load of the drive motor 232 becomes large. However, in the motor servo control region (the region where the load is 0 to 60 gcm in FIG. 22), the motor rotation Since the number is kept at 1750 rpm, the moving speed does not change. That is, the expected arrival time X1 is equal to the measurement arrival time X2. Therefore, the travel time does not change.

  However, since the motor input current (power consumption) increases as the load increases, the rotational speed (moving speed) is constant at 1750 rpm, but the consumed power (Y2) increases. Therefore, by detecting and comparing not only the travel time but also the power consumption, the situation of the travel route can be estimated with higher accuracy.

  In the present embodiment, it is assumed that the comparison target is significantly large as indicated by “<<”. This is because a large energy saving effect is not expected even if the threshold value is set strictly. That is, in the office environment, depending on the state of the hazard, a preset difference value between the two is a value corresponding to an increment set separately with respect to the predicted value, that is, 1.2 times or 1.5 times. This is because it is easier to apply the comparison with the value of. Therefore, for example, if the sub-control unit 220 sets X1 by a coefficient (γ, δ <1) such as γ · X2 and Y1 as δ · Y2 according to the office environment, the sub-control unit 220 can be set according to the installed office environment. The optimum self-propelled delivery device 200 can be operated.

  FIG. 23 is a diagram illustrating an example of a delivery operation of a self-propelled delivery device in a system configured by including a server in the printed matter delivery system shown in FIG. In the examples so far, the movement route of the self-propelled delivery device 200 is set based on the map information stored in the map database memory 250 of the sub-control unit 220 of the self-propelled delivery device 200. On the other hand, in the example of FIG. 23, the server 314 is included in the printed material delivery system 500, the map information is centrally managed by the server 314, and the plurality of self-propelled delivery devices 200 and 313 share the latest map information. To be able to.

  Therefore, when two self-propelled delivery devices 200.312 are arranged in the office arranged as shown in FIG. 18, the home position (departure position P1) moves to the delivery destination 309 (target position P2). The route can also be changed in advance. For example, the self-propelled delivery device 200 changes the map information in the server 314 when it has moved to the position 200-1.

  When the other self-propelled delivery device 312 moves from its home position to another delivery destination 311 based on the latest map information of the server 314, it avoids the chair 305, the box 301, and the code 300 and moves along the movement route 315. Can move. As a result, it is possible to move in the shortest time on both the forward path and the return path. Reference numeral 313 denotes a finisher that discharges the printed matter to another self-propelled delivery device 312.

  As described above, according to the present embodiment, the following effects can be obtained. In the following description, each component in the claims corresponds to each part of the present embodiment, and when the terminology is different, the latter is shown in parentheses.

  (1) The delivery device according to the present embodiment has the shortest distance (from the starting position (home position) P1 set in advance based on the map information stored in the storage means (map database memory 250) to the instructed target position P2 ( A delivery device (self-propelled delivery device 200) that self-travels on the shortest travel route 303) to deliver a transported object (printed material) and returns to the departure position P1 from the target position P2 after the delivery ends; Calculation means (sub-control unit 220: S3, S4) for calculating a predicted value of a preset physical quantity when moving from the starting position P1 to the target position p2 on the map information, and actually moving Measurement means for measuring the required physical quantity (sub-control unit 220: S6), physical quantity (time, energy consumption) calculated by the calculation means, and measurement means The measured physical quantities (time, energy consumption) are compared (S8, S9), and when the difference between the two is larger than a preset value (S8, S9: Yes), the departure position from the target position P2 Route changing means (sub-control unit 220: S11) for changing the route of the return route returning to P1, and this configuration determines that some hazard exists on the travel route based on a certain physical quantity However, the energy consumption of the return was suppressed by not going through the hazard on the return. As a result, power consumption is suppressed, and the autonomous delivery device can reliably reciprocate so that the next movement operation is not hindered. Further, the amount of change in the remaining amount of the battery is reduced, and the burden on the mechanism portion is also reduced.

  (2) In the delivery device in (1), since it is time when the physical quantity moves from the starting position P1 to the target position P2, it is possible to determine whether to change the return path based on time.

  (3) In the delivery device according to (1), since the physical quantity is energy consumption when moving from the starting position P1 to the target position P2, it is determined whether or not to change the return path based on the energy consumption. can do.

  (4) In the delivery device according to any one of (1) to (3), the preset difference value between the two is set to a value corresponding to an increment separately set for the predicted value. Therefore, it is possible to arbitrarily set how long the time is increased or how much the energy consumption is increased, and the return path is changed, thereby enabling efficient operation.

  (5) In the delivery device according to any one of (1) to (4), the delivery device (self-propelled delivery device 200) includes a management unit (sub-control unit 220) that manages the map information. Therefore, a travel route can be set by the delivery device alone.

  (6) A delivery system (printed matter delivery system 500) according to the present embodiment includes the delivery device (self-propelled delivery device 200) according to any one of (1) to (5) and the delivery device (self-propelled). The delivery device (finisher 110 and printer 100) to which the delivery device (self-propelled delivery device 200) is connected is connected to the delivery product supply device. The supplied delivery item (for example, printed matter) can be autonomously traveled to the target position P2 and delivered, and returned to the departure position P1 after delivery.

  (7) In the delivery system 500 according to (6), the delivery device (self-propelled delivery device 200) is supplied with delivery (printed matter) from the delivery supply device (finisher 110 and printer 100), and Since it self-travels to the target position P2 based on an instruction from the delivery product supply device (finisher 110 and printer 100), if a delivery request is transmitted to the delivery product supply device, the delivery request location is delivered as the target location. The device can travel autonomously and deliver deliveries.

  (8) The delivery system 500 according to (6) or (7) above includes a server device (server 314) that is communicably connected to the delivery device (self-propelled delivery device 200). Since the management means for managing the map information is provided, when a plurality of delivery devices are operated in a common office environment, the hazard information detected by one delivery device can be shared by other delivery devices. This makes it possible to operate the delivery device comprehensively and efficiently.

  (9) The delivery method according to the present embodiment self-travels the shortest distance from the preset starting position P1 to the instructed target position P2 based on the map information stored in the storage means (map database memory 250). In a delivery method of delivering a transported object and returning from the target position P2 to the departure position P1 after the delivery is completed, a physical quantity set in advance when moving from the departure position P1 to the target position P2 on the map information Is calculated by the calculation means (sub-control unit 220) (S3, S4), the physical quantity required to actually move is measured by the measurement means (sub-control unit 220) (S6), and the calculation means Is compared with the physical quantity measured by the measuring means, and the difference between the two is larger than a preset value (S8, S9: Yes) Since the route of the return route returning from the target position P2 to the departure position P1 is changed by the route changing means (sub control unit 220), the same effect as the delivery device of (1) can be obtained. Can do.

  In the present embodiment, the delivery device is illustrated as a self-propelled delivery device 200 that uses a printed matter as a delivery item. Applicable. In this case, the delivery delivery / supply device may be any device having a function capable of supplying the delivery, and is not limited to the printer 100 or the finisher 110 exemplified as the printed delivery delivery device 1.

  That is, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention, and all the technical matters included in the technical idea described in the claims are included. The subject of the present invention. The above embodiment shows a preferable example, but those skilled in the art can realize various alternatives, modifications, variations, and improvements from the contents disclosed in this specification, These are included in the technical scope described in the appended claims.

1 Printed product delivery supply device 100 Printer (delivery product supply device)
110 Finisher (delivery item supply device)
200 Self-propelled delivery device (delivery device)
220 Sub-control unit 250 Map database memory 303 Shortest travel route 500 Print delivery system (delivery system)
P1 Start position P2 Target position

JP 2010-243484 A Japanese Patent No. 4557257

Claims (9)

Based on the map information stored in the storage means, the transported object is delivered by traveling the shortest distance from the preset starting position to the designated target position, and after the delivery is completed, the target position is returned to the starting position. A delivery device,
Calculating means for calculating a predicted value of a preset physical quantity when moving from the starting position to the target position on the map information;
Measuring means for measuring the physical quantity required to actually move; and
The physical quantity calculated by the calculating means is compared with the physical quantity measured by the measuring means, and when the difference between the two is larger than a preset value, the route of the return path from the target position to the starting position is determined. A route changing means to change;
A delivery device with. The delivery device according to claim 1,
A delivery device which is time when the physical quantity moves from the starting position to the target position. The delivery device according to claim 1,
A delivery device which is an energy consumption amount when the physical quantity moves from the starting position to the target position. The delivery device according to any one of claims 1 to 3,
The delivery apparatus in which the difference value between the two set in advance is set to a value corresponding to an increment set separately with respect to the predicted value. The delivery device according to any one of claims 1 to 4,
The delivery apparatus provided with the management means in which the said delivery apparatus manages the said map information. A delivery device according to any one of claims 1 to 5;
A delivery supply device to which the delivery device is connected via a charging contact;
With a delivery system. The delivery system according to claim 6,
A delivery system in which the delivery device is supplied with a delivery from the delivery supply device and is self-propelled to a target position based on an instruction from the delivery supply device. The delivery system according to claim 6 or 7,
A server device communicably connected to the delivery device;
The delivery system provided with the management means in which the said server apparatus manages the said map data. Based on the map information stored in the storage means, the transported object is delivered by traveling the shortest distance from the preset starting position to the designated target position, and after the delivery is completed, the target position is returned to the starting position. A delivery method,
By calculating a predicted value of a physical quantity set in advance when moving from the starting position to the target position on the map information,
Measure the physical quantity required to actually move by measuring means,
The physical quantity calculated by the calculating means is compared with the physical quantity measured by the measuring means, and when the difference between the two is larger than a preset value, the route of the return path from the target position to the starting position is determined. A delivery method changed by route changing means.