JP6627487B2 - Delivery device, delivery system and delivery method - Google Patents

Description

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

  2. Description of the Related Art In recent years, in offices and the like, a multi-function peripheral (MFP) image forming apparatus in which functions of respective OA devices such as a printer, a facsimile, and a copying machine are integrated into one has been widely used. By using a multifunction device, there is an advantage that it can be used at a lower cost than when individual OA devices are purchased, and the total installation area can be reduced. However, although it is inexpensive, the equipment is generally expensive, so there are few cases where a plurality of MFPs are introduced. Therefore, in an office environment, a user needs to go to a distant MFP to obtain a printed matter output from a PC (Personal Computer), and there is a problem that the work efficiency during that time is reduced.

  As a solution to this problem, there is known a self-propelled printer in which the printer itself is configured to be movable so that the printer itself can be moved based on a user's instruction to output a printed matter at a desired place. There is also known a self-propelled finisher in which the finisher itself runs autonomously 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 travel distance in which the vehicle can travel by itself depends on the charged amount of the battery.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2010-243885 (Patent Document 1) or Japanese Patent No. 4557257 (Patent Document 2), a movable distance is calculated from a battery remaining amount to judge whether or not to move, or charge is performed. Control is described.

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

  However, if the delivery device autonomously moves in an office environment where obstacles (chairs, boxes, etc.), etc., which were not at the time when the map was formed, are newly placed on the movement route, the home position, the target position, In some cases, the time required to move from the target position to the home position is longer than expected. In addition, depending on obstacles, a route to be avoided may be long, and power consumption when moving may increase. In such a case, the battery is quickly consumed, and there is a possibility that the movement of the next job is hindered.

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

  In order to solve the above-mentioned problem, the present invention is to deliver a conveyed object by self-propelled by a shortest distance from a preset departure position to a designated target position based on map information stored in storage means, A delivery device for returning from the target position to the departure position, the calculation device calculating a predicted value of a preset physical quantity when moving from the departure position to the target position on the map information; Measuring means for measuring the physical quantity required to move to, comparing the physical quantity calculated by the calculating means with the physical quantity measured by the measuring means, and the difference between the two is greater than a preset value And a route changing means for changing a route of a return route returning from the target position to the departure position.

  ADVANTAGE OF THE INVENTION According to this invention, consumption of a battery can be suppressed and an autonomous delivery apparatus can reciprocate reliably and can prevent it from obstructing the next movement operation. In addition, problems, configurations, and effects other than those described above will be clarified in the following description of the embodiments.

It is a figure showing an example of a printed material delivery supply device concerning an embodiment of the present 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. FIG. 3 is a diagram illustrating components provided in a bogie unit of the self-propelled delivery device in FIG. 2. It is explanatory drawing which shows the detection principle of an obstacle detection sensor. FIG. 9 is an explanatory diagram illustrating an example of mounting a printed matter detection sensor installed on a tray. FIG. 4 is a front view showing an internal configuration of a tray elevating mechanism. FIG. 4 is a perspective view showing an internal configuration of a tray elevating mechanism. FIG. 2 is a block diagram illustrating a hardware configuration of the printer. It is a block diagram showing hardware constitutions of a self-propelled delivery device. FIG. 5 is an explanatory diagram illustrating a printed material delivery operation in the printed material delivery system according to the embodiment. It is the figure which modeled the state where the self-propelled delivery device moves from the departure position to the target position. It is explanatory drawing which replaces FIG. 12 with an office and shows. FIG. 13 is an explanatory diagram illustrating a state in which the vehicle travels on a new travel route in FIG. 12. 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 device. It is a figure showing the shortest running locus of a self-propelled delivery device. It is a figure showing the run locus of the self-propelled delivery device which runs away from the hazard. It is a figure which shows the traveling locus | trajectory of the self-propelled delivery apparatus which travels by calculating a new moving route in consideration of power consumption. It is a figure which shows the traveling locus | trajectory of the self-propelled delivery device when there is a long slope on a movement route, and moves on this. FIG. 4 is a block diagram illustrating functional units set on a control board of a sub-control unit. FIG. 4 is a characteristic diagram illustrating a relationship between a motor input current, a rotation speed, and a load. FIG. 13 is a diagram illustrating an example of a delivery operation of a self-propelled delivery device in a system in which a server is included in the printed matter delivery system illustrated in FIG. 11.

  The present invention compares a predicted value (power consumption and travel time) calculated based on map information before moving with an actually measured value (power consumption and travel time) of a target position from a start position (home position) actually moved. Then, based on the comparison result, the moving route from the target position to the starting position (home hi position) is changed.

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

  The printer 100 and the finisher 110 constitute a delivery device of 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 device, here the finisher 110, through 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 of the self-propelled delivery device 200. The connection between the body-side contact 111 and the delivery-side contact 201 allows the self-propelled delivery device 200 to be connected from the finisher 110 side. Charging becomes possible.

  The self-propelled delivery device 200 is connected to the finisher 110, and functions as a printed matter delivery / supply device that receives printed matter discharged from the finisher 110 and delivers it to a predetermined delivery destination. Further, the printer 100 includes a main body communication unit 101 as communication means for communicating with the self-propelled delivery device 200. The printer 100 also includes a main control unit 102, which is control means for the printer body of the printed matter delivery / supply device 1 described later, a main body internal memory 103 for storing information necessary for delivery, and the like. Therefore, in the present embodiment, it can be seen that the printed matter delivery / supply device 1 includes the printer 110 and the finisher 110 as the delivered material supply device, and the self-propelled delivery device 200 as the delivery device.

  FIG. 2 is a perspective view showing a state in which the self-propelled delivery device is connected to a finisher. FIG. 3 is an enlarged perspective view showing the self-propelled delivery device in FIG. FIG. 4 is a view showing components provided in a carriage unit 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 traveling direction, a tray 280 on which printed matter is loaded, and an elevating device for elevating the tray 280. A mechanism 290 is provided. The printed material for which delivery has been instructed is output from a discharge port below the finisher 110, and is stacked 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 at a lower portion 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 of 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 required for autonomous traveling, a route to a designated destination, a distance, and the like. A path calculation unit 260 is built in. 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 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 are mounted in the autonomous traveling device 230. It may be installed or mounted outside, instead of inside.

  The obstacle detection sensor 270 installed in front of the self-propelled delivery device 200 in the traveling direction is a distance measuring device called a laser range finder (LRF). The LRF emits a laser, receives reflected light thereof, and measures a distance between reflection points based on a time between emission and reception and a 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 measuring the distance between the reflection points, the obstacle detection sensor 270 scans the laser light in the direction of the arrow α in FIG. The distance from the type 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, for example, each measurement shown in (1) to (11) in FIG. An unmeasured area occurs between points 601. Therefore, the sub-control unit 220 of the self-propelled delivery device 200 connects the measurement points 601 as shown in FIG. 5B, and sets the position of the connected virtual measurement point 601 as the obstacle position 600a. To detect.

  The map information (map data) stored in the map database memory 250 described above may be created by causing the self-propelled delivery device 200 to autonomously travel in an office before operating the print delivery system. In the printed matter delivery system 500 (FIG. 11) according to the present embodiment, the LRF is used as the obstacle detection sensor 270, but the distance measurement means is diversified these days, and the distance measurement 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. As other distance measuring means, for example, there are various methods or methods such as a stereo camera method using two cameras, a laser, a slit light, and a projection method for projecting various patterns by a projector and recognizing the position thereof. What is necessary is just to use properly according to the specification of the self-propelled delivery apparatus 200, or the installation situation.

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

  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 disposed on the back side of the detection hole 282 formed in the tray 280 as shown in a partially enlarged view (β in FIG. 6) of FIG. 6, and detects that the detection hole 282 is closed by the printed matter. That is, it detects that there is a printed matter, in other words, that the printed matter is stacked. Therefore, for example, a reflection type photo sensor is used as the print detection sensor 281. The printed matter detection sensor 281 monitors whether or not light reflected from the printed matter enters the photosensor, and confirms the presence or absence of the printed matter. This sensor only needs to be able to detect a printed matter, and may be replaced with a weight sensor or the like.

  In this manner, 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. Further, it is also possible to use the signal of the printed matter detection sensor as an operation trigger of the self-propelled delivery device 200. The control in the print distribution system 500 will be described later.

  7 and 8 are diagrams showing a tray elevating 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 inside the office, it is desirable that the self-propelled delivery device 200 be as small as possible. In addition, when the number of printed materials is large, the tray 280 is preferably disposed on the lower side in consideration of the load of the self-propelled delivery device 200. However, if the tray 280 is provided below the miniaturized self-propelled delivery device 200, the user needs to lean down and take the printed material, making it difficult to take the printed material. Therefore, in the present embodiment, the tray 280 is provided with the elevating mechanism 290 so that the printed material can be taken without bending down.

  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, has a function of being rotated by the elevating motor 291 and converting the rotation into a linear motion of the shaft 293 in the expansion and contraction direction. The link 292 converts the expansion and contraction of the shaft 293 into its own rotation, and raises and lowers the tray 280 connected to the upper end of the link 292.

  7A and 8A show a state where the tray 280 is located at the lowermost end, and FIGS. 7B and 8B show a state where the tray 280 is located at the uppermost end. As can be seen from the figure, 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 elevating means can be selected. It is effective to control the operation speed slowly when quietness is required, and to control the operation speed fast when productivity is required. This control can be easily executed by controlling the drive of the elevating motor 291.

  FIG. 9 is a block diagram illustrating a hardware configuration of the printer. As mentioned 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 print operation unit 105. The print 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 desired programs, print data, and the like.

  A PC interface (PC I / F) 104 connects the 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 print 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, print data, and the like from the user's PC via the PC I / F 104, stores the print request and the print data in the internal memory 103, and controls a printing operation. When the delivery request is received together with the print request, the main body communication unit 101 instructs confirmation of delivery conditions (such as the remaining battery level and the calculation of the delivery route). A specific processing procedure will be described later with reference to FIG.

  FIG. 10 is a block diagram illustrating 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 an elevating motor 291.

  The sub control unit 220 is a CPU similarly to the main control unit 102. The sub-controller internal memory 251 for storing a program for operating the self-propelled delivery device 200, travel route information, position data, and the like is provided. The delivery side communication unit 210 and the sub control unit 220 are communicably connected to 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. I do. The printed matter detection sensor 281 notifies the sub control unit 220 of information on whether or not printed matter is present on the tray 280. The sub-control unit 220 controls the drive motor 232 and the elevating motor 291 via the motor control circuit 224 (FIG. 21) based on the notified information.

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

  FIG. 11 shows that, in the print delivery system 500, the self-propelled delivery device 200 is separated from the finisher 110 of the print delivery and supply device 1, and delivers the print to a called PC (user) 400-1. , And how they return.

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

  In this state, when a certain PC (user) requests delivery of a printed matter, the self-propelled delivery apparatus 200 sets the surface on which the obstacle detection sensor 270 is arranged as the front surface and on the front axis of the obstacle detection sensor 270 ( (See FIG. 5, direction (6)). Thereby, the self-propelled delivery device 200 separates from the finisher 110 and proceeds to the target PC (user) along the delivery route set by self-determination.

  On the other hand, the first to Nth PC groups (400-1, 400-2,..., 400-N: N is an integer of 1 or more) used by each user and the printer 100 (or the print delivery / supply device 1) are connected to the LAN. To form a print distribution system 500. 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 transmits a command such as PJL (Printer Job Language) and print data. It is transmitted to the printer 100 itself. The main control unit 102 built in the main body of the printer 100 controls the printing of the received print data, and interprets the delivery request using the received command such as PJL. Then, based on this interpretation, the main body communication unit 101 confirms whether or not the delivery is possible to the sub control unit 220 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 sub-control unit 220 performs the autonomous traveling control. In the autonomous traveling control, the self-propelled delivery device 200 moves to the first PC terminal 400-1 to which delivery is instructed. After the delivery, under the control of the sub-control unit 220, it returns to the home position and prepares for the next instruction.

  If there is no delivery instruction from the user, or if the delivery is determined to be NG, the printed matter is output to the paper discharge unit 107 of the printer 100 or to the finisher 110 that has performed the post-processing as instructed.

  12 and 13 are diagrams schematically illustrating a state in which the self-propelled delivery device moves from a current position (departure position) to a destination (target position). In the initial map information, map information in a state where there is nothing on the traveling 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 traveling route 351 at the time when the self-propelled delivery device 200 starts delivery, the self-propelled delivery device 200 causes the obstacle M which was not present when the map information was created during traveling. (FIG. 13).

  Therefore, in the present embodiment, when the self-propelled delivery device 200 detects an obstacle 650 as shown in FIGS. 12 and 14, the self-propelled delivery device 200 moves by itself over the obstacle 650. That is, the self-propelled delivery device 200 departs from the home position and proceeds on the originally determined traveling route 351. In the meantime, the surroundings are constantly monitored by the obstacle detection sensor 270, and when an obstacle 650 that does not exist initially is detected during traveling, a new traveling route is calculated in consideration of the wall and the no-go area. Then, based on this calculation, the vehicle turns to the new travel route 352 and travels to the target position P2.

  FIG. 15 is an explanatory diagram illustrating an operation when the delivery device arrives at the target position. After arriving near the user terminal, the delivery device 200 stops with the tray 280 facing the user so that the printed matter can be easily received.

  FIG. 16 is a flowchart illustrating a delivery control procedure of the self-propelled delivery device. FIG. 17 to FIG. 20 are diagrams showing traveling trajectories 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 and executed.

  First, the outline of the 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 reach the source of 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) are based on the map information created in advance. Is calculated. Then, the shortest moving route 303 is obtained as shown in FIG. The self-propelled delivery device 200 moves to the delivery destination 306 along the shortest travel route 303.

  However, in an office environment or the like, as shown in FIG. 18, 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 may occur. Therefore, in the present embodiment, the user moves while searching for a new movement route 304 while detecting a hazard. Therefore, the user moves from the home position to the delivery destination 306, and moves while returning from the delivery destination 306 to the home position. Time loss occurs.

  In addition, 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 to move up the slope 310 as compared with a planar movement. That is, power consumption is lost due to the rise of the slope 310, and the battery 240 mounted is quickly consumed. 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 to move along this movement route 302.

  In addition, the return route is changed from the position of the delivery destination 306 to a route without the hazard shown in FIG. 19 (a route following the movement route 302 in the reverse direction) shown in FIG. 19 without passing through the route with the hazard shown in FIG. As a result, wasteful power consumption is suppressed, the amount of charge to be charged before the next delivery is reduced, and the charging time is inevitably reduced. Therefore, the possibility of being able to respond immediately when the next call is made becomes extremely high, and efficient operation of the delivery device 200 becomes possible.

  FIG. 16 is a flowchart including a process for calculating such a movement route. In the figure, first, the sub-controller 220 of the self-propelled delivery device 200 recognizes the position of the requester (the position of the delivery destination 306) based on the map information stored in the map database memory 250 (step S1: , And is abbreviated as S1 in the drawings.

  Next, the shortest moving route 303 from the home position (departure position) to the position of the delivery destination 306 is calculated and determined from the map information stored in the map database memory 250. Then, an expected arrival time X1 is calculated for the travel route 303 (step S3), and an expected 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 up to 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 reaches the location of the delivery destination 306 (step S7). Upon arrival, the measured arrival time X2 is compared with the calculated expected arrival time X1 (step S8), and the energy consumption Y2 similarly measured and the expected energy consumption Y1 are compared (step S9).

In step S8,
X1≪X2
Is determined, and if the measured 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
Judge. In this determination, if the measured energy consumption Y2 is larger than the expected energy consumption Y1, the process proceeds to step S11. Then, it 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 the case of, 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, 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 with 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 becomes
W2 = current value × battery voltage can be calculated.

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

  The status of the route where X1≪X2 in step S8 is, for example, the status as shown in FIG. In other words, there is a hazard on the movement route 304 (route 1), which is avoided while detecting it, so that it takes time to move to the position of the requester 309.

  In addition, the form and the state of the route where Y1≪Y2 in step S9 are as shown in FIG. 20, for example. That is, this is a case where there is a long slope 310 on the moving route 303 and the vehicle moves on this. If the driving motor 232 of the self-propelled delivery device 200 has sufficient power, even when moving on the slope 310, the moving time can be moved in the same time as on a plane. However, since the driving motor 232 requires torque, it is consumed. The current increases.

  If step S8 is No and step S9 is Yes (if not X1≪X2 but Y1≪Y2), in other words, the traveling time does not become too long, but if the power consumption is large, the consumption like slope 310 will be consumed. It can be inferred that the state of the route increases the power.

  By performing such processing, a situation where X1≪X2 or Y1≪Y2 is detected, and a return route from the target position P2, which is the position of the requester 309, to the departure position P1, which is the home position, is set to the outbound route 1 If the route 2 is changed to a different route, a hazard can be avoided, so that the traveling time can be shortened and an increase in power consumption can be prevented.

  In this embodiment, the time and the energy consumption are set as physical quantities. The reason why not only the travel time but also the power consumption (Y1 and Y2) is compared is that the motor input current and the 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 climbs the slope 310 as shown in FIG. 20, the load on the drive motor 232 increases, however, in the motor servo control region (the region where the load is 0 to 60 gcm in FIG. 22), the motor rotation is reduced. Since the number is kept at 1750 rpm, the moving speed does not change. That is, the expected arrival time X1 and the measured arrival time X2 are equal. Therefore, the travel time does not change.

  However, since the motor input current (power consumption) increases as the load increases, the rotation 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 significant energy saving effect is not expected even if the threshold is set strictly. That is, in the office environment, depending on the state of the hazard, the value of the difference between the two is set to a value corresponding to the increment separately set to the predicted value, that is, 1.2 times or 1.5 times. This is because comparing with the value of is more applicable. Therefore, if, for example, the sub-control unit 220 sets X1 by multiplying a coefficient (γ, δ <1) such as γ · X2 and Y1 by δ · Y2 according to the office environment, the sub-controller 220 can respond to the installed office environment. Optimum operation of the self-propelled delivery device 200 becomes possible.

  FIG. 23 is a diagram illustrating an example of a delivery operation of the self-propelled delivery device in a system in which a server is included in the printed matter delivery system illustrated in FIG. 11. In the examples so far, the travel 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 matter delivery system 500, the map information is centrally managed by the server 314, and the latest map information is shared by the plurality of self-propelled delivery apparatuses 200 and 313. I was able to do it.

  Therefore, when two self-propelled delivery devices 200.313 are arranged in the office arranged as shown in FIG. 18, the mobile device moves from the home position (departure position P1) 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 by having 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, the other self-propelled delivery device 312 avoids the chair 305, the box 301, and the code 300 and moves along the movement route 315. You can move. As a result, it is possible to move in the shortest time on both the outward route and the return route. Reference numeral 313 denotes a finisher that discharges 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 terms are different, the latter is indicated by parentheses.

  (1) The delivery device according to the present embodiment is configured such that 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 designated target position P2 ( A delivery device (self-propelled delivery device 200) that travels by itself along the shortest movement route 303) to deliver the conveyed object (printed material) and returns from the target position P2 to the departure position P1 after the delivery is completed; Calculating means (sub-control unit 220: S3, S4) for calculating a predicted value of a predetermined physical quantity when moving from the departure position P1 to the target position p2 on the map information; Measuring means (sub-controller 220: S6) for measuring the required physical quantity; physical quantities (time, energy consumption) calculated by the calculating means; (S8, S9), and when the difference between them is greater than a preset value (S8, S9: Yes), the starting position from the target position P2. Route change means (sub-control unit 220: S11) for changing the route of the return route returning to P1. With this configuration, it is determined that some hazard exists on the travel route based on a certain physical quantity. Then, the hazard was not allowed to return home, and the energy consumption on the return was reduced. As a result, power consumption is suppressed, and the autonomous delivery device can reliably move back and forth so that the next movement operation is not hindered. Also, the amount of change in the remaining amount of the battery is reduced, and the load on the mechanism is also reduced.

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

  (3) In the delivery device according to (1), since the physical quantity is the energy consumption when moving from the departure position P1 to the target position P2, it is determined whether to change the return route 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 with respect to the predicted value. Therefore, it is possible to arbitrarily set how long the time becomes longer or how much the energy consumption increases, so that the return route is changed, and efficient operation is possible.

  (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, the traveling route can be set by the delivery device alone.

  (6) The 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 delivery device). Delivery device (finisher 110 and printer 100) connected to the delivery device 200 via the charging contact, the delivery device (self-propelled delivery device 200) The delivered material (for example, a printed material) is delivered by autonomously traveling to the target position P2, and can be returned to the departure position P1 after the delivery.

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

  (8) The delivery system 500 according to (6) or (7), further including a server device (server 314) communicably connected to the delivery device (self-propelled delivery device 200). Since a management unit 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 efficiently and comprehensively.

  (9) In the delivery method according to the present embodiment, the shortest distance travels from the preset start position P1 to the designated target position P2 based on the map information stored in the storage means (map database memory 250). In a delivery method for delivering an article and returning from the target position P2 to the departure position P1 after the delivery is completed, a predetermined physical quantity when moving from the departure position P1 to the target position P2 on the map information Is calculated by the calculating means (sub-control unit 220) (S3, S4), and the physical quantity required for actually moving is measured by the measuring means (sub-control unit 220) (S6). Is compared with the physical quantity measured by the measuring means, and when the difference between them 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 configured to be changed by the route changing means (sub-control unit 220), the same effect as that of the delivery device of (1) can be obtained. Can be.

  Note that, in the present embodiment, the delivery device exemplifies the self-propelled delivery device 200 that uses printed matter as a delivery matter. However, the delivery matter is not limited to printed matter, and may include all articles that can be delivered by a mobile device that can travel autonomously. Applicable. In this case, the delivery / delivery device may be any device that has a function of supplying the delivery, and is not limited to the printer 100 or the finisher 110 illustrated as the print delivery / supply device 1.

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

1 Printed material delivery and supply device 100 Printer (delivery material supply device)
110 Finisher (delivery supply device)
200 Self-propelled delivery device (delivery device)
220 Sub-control unit 250 Map database memory 303 Shortest moving route 500 Printed matter delivery system (delivery system)
P1 Starting position P2 Target position

JP 2010-243884 A Japanese Patent No. 4557257

Claims (9)

Based on the map information stored in the storage means, the transported object is delivered by self-propelled from the preset starting position to the designated target position by the shortest distance, and after the delivery is completed, returns from the target position to the starting position. A delivery device,
Calculation 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,
Measuring means for measuring the physical quantity required to actually move,
The physical quantity calculated by the calculation means and the physical quantity measured by the measurement means are compared, and when the difference between the two is greater than a preset value, the return route from the target position to the departure position is returned. A delivery device provided with a route changing means for changing the route. The delivery device according to claim 1, wherein
A delivery device, wherein the physical quantity is a time when the physical quantity moves from the starting position to the target position. The delivery device according to claim 1, wherein
The delivery device, wherein the physical quantity is energy consumption when the physical quantity moves from the start position to the target position. The delivery device according to any one of claims 1 to 3, wherein
The delivery device, wherein the value of the preset difference between the two is set to a value corresponding to an increment separately set with respect to the predicted value. The delivery device according to any one of claims 1 to 4, wherein
A delivery device, wherein the delivery device includes management means for managing the map information. A delivery device according to any one of claims 1 to 5,
A delivery system to which the delivery device is connected via a charging contact. 7. The delivery system according to claim 6, wherein
A delivery system in which the delivery device is supplied with a delivery item from the delivery item supply device and travels to a target position based on an instruction from the delivery item supply device. The delivery system according to claim 6, wherein:
A server device communicably connected to the delivery device;
Delivery system comprising a management unit that the server device manages the MAP information. Based on the map information stored in the storage means, the transported object is delivered by self-propelled from the preset starting position to the designated target position by the shortest distance, and after the delivery is completed, returns from the target position to the starting position. A delivery method,
A predicted value of a preset physical quantity when moving from the departure position to the target position on the map information is calculated by a calculation unit,
The physical quantity required to actually move is measured by measuring means,
The physical quantity calculated by the calculation means and the physical quantity measured by the measurement means are compared, and when the difference between the two is greater than a preset value, the return route from the target position to the departure position is returned. Delivery method changed by route change means.