JP2021071884A - Carrier robot - Google Patents

Abstract

To provide a carrier robot capable of executing an operation in accordance with the state of a user when the collection or delivery of a package is completed.SOLUTION: In a carrier robot 10 that collects or delivers a package, a running mechanism has a running function. A main body is supported by the running mechanism, and is for loading the package thereon. An obtaining unit 130 obtains state information on a user who is a collection originator or delivery destination of the package. A determination unit 132 determines at least one of the magnitude of an operation of the carrier robot or the speed thereof when the collection or delivery of the package with respect to the user is completed in accordance with the state information on the user obtained by the obtaining unit 130. An executing unit executes the operation at, at least one of the magnitude or the speed determined by the determination unit 132 when the collection or delivery of the package with respect to the user is completed.SELECTED DRAWING: Figure 6

Description

The present invention relates to a transfer robot having an autonomous traveling function.

Patent Document 1 discloses a delivery system in which a delivery vehicle loaded with a delivery box to be delivered to a delivery destination and a mother vehicle equipped with the delivery vehicle are provided to deliver the delivery box. In this delivery system, the delivery vehicle moves from the disembarkation position of the mother vehicle to the delivery destination, and then fixes the delivery box to the delivery box fixture provided at the delivery destination by using a movable member.

Japanese Patent No. 6455985

The delivery vehicle disclosed in Patent Document 1 moves to the next delivery destination when the delivery of the package to the delivery destination is completed. The present inventor has recognized that it is preferable for the delivery vehicle to perform an action such as a thank-you to the user when the collection or delivery of the package is completed.

An object of the present invention is to provide a transfer robot capable of performing an operation according to a user's condition when the collection or delivery of a package is completed.

In order to solve the above problems, the transfer robot according to an embodiment of the present invention is a transfer robot that collects or delivers a load, and is supported by a traveling mechanism having a traveling function and the traveling mechanism to load the load. Collection or delivery of the package to the user according to the state information of the main body of the package, the acquisition unit for acquiring the status information of the user of the collection destination or the delivery destination of the package, and the status information of the user acquired by the acquisition unit. A determination unit that determines at least one of the magnitude and speed of the movement of the transfer robot when the operation is completed, and at least the size and speed determined by the determination unit when the collection or delivery of the package to the user is completed. On the other hand, it includes an execution unit that executes the above operation.

According to the present invention, it is possible to provide a transfer robot capable of performing an operation according to a user's condition when the collection or delivery of a package is completed.

1 (a) and 1 (b) are perspective views of the luggage transfer robot according to the embodiment. 2 (a) and 2 (b) are perspective views of the luggage transfer robot in an upright posture. It is a perspective view of the luggage transporting robot which is in an upright posture with luggage loaded. 4 (a) and 4 (b) are diagrams for explaining the relative movement of the main body with respect to the traveling mechanism. 5 (a) and 5 (b) are diagrams for explaining the structure of the luggage transfer robot. It is a figure which shows the functional block of the baggage transfer robot of FIG. FIG. 7 (a) is a diagram showing a situation in which the user receives a package from the transfer robot, and FIGS. 7 (b) and 7 (c) show a specific operation of the transfer robot when the delivery of the package is completed. It is a figure which shows.

1 (a) and 1 (b) show perspective views of the transfer robot 10 according to the embodiment. The height of the transfer robot 10 may be, for example, about 1 to 1.5 meters. The transfer robot 10 includes a traveling mechanism 12 having an autonomous traveling function, and a main body portion 14 supported by the traveling mechanism 12 for mounting an object such as luggage. The traveling mechanism 12 includes a first wheel body 22 and a second wheel body 24, the first wheel body 22 has a pair of front wheels 20a and a pair of middle wheels 20b, and the second wheel body 24 has a pair of rear wheels. A wheel 20c is provided. 1 (a) and 1 (b) show a state in which the front wheels 20a, the middle wheels 20b, and the rear wheels 20c are arranged in a straight line.

The main body portion 14 has a frame body 40 formed in a rectangular shape, and the inside of the frame body 40 constitutes a storage space on which an object such as a luggage is placed. The frame body 40 includes a pair of right side walls 18a and a left side wall 18b, a bottom plate 18c connecting the pair of side walls on the lower side, and an upper plate 18d connecting the pair of side walls on the upper side. A pair of ridges (ribs) 56a, 56b, 56c (hereinafter, referred to as "ridges 56" unless otherwise specified) are provided on the inner surfaces of the right side wall 18a and the left wall 18b. The main body 14 is connected to the traveling mechanism 12 so as to be relatively movable. The transport robot 10 has a home delivery function of loading a load, autonomously traveling to a set destination, and delivering the load to a user waiting at the destination. Hereinafter, regarding the orientation of the main body portion 14, the direction perpendicular to the opening of the frame body 40 in a state where the main body portion 14 is upright with respect to the traveling mechanism 12 is the “front-back direction”, and the direction vertically penetrating the pair of side walls is the “left-right direction”. ".

2 (a) and 2 (b) show perspective views of the transfer robot 10 in an upright posture. The front wheels 20a and the rear wheels 20c of the traveling mechanism 12 approach each other, and the first wheel body 22 and the second wheel body 24 tilt each other with respect to the ground contact surface, so that the transfer robot 10 takes an upright posture. For example, when the transfer robot 10 reaches the destination and takes an upright posture in front of the user at the destination, the user can easily pick up the baggage addressed to himself / herself placed on the main body 14.

FIG. 3 shows a perspective view of the transfer robot 10 in an upright posture with a load loaded. FIG. 3 shows how the first baggage 16a, the second baggage 16b, and the third baggage 16c are loaded on the main body 14. The first luggage 16a, the second luggage 16b, and the third luggage 16c are mounted on the main body portion 14 by being placed on or engaged with the protrusions 56 formed on the inner surfaces of the right side wall 18a and the left side wall 18b.

The first baggage 16a, the second baggage 16b, and the third baggage 16c shown in FIG. 3 have a box shape, but the object placed on the main body 14 is not limited to the box shape. For example, a container for accommodating an object may be placed on a pair of ridges 56 so that the object can be put in the container. Further, a hook may be provided on the inner surface of the upper plate 18d of the frame body 40, the object may be put in a bag with a handle, and the handle of the bag may be hung on the hook to hang the bag.

4 (a) and 4 (b) are views for explaining the relative movement of the main body 14 with respect to the traveling mechanism 12.
FIG. 4A shows a state in which the side wall of the frame body 40 is inclined with respect to the vertical direction. The frame body 40 is rotatably supported by a connecting shaft extending in the left-right direction with respect to the traveling mechanism 12, and can be tilted in any of the front-rear directions.

FIG. 4B shows a state in which the frame body 40 is rotated approximately 90 degrees around the axis in the vertical direction. The frame body 40 is rotatably supported by a connecting shaft extending in the vertical direction with respect to the traveling mechanism 12, and the frame body 40 and the traveling mechanism 12 rotate relative to each other around the connecting shaft. As shown in b), the frame body 40 rotates. The frame body 40 may be rotatable 360 degrees.

5 (a) and 5 (b) are diagrams for explaining the structure of the transfer robot 10. FIG. 5A shows the structure of the traveling mechanism 12, and FIG. 5B mainly shows the structure of the main body portion 14. Actually, the traveling mechanism 12 and the main body 14 are provided with a power supply unit and a control unit, but they are omitted in FIGS. 5 (a) and 5 (b).

As shown in FIG. 5A, the traveling mechanism 12 includes front wheels 20a, middle wheels 20b, rear wheels 20c, first wheel body 22, second wheel body 24, shaft body 26, connecting gear 28, and standing actuator 30. It has a shaft body support portion 32, an object detection sensor 34, a front wheel motor 36, and a rear wheel motor 38.

The first wheel body 22 has a pair of side members 22a and a cross member 22b that connects the pair of side members 22a and extends in the vehicle width direction. The pair of side members 22a are provided so as to extend in the direction perpendicular to both ends of the cross member 22b. The pair of front wheels 20a are provided at the front end positions of the pair of side members 22a, and the pair of middle wheels 20b are provided at positions on both ends of the cross member 22b. A front wheel motor 36 for rotating a wheel shaft is provided on each of the pair of front wheels 20a.

The second wheel body 24 has a cross member 24a extending in the vehicle width direction and a connecting member 24b extending in the vertical direction from the center position of the cross member 24a. The connecting member 24b is inserted into the cross member 22b of the first wheel body 22 and is connected to the first wheel body 22 so as to be relatively rotatable. Rear wheels 20c are provided on both ends of the cross member 24a.

A rear wheel motor 38 for rotating a wheel shaft is provided on each of the pair of rear wheels 20c. The pair of front wheels 20a and the pair of rear wheels 20c can be rotated independently by each motor, and the traveling mechanism 12 can be bent left and right by the difference in the amount of rotation of the left and right wheels.

Inside the cross member 22b, a shaft body 26 extending in the vehicle width direction and a shaft body support portion 32 for supporting both ends of the shaft body 26 are provided. The connecting member 24b of the second wheel body 24 is rotatably connected to the shaft body 26 by the connecting gear 28. The standing actuator 30 can rotate the connecting member 24b around the axis of the shaft body 26. The first wheel body 22 and the second wheel body 24 can rotate relative to each other by being driven by the standing actuator 30, and can take the standing postures shown in FIGS. 2 (a) and 2 (b). It is possible to return to the horizontal posture shown in (a) and 1 (b).

The traveling mechanism 12 has a rocker bogie structure capable of traveling on a step on the road. The shaft body 26 connecting the first wheel body 22 and the second wheel body 24 is located offset from the wheel shaft of the middle wheel 20b, and the wheel shaft of the front wheel 20a and the wheel shaft of the middle wheel 20b in the direction perpendicular to the vehicle width. Located between. As a result, the first wheel body 22 and the second wheel body 24 can be bent according to the shape of the road surface during traveling with the shaft body 26 as a fulcrum.

The object detection sensor 34 is provided on the first wheel body 22 and detects an object in the traveling direction. The object detection sensor 34 may be a millimeter wave radar, an infrared laser, a sound wave sensor, or a combination thereof. The object detection sensor 34 may be provided not only at the front portion of the first wheel body 22 but also at various positions of the first wheel body 22 and the second wheel body 24 in order to detect an object in the rear or lateral direction.

As shown in FIG. 5B, the transfer robot 10 includes a frame body 40, a connecting shaft 42, an outer peripheral tooth portion 43, a rotary actuator 44, a connecting shaft 45, an inclined actuator 46, a first camera 50a, and a second camera 50b. A communication unit 52 is provided. The frame body 40 includes displays 48a, 48b, 48c (hereinafter, referred to as "display 48" unless otherwise specified), hooks 54, a pair of first ridges 56a, a pair of second ridges 56b, and a pair. The third ridge portion 56c of the above is provided. For convenience of explanation, FIG. 5B shows the connecting shaft 42, the outer peripheral tooth portion 43, the rotary actuator 44, the connecting shaft 45, and the tilting actuator 46 in a simplified manner. The portion 43 and the rotary actuator 44 may be provided separately from the connecting shaft 45 and the tilting actuator 46.

The ridge portion 56 is provided so as to project from the inner surface of the right side wall 18a and the left side wall 18b in order to place luggage or the like. A hook 54 for hanging a load is formed on the inner surface of the upper plate 18d of the frame body 40. The hook 54 may be always exposed from the inner surface of the upper plate of the frame body 40, but may be provided so as to be accommodated in the inner surface of the upper plate so that the hook 54 can be taken out when necessary.

The displays 48a and 48b are provided on the outer surfaces of the right side wall 18a and the left side wall 18b, respectively, and the display 48c is provided on the outer surface of the upper plate 18d so that an image can be displayed. The bottom plate 18c and the top plate 18d are provided with a first camera 50a and a second camera 50b (referred to as "camera 50" when these are not distinguished), respectively. It is preferable that the transfer robot 10 is equipped with a camera other than the first camera 50a and the second camera 50b so that all surrounding conditions can be monitored. The camera 50 can also take a picture of the luggage 16. The upper plate 18d is further provided with a communication unit 52, which can communicate with an external server device via a wireless communication network.

The bottom plate 18c is rotatably attached to the outer peripheral tooth portion 43 of the connecting shaft 42 via a gear (not shown) on the rotary actuator 44 side, and is connected to the first wheel body 22 by the connecting shaft 42. The rotary actuator 44 rotates the frame body 40 about the axis with respect to the connecting shaft 42 by relatively rotating the outer peripheral tooth portion 43 and the gear. The rotary actuator 44 makes it possible to rotate the frame body 40 as shown in FIG. 4 (b).

The tilting actuator 46 rotates the connecting shaft 45 to tilt the connecting shaft 42 in the vertical direction. The connecting shaft 45 extending in the left-right direction is integrally provided at the lower end of the connecting shaft 42, and the tilting actuator 46 rotates the connecting shaft 45 to realize the tilting motion of the connecting shaft 42. By tilting the connecting shaft 42, the tilting actuator 46 can tilt the frame body 40 in the front-rear direction as shown in FIG. 4A.

FIG. 6 shows a functional block of the transfer robot 10 of FIG. The transfer robot 10 includes a control unit 100, a reception unit 102, a communication unit 52, a GPS (Global Positioning System) receiver 104, a sensor data processing unit 106, a map holding unit 108, an actuator mechanism 110, a display 48, a front wheel motor 36, and a rear wheel motor 10. A wheel motor 38 is provided. The control unit 100 includes a travel control unit 120, a motion control unit 122, a display control unit 124, and an information processing unit 126, and the actuator mechanism 110 includes an upright actuator 30, a rotary actuator 44, and a tilt actuator 46. The information processing unit 126 includes an acquisition unit 130 and a determination unit 132. The communication unit 52 has a wireless communication function, can perform vehicle-to-vehicle communication with the communication unit of another transfer robot 10, and can receive information transmitted from a mobile terminal device such as a user's smartphone. The GPS receiver 104 detects the current position based on the signal from the satellite.

In FIG. 6, each element described as a functional block that performs various processes can be composed of a circuit block, a memory, and other LSIs in terms of hardware, and is loaded in the memory in terms of software. It is realized by a program or the like. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and is not limited to any of them.

The transport robot 10 autonomously travels to the destination and delivers the package to the user waiting at the destination, or operates in an action mode of collecting the package from the user at the destination. First, the delivery of packages will be described. The transfer robot 10 is waiting at the collection point, and when the delivery destination is input by the staff of the collection place, the transfer robot 10 autonomously travels to the input delivery destination. The traveling route may be determined by the transfer robot 10, but may be set by an external server device. The input of the delivery destination is performed by a predetermined wireless input tool, and when the staff inputs the delivery destination from the wireless input tool, the communication unit 52 receives the delivery destination and notifies the travel control unit 120. The wireless input tool may be a dedicated remote controller, or may be a smartphone on which a dedicated application is installed.

The transfer robot 10 is provided with an interface for inputting a delivery destination, and the staff may input the delivery destination from the interface. For example, when the display 48 is configured as a touch panel, the display control unit 124 may display a delivery destination input screen on the display 48, and the staff may input the delivery destination from the delivery destination input screen. When the reception unit 102 receives the touch operation of the touch panel, the information processing unit 126 identifies the delivery destination from the touch position and notifies the travel control unit 120. When the staff at the collection site instructs the transport robot 10 to start delivery after placing the package on the frame 40 and inputting the delivery destination, the travel control unit 120 starts autonomous travel to the set delivery destination. The staff may set a plurality of delivery destinations and place packages for each delivery destination in the accommodation space of the frame 40.

The frame body 40 is provided with a mechanism for locking (fixing) the loaded luggage to the frame body 40. While the transport robot 10 is traveling, the luggage is fixed to the frame 40 by the lock mechanism so that the load is not dropped during the travel and is not taken out by a third party who is not the recipient.

The map holding unit 108 holds map information indicating the road position. The travel control unit 120 controls the travel mechanism 12 so as to travel on the set travel route by using the map information held by the map holding unit 108 and the current position information supplied from the GPS receiver 104. .. Specifically, the travel control unit 120 drives the front wheel motor 36 and the rear wheel motor 38 to drive the transfer robot 10 to the destination.

The sensor data processing unit 106 acquires information about objects existing around the transfer robot 10 based on the detection data by the object detection sensor 34 and the captured image by the camera 50, and provides the travel control unit 120 with information about the objects. The target object includes a static object such as a structure or a side groove that hinders traveling, and a movable object (moving object) such as a person or another transfer robot 10. The travel control unit 120 determines the traveling direction and the traveling speed so as to avoid a collision with another object, and drives and controls the front wheel motor 36 and the rear wheel motor 38.

When the transfer robot 10 reaches the destination where the user who is the recipient is, the travel control unit 120 stops the motor drive. The user has obtained a passcode for unlocking the package addressed to him / her from an external server device in advance. When the user transmits the passcode to the transfer robot 10 using a mobile terminal device such as a smartphone, the communication unit 52 receives the unlocking passcode, and the information processing unit 126 unlocks the package. At this time, the motion control unit 122 drives the standing actuator 30 to cause the transfer robot 10 to take the standing posture. As a result, the user recognizes that the baggage can be received, and it becomes easy to pick up the baggage addressed to himself / herself placed on the main body portion 14.

FIG. 7A is a diagram showing a situation in which the user 90 receives the package 16 from the transfer robot 10. The user 90 takes out the luggage 16 from the frame 40. The sensor data processing unit 106 derives the take-out speed of the package 16 from the frame 40 at the delivery destination based on the image of the package 16 taken by the camera 50, and supplies the extracted package 16 take-out speed to the acquisition unit 130. To do.

The acquisition unit 130 acquires the user's state information based on the take-out speed of the supplied package 16. The user's state information is information indicating whether or not the user is acting in a hurry, and can also be called user's action information. When the take-out speed of the user's baggage 16 is equal to or higher than a predetermined speed, the acquisition unit 130 acquires the user's state information indicating that the user is acting in a hurry. When the take-out speed of the user's baggage 16 is less than the predetermined speed, the acquisition unit 130 acquires the user's state information indicating that the user is not acting in a hurry.

The determination unit 132 determines the magnitude of a specific operation of the transfer robot 10 when the delivery of the package 16 to the user is completed according to the state information of the user acquired by the acquisition unit 130. The specific operation is an operation of tilting the frame body 40 toward the user side and then returning it in the vertical direction, which is an operation of expressing gratitude. Certain actions can also be called bowing actions. The magnitude of the specific motion is the tilt angle of the frame 40.

When the state information of the user indicates that the user is acting in a hurry, the determination unit 132 determines the inclination angle to be the first angle A1. When the state information of the user indicates that the user is not acting in a hurry, the determination unit 132 determines the inclination angle to be a second angle A2 larger than the first angle A1. The predetermined speed, the first angle A1 and the second angle A2 can be appropriately set by an experiment or the like.

The sensor data processing unit 106 detects that the entire baggage 16 has come out of the frame 40 based on the captured image of the baggage 16 by the camera 50. The detection that the package 16 has come out of the frame 40 corresponds to the completion of delivery of the package 16.

When the sensor data processing unit 106 detects that the luggage 16 has come out of the frame body 40, the motion control unit 122 drives the tilt actuator 46 and determines the load 16 toward the user 90 side by the determination unit 132. The frame 40 is tilted to the tilted angle and then returned to the vertical direction. The angular velocity of the frame body 40 during the tilting operation is the same regardless of the determined tilting angle. The motion control unit 122 can also be called an execution unit that executes a specific operation with a size determined by the determination unit 132.

FIG. 7B is a diagram showing a first specific operation of the transfer robot 10 when the delivery of the cargo 16 is completed. The first specific action is an action when the user is not acting in a hurry. The user who sees the tilting motion of the frame body 40 feels that the transfer robot 10 has bowed and thanked him. Therefore, it is easy to increase the user's satisfaction with the collection and delivery service.

FIG. 7C is a diagram showing a second specific operation of the transfer robot 10 when the delivery of the cargo 16 is completed. The second specific action is an action when the user is acting in a hurry. The user is expected to act in a hurry when there is a plan after this. Since the inclination angle is the first angle A1, the time from the start of the inclination of the frame body 40 to the return to the vertical direction is shorter than that of the case of the second angle A2 of FIG. 7B. Therefore, it is not frustrating for a user who is acting in a hurry to see a specific operation of the transfer robot 10. On the other hand, assuming that a user who is acting in a hurry sees a specific operation of the transfer robot 10 in FIG. 7 (b), it may be easily frustrated. In this way, the transfer robot 10 can execute a specific operation according to the state of the user when the delivery of the cargo 16 is completed.

When the luggage 16 is received by the user and the tilting operation of the frame body 40 is completed, the travel control unit 120 autonomously travels to the next destination.

Next, the operation of the transport robot 10 at the collection destination of the package 16 will be described focusing on the differences from the operation at the delivery destination. The transfer robot 10 moves to the collection destination in the same manner as the movement to the delivery destination.

When the transfer robot 10 reaches the destination where the user who is the sender of the luggage 16 is, the travel control unit 120 stops the motor drive. At this time, the transfer robot 10 takes an upright posture. As a result, the user recognizes that the luggage 16 can be deposited, and it becomes easy to put the luggage 16 in the frame 40. The user inserts the luggage 16 into the frame body 40. The sensor data processing unit 106 derives the insertion speed of the luggage 16 into the frame 40 at the collection destination based on the captured image of the luggage 16 by the camera 50, and supplies the insertion speed of the derived luggage 16 to the acquisition unit 130. To do.

The acquisition unit 130 acquires the user's state information based on the insertion speed of the supplied package 16. When the insertion speed of the user's luggage 16 is equal to or higher than a predetermined speed, the acquisition unit 130 acquires the user's state information indicating that the user is acting in a hurry. When the insertion speed of the user's baggage 16 is less than a predetermined speed, the acquisition unit 130 acquires the user's state information indicating that the user is not acting in a hurry.

The sensor data processing unit 106 detects that the baggage 16 has been placed at a predetermined position in the frame 40 based on the captured image of the baggage 16 by the camera 50. When it is detected that the luggage 16 is placed in a predetermined position, the information processing unit 126 causes the lock mechanism to lock the luggage 16.

When the lock mechanism locks the luggage 16, the motion control unit 122 tilts the frame 40 toward the user 90 side at an inclination angle determined by the determination unit 132, and then returns the frame body 40 in the vertical direction. Locking the luggage 16 by the locking mechanism corresponds to the completion of collection of the luggage 16. When the collection of the cargo 16 is completed, the transport robot 10 can execute a specific operation according to the state of the user. By such a specific operation, the same effect as when the delivery of the package 16 is completed can be obtained.

When the luggage 16 is deposited by the user and the tilting operation of the frame body 40 is completed, the travel control unit 120 autonomously travels to the next destination.

The present invention has been described above based on the embodiments. Embodiments are merely examples, and it is understood by those skilled in the art that various modifications are possible for each component and combination of each processing process, and that such modifications are also within the scope of the present invention.

(First modification)
In the embodiment, an example of determining one of the two inclination angles has been described, but one of more inclination angles may be determined. For example, the acquisition unit 130 may acquire the user's state information indicating that the higher the user's baggage removal speed, the higher the degree to which the user is acting in a hurry. In this case, the determination unit 132 determines the inclination angle to be smaller as the degree to which the user is rushing to act in the user's state information is higher.

(Second modification)
The determination unit 132 may determine the speed of a specific operation of the transfer robot 10 according to the user's state information acquired by the acquisition unit 130. The specific speed of operation is the angular velocity at which the frame 40 is tilted. In this case, when the user's state information indicates that the user is acting in a hurry, the determination unit 132 determines the angular velocity as the first angular velocity. When the state information of the user indicates that the user is not acting in a hurry, the determination unit 132 determines the angular velocity to be the second angular velocity smaller than the first angular velocity. The first and second angular velocities can be appropriately set by experiments and the like. When the collection or delivery of the cargo 16 is completed, the motion control unit 122 tilts the frame 40 to a predetermined tilt angle at the angular velocity determined by the determination unit 132, and then returns the frame body 40 to the vertical direction. The predetermined tilt angle is the same regardless of the angular velocity. The motion control unit 122 can also be called an execution unit that executes a specific operation at a speed determined by the determination unit 132. Even in this modified example, when the user is acting in a hurry, the time from when the frame 40 starts tilting to when it returns to the vertical direction is shorter than when the user is not acting in a hurry. Therefore, it is not frustrating for a user who is acting in a hurry to see a specific operation of the transfer robot 10.

The determination unit 132 may determine the magnitude and speed of a specific operation of the transfer robot 10 according to the user's state information acquired by the acquisition unit 130. In this case, in addition to the angular velocity, the tilt angle is determined in the same manner as in the embodiment. In this configuration, when the user is acting in a hurry, the time from the start of tilting of the frame body 40 to the return to the vertical direction can be shortened as compared with the embodiment.

Combining the first and second modifications, the determination unit 132 may determine the angular velocity larger as the degree to which the user is rushing to act in the user's state information is higher.

(Third modification example)
The user's state information may be the user's emotional information indicating an angry state or a happy state. It is assumed that the user is angry because the package arrives late due to the circumstances of the shipper or for reasons unrelated to the package. It is assumed that the user is pleased that the package he has been waiting for has arrived or for reasons unrelated to the package. In this case, the acquisition unit 130 estimates the user's emotions based on the image taken by the user by the camera 50. For example, the acquisition unit 130 acquires the user's emotional information by analyzing the facial expression based on the user's facial image. The determination unit 132 determines the tilt angle of the frame 40 to be the second angle A2 when it indicates that the acquired user's emotion information is angry, and when it indicates that the user's emotion information is pleased, it tilts. The angle is determined to be the first angle A1. This can make a potentially angry user feel deeply bowed and may reduce anger. Users who may be happy may be satisfied with even a shallow bow. In this case, since the time from the start of tilting of the frame body 40 to the return to the vertical direction is short, the transfer robot 10 can be moved to the next destination faster.

Combining the third modification with the second modification, the determination unit 132 determines the angular velocity to be the first angular velocity when the acquired emotional information of the user indicates that the user is pleased, and the emotional information of the user is angry. In that case, the angular velocity may be determined to be a second angular velocity smaller than the first angular velocity. This can make a user who may be angry feel slowly and politely bowed, which may reduce anger. A user who may be pleased may be satisfied with a short bow and can move the transfer robot 10 to the next destination sooner.

(Fourth modification)
The determination unit 132 may determine the magnitude of a specific operation according to the usage status of the collection / delivery service of the user instead of the state information of the user. The usage status of the collection and delivery service includes the total number of times the service is used, the total amount of money used, and the number of times the collection and delivery is not completed on time due to the timed collection and delivery. In this case, the external server device holds the usage status of the collection / delivery service for each user, and transmits the information on the usage status of the collection / delivery service of the delivery destination or collection destination user to the transfer robot 10. The communication unit 52 receives the transmitted information. The acquisition unit 130 acquires the received information and supplies it to the determination unit 132. The determination unit 132 may increase the inclination angle of the frame 40 as the total number of times the service is used and the total amount of money used increase. The determination unit 132 may reduce the inclination angle as the frequency of time-designated collection and delivery that collection and delivery are not completed on time increases.

Further, the determination unit 132 may determine at least one of the magnitude and speed of a specific operation according to the user's information such as gender and age, instead of the user's state information. In this case, the server device holds user information for each user. The acquisition unit 130 acquires user information from the server device via the communication unit 52 and supplies the user information to the determination unit 132. When the user's age is less than a predetermined age, the determination unit 132 may determine the tilt angle of the frame body 40 as the first angle, and when the age is older than the predetermined age, the determination unit 132 may determine the tilt angle as the second angle. The determination unit 132 may determine the angular velocity as the first angular velocity when the user's age is less than the predetermined age, and may determine the angular velocity as the second angular velocity when the age is older than the predetermined age. The predetermined age is set to an age that can identify an elderly person, for example, 65 years old. Elderly people may prefer deep bows, slow bows, and may increase their satisfaction. The fourth modification may be combined with the second modification.

(Fifth modification)
The user may set in advance whether or not to allow a specific operation of the transfer robot 10 in the server device by using a mobile terminal device such as a smartphone. The server device holds information indicating whether or not a specific operation is permitted for each user. The transfer robot 10 executes a specific operation of the embodiment for a user who is set to permit a specific operation, and is specific to a user who is set not to permit the specific operation. Do not perform any action. The fifth modification may be combined with any of the first to fourth modifications.

(6th modification)
In addition to the tilting motion of the embodiment, the transfer robot 10 has a display 48 that displays a thank-you message such as "Thank you for using the service" and a speaker (not shown) that outputs a thank-you message by voice. It may include at least one of the actions to be performed. The sixth modification may be combined with any of the first to fifth modifications.

10 ... Transfer robot, 12 ... Travel mechanism, 14 ... Main body, 20a ... Front wheels, 20b ... Middle wheels, 20c ... Rear wheels, 22 ... First wheel body, 24 ... 2nd wheel body, 30 ... Standing actuator, 36 ... Front wheel motor, 38 ... Rear wheel motor, 40 ... Frame body, 44 ... Rotating actuator, 46 ... Tilt Actuator, 48 ... Display, 50 ... Camera, 54 ... Hook, 100 ... Control unit, 102 ... Reception unit, 104 ... GPS receiver, 106 ... Sensor data processing unit , 108 ... Map holding unit, 110 ... Actuator mechanism, 120 ... Travel control unit, 122 ... Motion control unit, 124 ... Display control unit, 126 ... Information processing unit, 130.・ ・ Acquisition department, 132 ・ ・ ・ Decision department.

Claims (1)

A transport robot that collects or delivers packages
A traveling mechanism with a traveling function and
A main body supported by the traveling mechanism and for loading the luggage,
An acquisition unit that acquires the status information of the user at the collection destination or delivery destination of the package, and
A determination unit that determines at least one of the magnitude and speed of the movement of the transfer robot when the collection or delivery of the package to the user is completed according to the state information of the user acquired by the acquisition unit.
When the collection or delivery of the package to the user is completed, the execution unit that executes the operation at at least one of the size and speed determined by the determination unit, and the execution unit.
A transfer robot characterized by being equipped with.

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