JP7364684B2 - Stockers and stocker systems - Google Patents

Description

This specification discloses a stocker, a stocker system, and a stocker control method.

Conventionally, a stocker system for home delivery includes, for example, a plurality of home delivery box units and a delivery destination identification processing unit that identifies a home delivery box unit corresponding to the delivery destination from among the multiple home delivery box units based on the delivery destination of the package. A system has been proposed that includes a mobile body that automatically drives packages to a location where a specified delivery box unit is installed (see, for example, Patent Document 1). This mobile body is connected to an extension rail part that extends toward the internal space area exposed when the opening/closing door corresponding to the specified delivery box part is opened, and is installed on the delivery box part, and the mobile body via the extension rail part. The storage mechanism includes a storage mechanism for storing the delivered luggage in the internal space area. This stocker system is said to enable efficient delivery while reducing manual work.

Patent No. 6164599

However, in the stocker of Patent Document 1 mentioned above, automatic loading and unloading of articles by a movable body was considered, but when a user takes out and stores articles or a movable body stores and takes out articles. etc. were not taken into account.

The present disclosure has been made in order to solve such problems, and the main purpose is to provide a stocker, a stocker system, and a stocker control method that makes it easy for automatically transported moving objects and users to store and take out articles. shall be.

The stocker of the present disclosure employs the following means to achieve the above-mentioned main purpose.

The stocker disclosed herein is
A stocker used in a stocker system including a stocker that stores articles and a moving body that transports the articles and exchanges the articles with the stocker,
A delivery warehouse for storing goods;
a door that can close and lock the delivery warehouse;
a door drive unit that opens and closes the door;
When an opening command from the mobile object is obtained, the door driving section is controlled in a first manner to open the door at an opening degree that allows the article to be accommodated and taken out, and when an opening signal from the user is obtained, the door driving section is controlled in a first manner. A control unit that executes a second mode in which the user can recognize that the door is opened, unlike the first mode;
It is equipped with the following.

In this stocker, when an opening command is received from the moving object, the door driving section is controlled in a first manner to open the door at an opening degree that allows storing and taking out articles. On the other hand, when the stocker receives an opening signal from the user, it executes a second mode in which the user can recognize that the door has been opened, which is different from the first mode. In this way, in this stocker, the door is opened in a manner suitable for each of the moving object and the user. With this stocker, it is easy for a moving body that automatically transports and a user to store and take out articles. Here, it is assumed that a release signal is obtained from the user and a release command is obtained from the mobile object, but this is done to facilitate the distinction, and there is no intention of any special difference between the signal and the command.

1 is a schematic explanatory diagram showing an example of a stocker system 10. FIG. An explanatory diagram showing an example of a delivery warehouse 20 and a transportation device 50. A flowchart showing an example of a door control routine. An explanatory diagram of an example of opening the door 22. FIG. 4 is an explanatory diagram of an example of notifying user M that the door 22 is unlocked. FIG. 4 is an explanatory diagram of an example of another door drive unit 24.

Embodiments of the present disclosure will be described using the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a stocker system 10. As shown in FIG. FIG. 2 is an explanatory diagram showing an example of the delivery warehouse 20 and the transport device 50, with FIG. 2A being a side view and FIG. 2B being a top view. In addition, in this embodiment, the left-right direction, the front-back direction, and the up-down direction are as shown in each figure.

The stocker system 10 includes one or more stockers 11 and a management device 12. In addition, in FIG. 1, only one stocker 11 is shown. The management device 12 is configured as a server that exchanges information with the stocker 11 via the network 13. This management device 12 manages the usage status of the stocker 11 and the like.

As shown in FIG. 1, the stocker 11 includes a plurality of box-shaped delivery warehouses 20 into which articles A can be delivered, and accepts various operations related to delivery and removal of articles A to and from each delivery warehouse 20. It also includes a control unit 30 that performs various processes related to locking and unlocking. In the stocker 11, a plurality of delivery warehouses 20 (four in FIG. 1) are arranged vertically and in a plurality of rows (five columns in FIG. 1) on the left and right. A control unit 30 is arranged. This stocker 11 is installed in various places such as offices, convenience stores, stations, schools, apartments, and shopping centers, and is configured so that it can be installed not only indoors but also outdoors. In the stocker 11, after an article A is delivered to one of the delivery warehouses 20 by a transportation device 50 (see FIG. 2) or a delivery person, a user M who receives the article A can pick up the article A from this delivery warehouse 20. By taking out the item A and receiving it, it is used for receiving the item A delivered by the delivery person.

As shown in FIG. 1, the delivery warehouse 20 includes a main body 21, a door 22, and a door drive section 23. The main body 21 is a box having a rectangular parallelepiped space in which the article A is housed. The delivery warehouse 20 is configured such that the article A can be delivered into the space inside the main body 21 by opening the door 22. A locking mechanism (not shown) is provided on the main body 21, and the door 22 is locked by this locking mechanism. The locking mechanism may be a mechanically locking mechanism driven by a drive unit, or an electromagnetically locking mechanism. The door 22 is a rectangular plate-like member that can open and close the opening of the main body 21 and lock it. This door 22 is supported by a support shaft and rotates to open and close the delivery warehouse. In this delivery warehouse 20, a support shaft extending in the vertical direction is arranged on the right side of the door 22, and the door 22 supported by the support shaft opens to the right to open the opening (see FIG. 1). The door drive unit 23 drives the door 22 to open and close it, and may be a motor, for example. This door drive section 23 may be directly connected to the support shaft, or may be connected to the support shaft via a gear.

The control unit 30 includes a control section 32 and an operation panel 33, as shown in FIG. The control unit 32 is arranged in a space within the rectangular parallelepiped main body that has the same size as each delivery warehouse 20 . The control unit 32 controls the entire stocker 11 and includes a CPU and a storage unit (not shown). The operation panel 33 is arranged at the center of the front panel 31. The operation panel 33 has a screen that allows touch operations. The operation panel 33 displays on the screen, for example, a guide image that displays operational guidance regarding the delivery and removal of the article A, an operation image that accepts input operations regarding the delivery and removal of the article A, and the like. This front panel 31 is provided with other devices such as a card reader, a code reader, a receipt stamp module, a camera module, a cylinder lock, an audio unit, and a human sensor. The control unit 32 unlocks or locks the door 22 based on information input by a user such as a deliverer or recipient by operating an operation panel 33 provided on the front panel 31 or other devices. conduct.

The transport device 50 is configured as a moving body that transports the article A and exchanges the article A with the stocker 11. The transport device 50 is a device that automatically moves between the storage where the articles A are stored and the stocker 11. As shown in FIG. 2, this transport device 50 includes a mounting table 51, an extension arm 52, a support table 53, a lifting guide 54, a storage section 56, a moving section 58, and a control device 59. There is. The mounting table 51 is a member on which articles A to be stored in the main body 21, articles A collected from the main body 21, and the like are placed. The mounting table 51 is a rectangular plate-shaped member, and is sent out from the storage section 56 by an extension arm 52 and is accommodated in the storage section 56 by the extension arm 52 . The extension arm 52 is a columnar member that is provided with a mounting table 51 on one end side and a support table 53 on the other end side. This extension arm 52 is extended and shortened by a drive section (not shown), and moves the mounting table 51 in and out of the storage section 56. The support table 53 is a member that moves up and down along the elevating guide 54 by a driving force from a drive unit (not shown), and supports the mounting table 51 via the extension arm 52. The elevating guides 54 are members in which grooves whose longitudinal direction is the vertical direction are formed, and are provided at two locations on each side wall of the accommodating portion 56 . The accommodating portion 56 is a space formed inside the main body of the transport device 50 and accommodating the article A. The moving unit 58 moves the transport device 50 and includes a drive motor and wheels. The control device 59 controls the entire device, and includes a CPU (not shown), a storage section, a communication section for communicating with external devices, and the like. The control device 59 acquires information such as the location of the target stocker 11, the location of the warehouse, and information on the article A to be moved from the management device 12 and the like via the communication unit. The control device 59 controls the moving unit 58 to move to the target stocker 11 or storage, and moves the mounting table 51 to exchange the article A. Note that although the transport device 50 is provided with one mounting table 51, one extension arm 52, and one support table 53 in the storage section 56, it may be provided with a plurality of these. Furthermore, although the conveying device 50 is configured to move the article A up and down within the storage section 56, it may have a space in which the article A is moved up and down separately from the storage section 56 that stores the article A.

Next, the operation when opening the door 22 in the delivery warehouse 20 configured as described above will be described. FIG. 3 is a flowchart illustrating an example of a door control routine executed by the control unit 32. FIG. 4 is an explanatory diagram of an example of opening the door 22, in which FIG. 4A is an explanatory diagram of opening based on an opening command of the transport device 50, and FIG. 4B is an explanatory diagram of opening based on an opening signal from the user M. The door control routine is stored in a storage unit included in the control unit 32, and is repeatedly executed at a predetermined timing after the control unit 30 is activated. When this routine is started, the control unit 32 determines whether information regarding the opening of the door 22 has been acquired (S100). If the information regarding the opening of the door 22 has not been acquired, this routine is immediately terminated.

On the other hand, in S100, when an opening command is obtained from the transport device 50, the door driving unit 23 is controlled in the first mode to open the door 22 at an opening degree that allows storing and taking out the article A, and the door 22 is opened. (S110). The control unit 32 may receive commands and information from the transport device 50 directly or indirectly via the management device 12. The former allows the processing time to be shortened, and the latter allows the management device 12 to manage the processing of the stocker 11 more reliably. Here, as shown in FIG. 4A, the control unit 32 controls the door drive unit 23 to open the door 22 in an angular range of 90° or more as a first aspect. The opening angle θ1 of the door 22 based on the opening command from the transport device 50 may be 90°, or may be greater than this, such as 100° or 120°. When the opening of the main body 21 is opened in this way, the transport device 50 can easily access this opening. Further, when fully opening the door 22, the control unit 32 may determine whether or not there are any obstacles around based on a captured image of a camera module (not shown), and then open the door 22. When the control device 59 of the transportation device 50 confirms that the door 22 is opened, it executes a predetermined operation. For example, the control unit 32 transmits information indicating that the door 22 is opened, and the control device 59 of the transportation device 50 receives the information directly or indirectly via the management device 12. The controller 59 of the transport device 50 may confirm that the door 22 has been opened. Alternatively, the control device 59 of the transportation device 50 may assume that the door 22 has been opened when it recognizes that a predetermined time has elapsed since the opening command was issued. Further, when the transport device 50 stores the article A in the main body 21, the control device 59 moves the article A in front of the corresponding main body 21, adjusts the height of the mounting table 51, and moves the mounting table 51 into the internal space of the main body 21. (see Figure 2B). When the work is completed, the control device 59 transmits a work end signal to the control unit 30 and/or the management device 12.

After S110, the control unit 32 determines whether the work of the transport device 50 has been completed based on the signal from the transport device 50 (S120), and if the work has not been completed, it remains on standby. On the other hand, when the work of the transport device 50 is completed, the control unit 32 controls the door drive unit 23 to close the door 22 (S130). Subsequently, the control unit 32 locks the door 22 (S170), stores the processing contents, outputs the processing contents to the management device 12 (S180), and ends this routine. In this way, the transport device 50 can automatically deliver the article A to the stocker 11.

On the other hand, when the opening signal from the user M is acquired in S100, the control unit 32 executes a second mode in which the user can recognize that the door is opened (S140). The control unit 32 acquires a release signal from the user M based on input from the operation panel 33. Note that the control unit 32 may acquire the release signal from the user M directly from the mobile terminal of the user M without using the operation panel 33 or indirectly through the management device 12 or the like. As shown in FIG. 4B, the control unit 32 opens the door 22 in the second mode at an opening angle θ2 that is smaller than the opening angle θ1 in the first mode. As a second aspect, the control unit 32 may control the door drive unit 23 to open the door 22 within an angular range of 45° or less. The opening angle θ2 based on the opening signal from the user M may be 45°, or may be smaller than 45°, 30° or less, or 20° or less. The user M can visually recognize the opening of the door 22 even if the opening angle is smaller. Moreover, when the opening angle is smaller, it is possible to further suppress the door 22 from coming into contact with passersby. After confirming that the door 22 is opened, the user M performs the desired work. For example, when the user M receives the article A, the user M moves in front of the main body 21 with the door 22 open, opens the door 22 further, takes out the article A stored inside, and then opens the door 22. will be closed.

After S140, the control unit 32 determines whether the door 22 is closed based on a signal from a door sensor (not shown) (S150), and if the door 22 is not closed, closes the door 22 after the work is completed. A message to that effect is displayed on the operation panel 33 (S160), and the processes from S150 onwards are executed. On the other hand, when the door 22 is closed in S150, the control unit 32 locks the door 22 (S170), stores the processing contents, outputs the processing contents to the management device 12 (S180), and executes this routine. finish. In this way, the stocker 11 can open the door 22 according to the user M and exchange the articles A.

Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The delivery warehouse 20 of this embodiment corresponds to the delivery warehouse of the present disclosure, the door 22 corresponds to a door, the door drive section 23 corresponds to a door drive section, the control section 32 corresponds to a control section, and the transportation device 50 corresponds to a moving object. In addition, in this embodiment, by explaining the operation of the stocker 11, an example of the stocker system of the present disclosure and the stocker control method of the present disclosure is also clarified.

In the stocker 11 of the present embodiment described above, the door driving unit 23 opens the door 22 at an opening degree that allows storing and taking out the article A when an opening command is received from the transport device 50 as a moving body. control. On the other hand, when the stocker 11 receives an opening signal from the user M, it executes a second mode in which the user M can recognize that the door 22 is opened, which is different from the first mode. It is difficult to access the main body 21 of the transport device 50 unless the door 22 is completely opened. Further, if the transport device 50 is provided with a mechanism for opening the door 22, a complicated operation is required to fully open the door 22. On the other hand, the user M can open the door 22 if he or she can visually confirm which door 22 is unlocked, so there is no need to fully open the door 22. In this manner, in this stocker 11, the door 22 is opened in a manner suitable for each of the transport device 50 and the user M. In this stocker 11, it is easy for the automatic transportation device 50 and the user M to store and take out the articles A.

Further, the door 22 is supported by a support shaft and rotates to open the delivery warehouse 20. When the control unit 32 receives an opening command from the transport device 50, the control unit 32 opens the door 22 at 90 in the first mode. The door driving unit 23 is controlled to open in an angle range of 1° or more. In this stocker 11, the entire surface of the delivery warehouse 20 is opened, so that the transportation device 50 can more easily access the interior of the delivery warehouse 20. Moreover, when the control unit 32 acquires the opening signal from the user M, the control unit 32 controls the door drive unit 23 to open the door in an angle range of 45° or less as a second mode. In this stocker 11, when the user M opens the door 22, the door 22 is opened with more restraint, so that it is possible to further suppress a situation such as a person coming into contact with the door. Furthermore, since the door driving section 23 rotates the support shaft to open and close the door 22, the stocker 11 can open and close the door 22 with a simple mechanism by rotating the support shaft.

The stocker system 10 also includes a management device 12 that manages the stocker 11 , and the control unit 32 acquires an opening command from the transport device 50 via the management device 12 . In this stocker 11, the door 22 is opened after being managed by the management device 12, so a security system and a management system are more preferable. Further, the stocker 11 includes an operation panel 33 that receives input from the user M, and the control unit 32 acquires a release signal from the user M from the operation panel 33. In this stocker 11, opening of the door 22 by the user M can be accepted using the operation panel 33.

It goes without saying that the present disclosure is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the embodiment described above, the control unit 32 opens the door 22 in an angle range of 45 degrees or less as the second mode, but the user M decides that the door 22 can be opened after being unlocked. As long as it can be recognized, the door may not be opened, but is not particularly limited to this. At this time, the control unit 32 may notify the user M that the lock has been released. FIG. 5 is an explanatory diagram of an example of notifying the user M that the door 22 is unlocked. As shown in FIG. 5, for example, the stocker 11 is assumed to have a light in each of the delivery warehouses 20, and the control unit 32 is configured to turn on the lights of the unlocked delivery warehouses 20 as a second aspect. Good too. Although FIG. 5 shows an example in which the door 22 is lit, a transparent or translucent member may be provided on the door 22 to illuminate the inside of the main body 21. Alternatively, the control unit 32 may display the position of the unlocked delivery warehouse 20 on the operation panel 33 as a second aspect. Even in this case, the user M can specify the unlocked delivery warehouse 20.

In the embodiment described above, the door 22 is pivoted by a support shaft and rotates to open the delivery warehouse 20. However, the door 22 is not particularly limited to this, and for example, the door 22 can be moved vertically or horizontally. It may also be a shutter that opens and closes the delivery warehouse 20. At this time, the door driving section 23 may move the shutter. In this stocker 11 as well, since the opening mode of the door 22 is changed depending on the automatic transporting device 50 and the user M, it is easy to store and take out the articles A.

In the above-described embodiment, the door driving unit 23 is described as one that rotationally drives the support shaft of the door 22, but the door driving unit 23 is not particularly limited to this as long as it can control the opening mode of the door 22. The portion 23 may be a mechanism that can adjust the opening degree of the door 22. FIG. 6 is an explanatory diagram of an example of the delivery warehouse 20B equipped with another door drive unit 24, in which FIG. 6A shows the door 22 in the closed state, FIG. 6B shows the second state, and FIG. 6C shows the door 22 in the first state. This is an open view. This delivery warehouse 20B includes a door drive section 24 that includes an arm member 41, a connecting section 42, a supporting section 43, and a guide shaft 44. The arm member 41 is a rod-shaped member that can be extended and shortened by a drive unit (not shown). The connecting portion 42 is a member rotatably connected to one end of the arm member 41 and the door 22. The support portion 43 is a member that is rotatably connected to the other end of the arm member 41 and slides along the guide shaft 44 . The support portion 43 is driven by a drive portion (not shown) and moves along the guide shaft 44 . The guide shaft 44 is arranged in the left-right direction along the opening edge of the delivery warehouse 20. In this door drive section 24, when the door 22 is in a closed state (FIG. 6A), by sliding the support section 43, the connecting section 42 is pushed out by the arm member 41, and the door 22 is opened (FIG. 6B). Moreover, by extending the arm member 41, the door 22 can be further opened (FIG. 6C). The stocker 11 can also control the opening mode of the door 22 using such a door drive section 24.

In the embodiment described above, the stocker 11 includes a plurality of delivery warehouses 20, but is not limited to this, and may include one delivery warehouse 20. Further, in the embodiment described above, the stocker system 10 has the management device 12 connected to the network 13, but the management device 12 may be omitted, or the functions of the management device 12 can be transferred to the control unit 32. It may be something to prepare for.

Here, the present disclosure may be configured as follows.

In the stocker of the present disclosure, the door is supported by a support shaft and rotates to open the delivery warehouse, and upon acquiring the opening command from the movable body, the control unit controls the door according to the first aspect. The door driving section may be controlled to open the door in an angular range of 90 degrees or more. In this stocker, the entire surface of the delivery warehouse is open, making it easier for mobile objects to access the inside of the delivery warehouse. In the stocker of the present disclosure in which a door rotates, when the control unit acquires an opening signal from the user, the control unit controls the door driving unit to open the door in an angle range of 45° or less as the second mode. It may also be used to control. In this stocker, when the user opens the door, the door is opened with more restraint, so it is possible to further prevent a person from coming into contact with the door. In addition, in the second aspect, it is sufficient that the user recognizes that the door is unlocked and can be opened, and the control unit may not open the door. At this time, the control unit may notify the user of unlocking. Further, in the stocker of the present disclosure in which the door rotates, the door driving section may open and close the door by rotationally driving the support shaft. In this stocker, the door can be driven by a simple mechanism by rotating the support shaft.

In the stocker of the present disclosure, the stocker system may further include a management device that manages the stocker, and the control unit may obtain a release command from the mobile object via the management device. In this stocker, the door is opened after being managed by a management device, so a security system and a management system are more preferable.

The stocker of the present disclosure may include an operation panel that receives an input from a user, and the control section may acquire a release signal from the user from the operation panel. In this stocker, opening of the door by the user can be accepted using the operation panel. Alternatively, the stocker may acquire the release signal from a mobile terminal owned by the user.

The stocker system of the present disclosure includes any one of the stockers described above and a movable body that transports articles, exchanges the articles with the stocker, and outputs a command to open the door near the stocker. be. Since this stocker system includes the stocker described above, it is possible to obtain effects depending on the mode of the stocker employed.

The stocker control method of the present disclosure includes:
Used in a stocker system having a stocker for storing articles and a movable body for transporting the articles and exchanging the articles with the stocker, a delivery warehouse for storing the articles, and a door capable of closing and locking the delivery warehouse; A method for controlling a stocker, comprising: a door drive unit that opens and closes the door;
When an opening command from the mobile object is obtained, the door driving section is controlled in a first manner to open the door at an opening degree that allows the article to be accommodated and taken out, and when an opening signal from the user is obtained, the door driving section is controlled in a first manner. implementing a second aspect in which the user can recognize that the door is open, unlike the first aspect;
This includes:

Similar to the stocker described above, this stocker control method allows the moving body and the user to open the door in a manner suitable for each of them, making it easy for the automatically transporting moving body and the user to store and take out articles. In addition, in this stocker control method, various aspects of the stocker and stocker system described above may be adopted, or steps may be added to realize each function of the stocker and stocker system described above. .

The stocker of the present disclosure can be used in the technical field of product distribution systems that deliver products.

10 stocker system, 11 stocker, 12 management device, 13 network, 20, 20B delivery warehouse, 21 main body, 22 door, 23, 24 door drive section, 30 control unit, 31 front panel, 32 control section, 33 operation panel, 41 Arm member, 42 connection section, 43 support section, 44 guide shaft, 50 transport device, 51 mounting table, 52 extension arm, 53 support table, 54 lifting guide, 56 storage section, 58 moving section, 59 control device, A article, M User, θ1, θ2 Opening angle.

Claims (6)

A stocker used in a stocker system including a stocker that stores articles and a moving body that transports the articles and exchanges the articles with the stocker,
A delivery warehouse for storing goods;
a door that can close and lock the delivery warehouse;
a door drive unit that is a mechanism that opens and closes the door and can adjust the degree of opening of the door ;
Controlling the door driving unit in a first manner in which, upon receiving an opening command from the moving body, the door is opened at an opening degree that allows the article to be accommodated and taken out, and when the work of the moving body is completed, the door is closed. However, when an open signal from the user is obtained, a second mode is executed in which the user can recognize that the door is open, which is different from the first mode, and then it is determined whether or not the door is closed. a control unit that outputs a message to close the door when it is determined that the door is not closed;
Equipped with
The door driving section is
an arm member that can be extended and shortened by a drive unit;
a connection portion rotatably connected to one end of the arm member and the door;
a guide shaft disposed along the open end of the delivery warehouse;
a support portion rotatably connected to the other end of the arm member and sliding along the guide shaft;
Stocker with . The door is supported by a support shaft and rotates to open the delivery warehouse,
The stocker according to claim 1, wherein the control unit controls the door driving unit to open the door in an angular range of 90° or more as the first mode when acquiring an opening command from the moving body. . The stocker according to claim 2, wherein the control unit controls the door drive unit to open the door in an angular range of 45° or less as the second mode when acquiring an opening signal from the user. . The stocker system further includes a management device that manages the stocker,
The stocker according to any one of claims 1 to 3 , wherein the control unit obtains a release command from the mobile object via the management device. The stocker according to any one of claims 1 to 4 ,
Equipped with an operation panel that accepts input from the user,
The control unit acquires a release signal from the user from the operation panel of the stocker. The stocker according to any one of claims 1 to 5 ,
a mobile body that transports articles, exchanges the articles with the stocker, and outputs a command to open the door near the stocker;
A stocker system equipped with

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