JP2020082449A - Transport device for printed matter - Google Patents

Abstract

To simplify the structure and shape of a transport box, while securing security.SOLUTION: According to an autonomous control unit of a drone 200, a machine body 250 is made to fly autonomously on the basis of user location information being a transport destination for a printed matter. Further, in the case that user authentication is successful, the machine body 250 is caused by the autonomous control unit to approach users 300a-300c who have succeeded in the user authentication, whereas if the user authentication fails, the machine body is alienated from the users 300a-300c who have failed in the user authentication, thereby, preventing the printed matter from being taken-out by persons other than the users 300a-300c who have succeeded in the user authentication, although an intake port for taking-in the printed matter of a transport box 260, and a take-out port for taking-out the taken-in printed matter are closed with a keyless door.SELECTED DRAWING: Figure 1

Description

The present invention relates to a printed matter carrying device suitable for carrying printed matter.

For example, some image forming apparatuses such as MFPs (Multifunction Peripheral) are equipped with a print function, a copy function, a FAX function, a data transmission/reception function via a network, and the like. When such an image forming apparatus is used, for example, in an office or the like, it is expected that the image forming apparatus will be installed in a place that does not hinder the work of many users, but in some cases, it may be installed in a remote place. Conceivable. In this case, a print job can be transmitted via the network by using the data transmission/reception function of the image forming apparatus, and printing can be started from a distant position. However, it is necessary to go to the image forming apparatus to pick up the printed matter after the print instruction, and especially when the office area is large, it may take some time to go to the image forming apparatus and return. Furthermore, when a plurality of image forming apparatuses are installed, it may be possible to forget which image forming apparatus the print instruction was issued to. Therefore, in order to eliminate such inconvenience, various technologies relating to a transport device capable of delivering a printed matter by an image forming apparatus to a user's seat have been proposed.

As one of them, Patent Document 1 proposes a printed matter conveying system that conveys a printed matter output by an image forming apparatus to a user by an unmanned air vehicle. The unmanned aerial vehicle has a transport case provided with a door with a key that is locked or unlocked by a key mechanism, and has a configuration in which the key mechanism unlocks the door key when user authentication is successful. ing.

JP, 2017-087524, A

In the printed matter conveying system of Patent Document 1 described above, the unmanned air vehicle conveys the conveying case having the door with a key for accommodating the printed matter, so that the unmanned air vehicle can safely and reliably convey the sheet to the user's seat away from the image forming apparatus.

By the way, this printed matter carrying system is considered to be effective in terms of security by providing a door with a key in the carrying case. However, if a key mechanism for locking or unlocking the door key is provided in the transport case, the configuration of the transport case and the configuration of the transport case are ensured along with the securing of an installation space for the key body and parts related to the key body in the transport case. The shape becomes complicated.

For these reasons, it is desired to develop a device that can simplify the configuration and shape of the transport case while ensuring security.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a printed material conveying apparatus that can solve the above problems.

A printed matter conveyance device of the present invention includes a machine body that performs autonomous flight, a conveyance box that is attached to the machine body and that accommodates printed matter, and an autonomous control unit that controls the autonomous flight, and the conveyance box is an image forming apparatus. And a take-out port for taking in the printed matter that has been printed, and the take-out port for taking out the taken-in printed matter, and the autonomous control unit determines the machine based on the user position information that is the destination of the printed matter. When the autonomous flight is performed and the user authentication is successful, the aircraft is brought closer to the user who has succeeded in the user authentication, and when the user authentication is unsuccessful, the aircraft is moved away from the user who has failed the user authentication.
Further, the intake port and the extraction port are provided on the same surface.
Further, the transport box is equipped with a camera, and the autonomous control unit compares the user-specific image captured by the camera with the user-specific image data to be authenticated, and if they match, the user authentication is successful. It is characterized in that it is judged that.
In the printed material conveying apparatus of the present invention, the autonomous control unit causes the machine to fly autonomously based on the user position information that is the destination of the printed matter, and if the user authentication is successful, the machine is brought closer to the user who succeeded in the user authentication. If authentication fails, move away from the user who failed user authentication. As a result, even if the take-out port for taking out the printed matter is closed by the door without the key, it is possible to prevent the take-out of the printed matter by a user other than the user who succeeds in the user authentication.

According to the printed material conveying device of the present invention, even if the door for taking out the printed material is closed by the door without the key, it is possible to prevent the printed material from being taken out by a user other than the user who has succeeded in the user authentication, so that the security is ensured. At the same time, the configuration and shape of the transport box can be simplified.

It is a figure for explaining one embodiment of the printed material transportation device of the present invention. FIG. 3 is a diagram for explaining an example of configurations of the MFP, drone, and user terminal in FIG. 1. 3A and 3B are views for explaining the configuration of the transport box in FIG. 1, wherein FIG. 3A is a diagram showing a front surface and a left side surface of the transport box, and FIG. 3B is a diagram showing a front surface and a right side surface of the transport box. FIG. 4A and 4B are views for explaining the configuration of the transport box in FIG. 1, in which FIG. 4A is a diagram showing a take-in port of the transport box and the like, and FIG. 4B is a diagram showing a take-out port of the transport box. .. It is a figure which shows the structure of another conveyance box when changing the position of the ejection port of the conveyance box of FIG. 1, FIG.5(a) is a figure which shows an intake port, FIG.5(b) is an ejection port. FIG. It is a figure which shows the conveyance management table which the drone of FIG. 1 manages. 3 is a flowchart for explaining a transportation process by the drone shown in FIG. 1.

Hereinafter, an embodiment of the printed material conveying apparatus of the present invention will be described with reference to FIGS. In the following description, the printed material conveyance device is a drone, which is one of unmanned air vehicles. An example of an image forming apparatus in the following description is an MFP (Multifunction Peripheral) which is a complex peripheral device equipped with a print function, a copy function, a FAX function, a data transmission/reception function via a network, and the like. I shall.

First, as shown in FIG. 1, the drone 200, which is a printed material conveying device, receives a printed material 550 shown in FIGS. The user terminal 300A to 300C such as (Personal Computer) fly-moves to the seat of one of the users 300a to 300c who has instructed printing, and delivers the printed matter 550. The drone 200 includes a machine body 250 and a transport box 260. Four support arms 251a to 251d are provided on the side surface of the machine body 250. An autonomous mechanism 254 is provided at the end of each of the support arms 251a to 251d. Each autonomous mechanism section 254 has a rotary blade 252 and a lifting motor unit 253. Further, of the four support arms 251a to 251d, for example, two support arms 251b and 251d that are arranged to face each other are provided with support metal fittings 255 so as to extend downward. A transport box 260 for accommodating printed matter 550 shown in FIGS. 4A and 4B, which will be described later, is attached to the lower end portion of each of the support fittings 255. The transport box 260 may be attached to the support fitting 255 by a fixed method or a detachable method. A camera 261 for authenticating a user is mounted on the transport box 260. The details of the transport box 260 will be described later.

The MFP 100 has a storage tray 130 that serves as a landing base for the drone 200, which will be described in detail later. The storage tray 130 is sized to accommodate the transport box 260 attached to the drone 200. Further, the storage tray 130 has a discharge port 131 for the printed matter 550 shown in FIGS. 4A and 4B, which will be described later, and sends the printed matter 550 into the transport box 260 through the discharge port 131. Further, the MFP 100 is connected to the above-mentioned user terminals 300A to 300C installed in the seats of the users 300a to 300c via a network 400 such as an in-house LAN (Local Area Network).

Next, the configurations of the MFP 100, the drone 200, and the user terminals 300A to 300C will be described with reference to FIG. Note that the user terminals 300A to 300C have substantially the same configuration, and thus the user terminal 300A is represented.

First, the MFP 100 controls the scanner unit 101, the printer unit 102, the FAX (Facsimile) unit 103, the I/F (interface) 104, the antenna 105, the panel unit 106, the HDD 107, and the transport case detection sensor 108. It is equipped with 110.

The scanner unit 101 is a device that converts an image on a document (not shown) read by an image sensor (not shown) into digital image data and inputs the digital image data to the control unit 110. The printer unit 102 is a device that prints an image on paper or the like (not shown) based on print data output from the control unit 110. The FAX unit 103 is a device that transmits the data output from the control unit 110 to a facsimile as the other party through a telephone line, and receives the data from the other party facsimile and inputs the data to the control unit 110.

The I/F 104 is in charge of communication with the user terminals 300A to 300C and other MFPs via the network. The I/F 104 may be in charge of communication with a content server, a web server, or the like (not shown). The antenna 105 transmits and receives radio waves to and from the drone 200, for example. Panel unit 106 is, for example, a device having a print function, a copy function, a FAX function of MFP 100, a data transmission/reception function via a network, a touch panel for displaying various settings, and a hardware key. The HDD 107 is a storage device that stores application programs and the like for providing various functions of the MFP 100. The HDD 107 also has a user box that stores print jobs registered from the user terminal side. The transport case detection sensor 108 is provided in the storage tray 130 described above, and detects that the transport box 260 is stored in the storage tray 130 as the drone 200 descends. In this case, in the transport case detection sensor 108, the left side surface (the side where the opening/closing flap 262 is provided) of the transport box 260 shown in FIG. To detect. Whether or not the left side surface of the transport box 260 (the surface side on which the opening/closing flap 262 is provided) is directed to the above-described discharge port 131 is, for example, the left side surface of the transport box 260 shown in FIG. This can be confirmed by detecting that the charging terminal unit 263 of No. 2 is connected to a charging terminal unit (not shown) on the MFP 100 side.

The control unit 110 is a processor that executes an application program such as an authentication program, an image forming program, and a control program to control the overall operation of the MFP 100. The control unit 110 includes a scanner control unit 111, a printer control unit 112, a FAX control unit 113, a communication control unit 114, a RAM (Random Access Memory) 115, an EEPROM (electrically erasable and programmable read-only memory) 116, and an image processing unit 117. A panel operation control unit 118, an HDD control unit 119, a sensor control unit 120, and a system control unit 121 are provided. Further, these are connected to the data bus 122.

The scanner control unit 111 controls the reading operation of the scanner unit 101. The printer control unit 112 controls the printing operation of the printer unit 102. The FAX control unit 113 controls the data transmission/reception operation by the FAX unit 103. The communication control unit 114 controls transmission/reception of data and the like via the network via the I/F 104. Further, the communication control unit 114 controls transmission/reception of radio waves via the antenna 105. The RAM 115 is a work memory for executing a program. The RAM 115 also stores print data that has been image-processed (rasterized) by the image processing unit 117. The EEPROM 116 stores a control program and the like for checking the operation of each part and generating a startup sequence.

The image processing unit 117 performs image processing (rasterization) on the image data read by the scanner unit 101. Further, the image processing unit 117 performs image processing (rasterization) on the print job registered in the user box of the HDD 107. The system control unit 121 temporarily stores the print data that has been image-processed (rasterized) by the image processing unit 117 in the RAM 115.

The panel operation control unit 118 controls the display operation of the panel unit 106. Further, the panel operation control unit 118 receives settings such as printing, copying, FAX, and data transmission/reception via a network via the panel unit 106. The HDD control unit 119 controls reading and writing of data with respect to the HDD 107. The sensor control unit 120 controls the detection operation of the transport case detection sensor 108. The system control unit 121 controls the cooperative operation of each unit. Further, when the drone 200 is designated as the discharge destination of the sheet (not shown), the system control unit 121 described above the discharge port 131 of the printed matter 550 on which the image shown in FIGS. 4A and 4B is formed. The sheet is discharged from the transfer box 260 side.

The drone 200 includes an autonomous control unit 210 that controls the operations of a camera 201, a GPS (Global Positioning System) receiver 202, a sensor 203, an antenna 204, a door opening/closing mechanism unit 230, and an autonomous mechanism unit 254.

The camera 201 captures images of the surroundings. The camera 201 also captures face images that are user-specific images of the users 300a to 300c. Note that not only the face images of the users 300a to 300c, but also user-specific images such as employee ID cards in which user identification information is described may be captured. Further, the camera 201 captures an image in the storage tray 130 on the MFP 100 side when returning to the MFP 100 side. As a result, the autonomous control unit 210 controls the autonomous mechanism unit 254 to perform the distance control with respect to the users 300a to 300c or the posture control when returning to the storage tray 130 on the MFP 100 side. The image captured by the camera 201 may be a moving image or a still image. However, in the case of a still image, the image is captured at regular intervals (for example, every 2 seconds). The GPS receiver 202 acquires current position information. The sensor 203 detects surrounding objects (people, walls, etc.). The antenna 204 transmits and receives radio waves to and from the MFP 100, for example. Although the details will be described later, the drone 200 receives a radio wave transmitted from, for example, the antenna 105 on the MFP 100 side via the antenna 204, and gives an instruction to complete printing, a user ID instructing printing, and the users 300a to. When the transport instruction from the 300c is confirmed, autonomous flight is performed to the seats of the users 300a to 300c who have instructed the printing. Further, when the drone 200 conveys the printed matter 550 on which images shown in FIGS. 4A and 4B described later are formed to the users 300a to 300c who instructed the printing, the drone 200 autonomously returns to the storage tray 130 on the MFP 100 side. .. The door opening/closing mechanism unit 230 opens/closes the opening/closing flap 262 and the opening/closing door 265 shown in FIGS. 3A and 3B described later. The autonomous mechanism unit 254 rotates the rotary vanes 252 by driving the lifting motor unit 253. Here, the autonomous mechanism unit 254 controls the number of rotations of each rotary wing 252, so that the airframe 250 performs ascent, descent, level flight, turning flight, and the like, as is well known.

The autonomous control unit 210 is a processor that executes a control program and controls the operation of the drone 200 as a whole. The autonomous control unit 210 includes a RAM 211, an EEPROM 212, a user authentication unit 213, a camera control unit 214, a GPS control unit 215, a sensor control unit 216, a communication control unit 217, a mechanism control unit 218, and a system control unit 219. Further, these are connected to the data bus 220.

The RAM 211 is a work memory for executing a program. The EEPROM 212 stores a control program and the like for checking the operation of each part and generating a startup sequence. Further, the EEPROM 212 stores a transportation management table 500 shown in FIG. 6 described later. Further, the EEPROM 212 stores face image data used for user authentication of the users 300a to 300c. The face image data of each of the users 300a to 300c is associated with the user ID of the item 500a of the transportation management table 500 shown in FIG. 6 described later. Further, the EEPROM 212 stores floor map information (not shown). Note that the map information includes room layout, aisles, positions of the MFP 100, seats of the users 300a to 300c, and the like. The seats of the users 300a to 300c are indicated by the user position information of the item 500d of the transport management table 500 shown in FIG. 6 described later.

The user authentication unit 213 compares, for example, the face images of the users 300a to 300c captured by the camera 201 with the face image data of the users 300a to 300c associated with the user ID stored in the EEPROM 212, and if they match. Notifies the system control unit 219 of successful authentication. In this case, the user authentication unit 213 notifies the system control unit 219 of the user IDs of the matching users 300a to 300c.

The camera control unit 214 controls capturing of an image of the camera 201. The GPS control unit 215 controls the reception operation of the GPS receiver 202. The sensor control unit 216 controls the operation of the sensor 203. The communication control unit 217 controls transmission/reception of radio waves via the antenna 204. The mechanism control unit 218 controls the operations of the door opening/closing mechanism unit 230 and the autonomous mechanism unit 254. The system control unit 219 confirms the position on the map information (not shown) stored in the EEPROM 212 based on the position information from the GPS receiver 202, and the door opening/closing mechanism unit 230 via the mechanism control unit 218. And controls the operation of the autonomous mechanism unit 254. Also, for example, when the user authentication by the user authentication unit 213 is successful, the system control unit 219 controls the drone 200 to approach the successfully authenticated users 300a to 300c via the mechanism control unit 218. On the other hand, if the user authentication by the user authentication unit 213 is not successful, the system control unit 219 controls the drone 200 to separate from the users 300a to 300c who have not succeeded in the authentication via the mechanism control unit 218. .. As a result, the printed matter 550 shown in FIGS. 4A and 4B described later can be reliably conveyed to the users 300a to 300c who have succeeded in user authentication.

The user terminal 300A includes an I/F 301, a mouse 302, a keyboard 303, a panel unit 304, and a control unit 310 that controls the HDD 305. The I/F 301 is connected to the MFP 100 via the network 400. The mouse 302 is operated when designating a character input position and the like. The keyboard 303 is operated when inputting characters and the like. Panel unit 304 displays, for example, a print job transmission screen, a notification screen for notifying a conveyance instruction for completion of printing from MFP 100, and the like. The HDD 305 stores print jobs and the like.

The control unit 310 is a processor that executes a control program and controls the overall operation of the user terminal 300A. The control unit 310 includes a RAM 311, an EEPROM 312, a communication control unit 313, an input control unit 314, a panel operation control unit 315, an HDD control unit 316, and a system control unit 317. These are also connected to the data bus 318.

The RAM 311 is a work memory for executing a program. The EEPROM 312 stores a control program for checking the operation of each part. The communication control unit 313 controls transmission/reception of data and the like via the network 400 via the I/F 301. The input control unit 314 controls input operations of the mouse 302 and the keyboard 303. The panel operation control unit 315 controls the display operation of the panel unit 304. The HDD control unit 316 controls reading and writing of data from and to the HDD 305.

The system control unit 317 transmits a print job or the like including a print instruction to the MFP 100 via the communication control unit 313. In addition, when the system control unit 317 receives a notification indicating the completion of printing from the MFP 100 via the communication control unit 313, the system control unit 317 displays a notification screen for notifying the panel unit 304 via the panel operation control unit 315 of a conveyance instruction for printing completion. Let Further, when panel operation control section 315 receives the conveyance instruction, system control section 317 notifies MFP 100 of the conveyance instruction via communication control section 313.

Next, the configuration of the transport box 260 will be described with reference to FIG. First, FIG. 3A shows the front surface and the left side surface of the transport box 260. A camera 261 is attached to the front upper portion of the transport box 260. The camera 261 captures the surrounding image, as described above. The system control unit 219 on the side of the drone 200 can control the orientation so that the transport box 260 fits in the storage tray 130 based on the image of the storage tray 130 captured by the camera 261. In addition, the system control unit 219 on the drone 200 side can perform user authentication from the face images of the users 300a to 300c captured by the camera 261.

In addition, a support fitting 255 is attached to the upper portion of the transport box 260. The support fitting 255 is connected to the support arms 251b and 251d of the body 250 of the drone 200 as described above. Accordingly, the transport box 260 is fixed to the machine body 250 of the drone 200, and the attitude control of the drone 200 during flight is stabilized. Further, the support fitting 255 is connected between the charging terminal portion 263 and a battery (not shown) provided on the body 250 side of the drone 200. As a result, the power from the charging terminal portion 263 can be supplied to the battery (not shown) through the support fitting 255, so that the consumption of the battery can be supplemented. Further, as described above, the MFP 100 can confirm the orientation of the transport box 260 accommodated in the accommodating tray 130 by detecting that the charging terminal unit 263 is connected to the charging terminal unit (not shown) on the MFP 100 side.

An open/close flap 262 is provided on the left side surface of the transport box 260 so as to be rotatable in the directions of arrows a-b. That is, the opening/closing flap 262 is attached so as to be pushed into the inside of the transport box 260. The opening/closing flap 262 is closed by the door opening/closing mechanism section 230 described above in a state before the printed matter 550 is stored.

Next, FIG. 3B shows the front surface and the right side surface of the transport box 260. An opening/closing door 265 that is slidable in the direction of arrow ab is provided on the right side surface of the transport box 260. The open/close door 265 is closed by the door open/close mechanism unit 230 described above, except when the printed matter 550 is passed to the users 300a to 300c who have succeeded in user authentication. The opening/closing flap 262 and the opening/closing door 265 described above are not limited to those opened/closed by the door opening/closing mechanism unit 230. For example, the door opening/closing mechanism unit 230 may be omitted and the opening/closing door 265 may be manually opened/closed.

Next, the configuration of the transport box 260 when the printed matter 550 is stored will be described with reference to FIG. First, as shown in FIG. 4A, when the printed matter 550 is stored, the opening/closing flap 262 on the left side surface of the transport box 260 is rotated in the arrow a direction by the door opening/closing mechanism unit 230. As a result, the intake port 264 closed by the opening/closing flap 262 is opened. Then, as described above, the printed matter 550 discharged from the discharge opening 131 of the storage tray 130 on the MFP 100 side is taken into the transport box 260 from the taking-in opening 264.

Further, as shown in FIG. 4B, when handing the printed matter 550 to the users 300a to 300c who have succeeded in user authentication, the opening/closing door 265 slides in the direction of arrow a by the door opening/closing mechanism unit 230 described above. As a result, the outlet 267 closed by the opening/closing door 265 is opened. Then, when the printed matter 550 inside the transport box 260 is taken out, the opening/closing door 265 slides in the direction of the arrow b by the door opening/closing mechanism section 230 described above. As a result, the outlet 267 is closed by the opening/closing door 265. The position of the take-out port 267 is not limited to the surface facing the take-in port 264, as shown in FIGS. 4A and 4B, and is not limited to the side face provided with the take-in port 264. It may be provided on adjacent side surfaces or on the same side surface as the intake port 264.

Next, with reference to FIG. 5, an example of another conveyance 260 in the case where the position of the ejection port 267 is changed will be described. First, as shown in FIG. 5A, the side plate below the opening/closing flap 262 is the opening/closing door 265a. Further, the opening/closing door 265a is rotatable in the directions of arrows cd. That is, the opening/closing door 265a is attached so as to fall outward. Then, as shown in FIG. 5B, when the opening/closing door 265a is tilted outward, the outlet 267 can be opened. In this way, when the take-out port 267 is provided on the same side surface as the take-in port 264, the take-out port 267 and the take-in port 264 are ejected from the MFP 100 when the transport box 260 is stored in the storage tray 130 on the MFP 100 side. It is directed to the exit 131 side. As a result, the take-out port 267 of the printed matter 550 housed inside the transport box 260 is closed, making it difficult to take out the printed matter 550, which is effective in terms of security.

Next, the transport management table 500 managed by the drone 200 will be described with reference to FIG. The conveyance management table 500 is provided with, for example, an item 500a indicating a user ID, an item 500b indicating a user name, an item 500c indicating user access information, and an item 500d indicating user position information. The user name of the item 500b, the user access information of the item 500c, and the user position information of the item 500d are associated with the user ID of the item 500a. Incidentally, the user access information of the item 500c includes e-mail addresses used by the user terminals 300A to 300C of the users 300a to 300c, for example. Note that the email addresses are not limited to the email addresses used by the user terminals 300A to 300C, and may be email addresses used by mobile terminals such as smartphones owned by the users 300a to 300c. Further, the user position information of the item 500d includes, for example, the coordinate position indicated by the map information of the floor (not shown).

Next, the carrying process by the drone 200 will be described with reference to FIG. 7. In the following, for example, user 300a is assumed to be transmitting a print job including a print instruction to MFP 100 from user terminal 300A. Further, it is assumed that the transport box 260 of the drone 200 is stored in the storage tray 130 on the MFP 100 side.

(Step S101)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether to start printing.
In this case, if the communication control unit 217 has not received the notification indicating the start of printing from the MFP 100 via the antenna 204, the system control unit 219 determines that the printing has not started (step S101: No).
On the other hand, if the communication control unit 217 receives the notification indicating the printing start from the MFP 100 via the antenna 204, the system control unit 219 determines that the printing is started (step S101: Yes), and the step S102. Move to.
If the system control unit 219 determines that printing has started, it instructs the mechanism control unit 218 to open the opening/closing flap 262.
At this time, the mechanism control unit 218 controls the door opening/closing mechanism unit 230 to rotate the opening/closing flap 262 in the direction of arrow a, for example, as shown in FIG. As a result, the intake port 264 on the transport box 260 side facing the discharge port 131 of the storage tray 130 on the MFP 100 side is opened. At the same time as printing, the printed matter 550 is sent from the discharge port 131 of the storage tray 130 to the inside of the transport box 260 from the intake port 264.

(Step S102)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether or not the information of the transport destination has been received.
In this case, if the communication control unit 217 has not received the information of the transport destination from the MFP 100 via the antenna 204, the system control unit 219 determines that the information of the transport destination has not been received (step S102: No).
On the other hand, if the communication control unit 217 receives the information of the transport destination from the MFP 100 via the antenna 204, the system control unit 219 determines that the information of the transport destination has been received (step S102: Yes), and the step The process moves to S103.
The information of the transfer destination may be the user ID of the item 500a or the user name of the item 500b in the transfer management table 500 of FIG.
Here, for example, when the user 300a sends a print job including a print instruction to the MFP 100 from the user terminal 300A, the information of the transport destination is the user ID or the user name of the user 300a.
Then, the system control unit 219 refers to the transport management table 500 and acquires the user position information of the item 500d corresponding to the user 300a.

(Step S103)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether printing is completed.
In this case, the system control unit 219 determines that the printing is not completed unless the communication control unit 217 receives the notification from the MFP 100 indicating that the printing is completed via the antenna 204 (step S103: No). ).
On the other hand, if the communication control unit 217 receives the notification indicating the completion of printing from the MFP 100 via the antenna 204, the system control unit 219 determines that the printing is completed (step S103: Yes). , And proceeds to step S104.
Here, when the system control unit 219 determines that printing has been completed, it instructs the mechanism control unit 218 to close the opening/closing flap 262.
At this time, the mechanism control unit 218 controls the door opening/closing mechanism unit 230 to rotate the opening/closing flap 262 in the direction of arrow b, for example, as shown in FIG. As a result, the intake port 264 on the transport box 260 side facing the discharge port 131 of the storage tray 130 on the MFP 100 side is closed.

(Step S104)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether or not the transport instruction from the user 300a has been received.
In this case, the system control unit 219 does not receive the transport instruction from the user 300a unless the communication control unit 217 receives the transport instruction from the user 300a from the MFP 100 via the antenna 204. (Step S104: No).
On the other hand, if the communication control unit 217 receives a notification indicating that the transfer instruction from the user 300a has been received from the MFP 100 via the antenna 204, the system control unit 219 has received the transfer instruction from the user 300a. The determination is made (step S104: Yes), and the process proceeds to step S105.
That is, as described above, when the MFP 100 sends a notification indicating printing completion to the user terminal 300A of the user 300a who sent the print job, and the user terminal 300A sends a conveyance instruction for printing completion to the MFP 100, the MFP 100 drone. 200 is notified via the antenna 105. Accordingly, the system control unit 219 of the drone 200 can determine whether or not the transportation instruction from the user 300a has been received.
In this way, the system control unit 219 of the drone 200 determines that the transport instruction from the user 300a is received, and thus the printed matter 550 can be reliably transported to the user 300a.

(Step S105)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to start autonomous flight.
At this time, the mechanism control unit 218 controls the autonomous mechanism unit 254 to perform autonomous flight.
In addition, the system control unit 219 uses the map information of the floor (not shown), the current position information acquired by the GPS receiver 202, and the user position information of the item 500d corresponding to the user 300a acquired from the transport management table 500 as the source. Then, the mechanism control unit 218 is instructed to autonomously fly to the seat of the user 300a.

(Step S106)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether it has arrived at the position of the user 300a.
In this case, the system control unit 219 has arrived at the position of the user 300a when the current position information acquired by the GPS receiver 202 does not match the user position information of the user 300a on the map information of the floor (not shown). It is determined that there is not (step S106: No).
On the other hand, the system control unit 219 arrives at the position of the user 300a when the current position information acquired by the GPS receiver 202 matches the user position information of the user 300a on the map information of the floor (not shown). (Step S106: Yes), the process proceeds to step S107.

(Step S107)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to hover while keeping a certain distance.
At this time, the mechanism control unit 218 controls the autonomous mechanism unit 254 to perform hovering.
It should be noted that the certain distance in hovering is a distance that the user 300a cannot touch the transport box 260 even when reaching for the hand.

(Step S108)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the camera control unit 214 to capture the face image of the user 300a.
At this time, the camera control unit 214 controls the camera 201 to capture the face image of the user 300a.
Also, the system control unit 219 instructs the user authentication unit 213 to perform user authentication.
At this time, the user authentication unit 213 compares the face image of the user 300a captured by the camera 201 with the face image data of the user 300a associated with the user ID stored in the EEPROM 212, and if they match, authentication is performed. The success is notified to the system control unit 219. In addition, the user authentication unit 213 notifies the system control unit 219 of the user ID of the matching user 300a. If the face image of the user 300a captured by the camera 201 does not match the face image data of the user 300a associated with the user ID stored in the EEPROM 212, the user authentication unit 213 determines that the authentication has failed. Notify the system control unit 219.

(Step S109)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether user authentication has succeeded.
In this case, when the notification from the user authentication unit 213 indicates that the authentication has failed, the system control unit 219 determines that the user authentication has not succeeded (step S109: No), and proceeds to step S110.
On the other hand, when the notification from the user authentication unit 213 indicates successful authentication, the system control unit 219 determines that the user authentication has succeeded (step S109: Yes), and proceeds to step S111.

(Step S110)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to move away from the user 300a who has failed user authentication.
At this time, the mechanism control unit 218 controls the autonomous mechanism unit 254 so as to move away from the user 300a.
As a result, the user 300a who has failed in user authentication cannot easily touch the transport box 260, and the opening/closing door 265 of the transport box 260 is prevented from being accidentally opened, so that security can be maintained.
Then, the system control unit 219 instructs the mechanism control unit 218 to move away from the user 300a whose user authentication has failed, and then proceeds to step S114.

(Step S111)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to approach the user 300a who has succeeded in user authentication.
At this time, the mechanism control unit 218 controls the autonomous mechanism unit 254 so as to approach the user 300a.
As a result, the user 300a who has succeeded in user authentication can easily touch the transport box 260.
Then, the system control unit 219 instructs the mechanism control unit 218 to approach the user 300a who has succeeded in user authentication, and then proceeds to step S112.

(Step S112)
When the user authentication is successful, the system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to open the opening/closing door 265.
At this time, the mechanism control unit 218 controls the door opening/closing mechanism unit 230, and slides the opening/closing door 265 in the direction of arrow a as shown in FIG. 4B, for example. As a result, the take-out port 267 of the transport box 260 is opened.
In this way, the system control unit 219 automatically slides the opening/closing door 265 to open the ejection port 267 when the user authentication is successful, and thus the operation for opening the ejection port 267 by the user 300a is unnecessary. .
Further, since the ejection port 267 of the transport box 260 can be opened while the drone 200 is close to the user 300a, the printed matter 550 can be reliably transported to the user 300a even if there is no landing space on the desk of the user 300a. it can.

(Step S113)
The system control unit 219 of the autonomous control unit 210 of the drone 200 determines whether the printed matter 550 has been taken out.
In this case, the system control unit 219 determines that the printed matter 550 has not been taken out when the movement of the printed matter 550 cannot be recognized by image processing of the image captured by the camera 261, for example (step S113: No).
On the other hand, when the movement of the printed matter 550 can be recognized by the image processing of the image captured by the camera 261, the system control unit 219 determines that the printed matter 550 has been taken out (step S113: Yes), and proceeds to step S114. Transition.
Here, when the system control unit 219 determines that the printed matter 550 is taken out, it instructs the mechanism control unit 218 to close the opening/closing door 265.
At this time, the mechanism control unit 218 controls the door opening/closing mechanism unit 230, and slides the opening/closing door 265 in the direction of arrow b as shown in FIG. 4B, for example. As a result, the take-out port 267 of the transport box 260 is closed.
A detection sensor that detects the printed matter 550 may be provided inside the transport box 260. In this case, the system control unit 219 can determine that the printed matter 550 is not taken out while the detection sensor detects the printed matter 550, and the printed matter 550 is taken out when the detection sensor does not detect the printed matter 550. I can judge.

(Step S114)
The system control unit 219 of the autonomous control unit 210 of the drone 200 instructs the mechanism control unit 218 to start autonomous flight to the position of the MFP 100.
At this time, the mechanism control unit 218 controls the autonomous mechanism unit 254 to perform autonomous flight.
Further, the system control unit 219 instructs the mechanism control unit 218 to determine the position of the MFP 100 based on the position information of the MFP 100 in the map information of the floor (not shown) and the current position information acquired by the GPS receiver 202. Directs autonomous flight.

As described above, in the present embodiment, the autonomous control unit 210 of the drone 200 causes the machine body 250 to fly autonomously based on the user position information of the destination of the printed material 550, and if the user verification is successful, the machine body 250 is authenticated. When the successful users 300a to 300c are approached and the user authentication fails, the users are moved away from the failed users 300a to 300c. As a result, even if the take-out port 267 for taking out the taken-in printed matter 550 is closed by a door without a key, it is possible to prevent the printed matter 550 from being taken out by anyone other than the users 300a to 300c who have succeeded in user authentication. In this way, even if the take-out port 267 is closed by a door without a key, it is possible to prevent the printed matter from being taken out by users other than the users 300a to 300c who have succeeded in user authentication. Therefore, the transport box 260 can be secured while ensuring security. The configuration and shape of can be simplified.

100 MFP
101 scanner unit 102 printer unit 103 FAX unit 104, 301 I/F
105, 204 antenna 106, 304 panel section 107, 305 HDD
108 transport case detection sensors 110, 310 control unit 111 scanner control unit 112 printer control unit 113 FAX control unit 114, 217, 313 communication control unit 115, 211, 311 RAM
116, 212, 312 EEPROM
117 image processing unit 118, 315 panel operation control unit 119, 316 HDD control unit 120 sensor control unit 121, 219, 317 system control unit 122, 220, 318 data bus 130 storage tray 131 discharge port 200 drone 201 camera 202 GPS receiver 203 Sensor 210 Autonomous control part 213 User authentication part 214 Camera control part 215 GPS control part 216 Sensor control part 218 Mechanism control part 230 Door opening/closing mechanism part 250 Airframe 254 Autonomous mechanism part 251a-251d Support arm 252 Rotor blade 253 Lifting motor unit 254 Autonomous mechanism part 255 Support metal fitting 260 Carrying box 261 Camera 262 Opening/closing flap 263 Charging terminal part 264 Intake port 265, 265a Opening/closing door 267 Outlet port 300A-300C User terminal 300a-300c User 302 Mouse 303 Keyboard 314 Input control part 400 Network 500 Transport management table 500a to 500d Item 550 Printed matter

Claims (3)

An aircraft that performs autonomous flight,
A transport box attached to the machine body for storing printed matter,
An autonomous control unit for controlling the autonomous flight,
The transport box has a loading port for loading the printed matter discharged from the image forming apparatus, and a loading port for ejecting the loaded printed matter,
The autonomous control unit causes the machine to fly autonomously based on the user position information that is the destination of the printed matter, and if the user authentication is successful, brings the machine closer to the user who has succeeded in the user authentication, and performs the user authentication. A printed matter carrying device characterized in that, in the case of failure, the user is kept away from the user who failed in the user authentication. The printed material conveying device according to claim 1, wherein the inlet and the outlet are provided on the same surface. The transport box is equipped with a camera,
The autonomous control unit compares the user-specific image captured by the camera with the user-specific image data to be authenticated, and determines that the user authentication has succeeded if they match. The printed material conveying device according to item 1.

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