JP7423194B2 - Mobile containment device and delivery method using the same - Google Patents

Description

The present invention relates to a mobile storage device and a delivery method using the same.

BACKGROUND ART Conventionally, for example, a storage device such as that proposed in the delivery system of Patent Document 1 has been known.

The storage device of Patent Document 1 includes a storage section for storing the luggage carried by the drone in a state stored in the luggage carrier, and a hole formed in the upper part of the storage part corresponding to the size of the luggage carrier. a detection section for detecting the cargo conveyance device disposed in the opening, and a notification section for notifying the detection result by the detection section. Then, the drone grasps the upper part of the luggage carrier housed in the accommodation device and transports the luggage carrier and the luggage stored in the luggage carrier.

JP2018-203056A

However, in the storage device of Patent Document 1, when taking out the stored baggage, it is necessary to take out the baggage from the storage device while it is stored in the baggage carrier, and then to take out the baggage from the baggage carrier. . That is, the storage device of Patent Document 1 has a problem in that it takes time and effort to take out the desired stored baggage.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a mobile type storage device and a delivery method using the mobile storage device, which makes it possible to easily take out desired stored items.

In order to solve the above problems, a mobile storage device according to the present invention includes a storage section for storing a plurality of articles, and a storage section for holding a desired article from among the plurality of articles stored in the storage section. and a housing that is portable with the storage section and the robot built therein, and the robot takes the desired article to a takeout port provided in the housing. It is characterized by being transportable.

According to the above configuration, the mobile storage device according to the present invention includes a housing that is portable with the storage section and the robot built therein, and the robot takes the desired article to the takeout port formed in the housing. Since it is transportable, desired stored items can be easily taken out.

The housing may be provided with at least one of wheels and a handle.

According to the above configuration, it is possible to improve mobility.

The power assist device further includes a power assist device for reducing a burden on a worker when carrying the casing, and the power assist device detects an external force applied by the worker to the wheels, the handle, and the handle. The vehicle may include an external force sensor for driving the wheels, an electric motor for driving the wheels, and a control device for controlling the operation of the electric motor based on a detection value of the external force sensor.

According to the above configuration, it is possible to further improve mobility.

The robot may further include a battery for driving at least the robot.

According to the above configuration, it is possible to improve mobility.

The casing has an opening bored at a position corresponding to the accommodating part so as to include the entire range of the accommodating part when viewed from the front, and an opening/closing member for opening and closing the opening, The robot may be placed in the housing so as to face the opening of the housing through the housing.

According to the above configuration, it becomes possible to easily perform the work of loading and accommodating a plurality of articles into the accommodating section.

For example, the opening of the housing is formed in a first portion of a side surface of the housing, and the take-out opening of the housing is located in a second direction perpendicular to a first direction connecting the robot and the opening of the housing. The perforation may be provided in at least one of the second and third portions of the side surfaces of the housing that face each other in the direction.

For example, the robot may include a robot arm having at least one joint axis, and an end effector attached to the tip of the robot arm for holding the desired article.

For example, the robot may further include a search device for searching for a desired article among a plurality of articles stored in the storage section, and the robot may bring the desired article found by the search device to the takeout port. It may also be transportable.

For example, each of the plurality of articles may be a delivery item, and may be transportable on the loading platform of a truck for delivering the delivery item.

According to the above configuration, by using the mobile type storage device according to the present invention, a part of the delivery work in the final leg from the delivery logistics base to the individual's home (the so-called "last mile") can be realistically automated. can do.

The robot may further include a conversion device for converting the form of electric power supplied from the power source of the truck into at least a form usable by the robot.

According to the above configuration, it is possible to drive at least the robot disposed within the housing using electric power supplied from the power source of the truck.

In order to solve the above-mentioned problems, a delivery method according to the present invention is a delivery method using any of the above-mentioned mobile storage devices, wherein a first step of storing the plurality of items to be delivered in the storage section is provided. After performing the first step, a second step of carrying the storage device and placing the storage device on the loading platform of the truck, and after performing the first and second steps, a third step of driving a car to a delivery destination of one of the plurality of delivery items, and a plurality of items stored in the storage section by the robot after performing at least the first step; a fourth step of holding and taking out a desired article from inside and transporting the desired article to a take-out port formed in the casing; and after carrying out the first to fourth steps; The present invention is characterized by comprising a fifth step of carrying the desired delivery item present at the take-out port to the delivery destination.

According to the above configuration, since the delivery method according to the present invention uses any of the mobile storage devices described above, it becomes possible to easily take out the desired stored items. Further, the delivery method according to the present invention can realistically automate a part of the delivery work in the final section (so-called "last mile") from the delivery distribution base to the individual's home.

The fourth step may be performed while the third step is being performed.

According to the above configuration, the desired delivery item is transported to the take-out port drilled in the housing while traveling to any of the delivery destinations, so the delivery work can be carried out efficiently. Become.

The fourth step may be performed while the truck is temporarily stopped in the third step.

According to the above configuration, since no vibration is generated due to movement while the desired delivery item is being transported to the take-out port drilled in the housing, the desired delivery item is reliably transported to the take-out port. becomes possible.

The fourth step may be performed after performing the first to third steps.

According to the above configuration, since no vibration is generated due to movement while the desired delivery item is being transported to the take-out port drilled in the housing, the desired delivery item is reliably transported to the take-out port. becomes possible.

According to the present invention, it is possible to provide a storage device and a delivery method using the storage device that can easily take out a desired stored article.

FIG. 1 is an external perspective view of a mobile storage device according to an embodiment of the present invention. 1 is a schematic diagram showing the internal structure of a mobile storage device according to an embodiment of the present invention. FIG. 2 is a schematic plan view of a robot arm and an end effector included in a mobile accommodation device according to an embodiment of the present invention. FIG. 3 is a schematic diagram showing a part of the interval changing mechanism included in the mobile storage device according to the embodiment of the present invention. FIG. 2 is a block diagram showing a control system of a robot included in a mobile accommodation device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a search device and its peripheral parts included in a mobile accommodation device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a power assist device and its peripheral parts included in a mobile accommodation device according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing a worker loading parcels into a mobile storage device according to an embodiment of the present invention. 1 is a schematic diagram showing a mobile storage device according to an embodiment of the present invention being carried by a worker; FIG. 1 is a schematic diagram showing a state in which a mobile storage device according to an embodiment of the present invention is mounted on a truck and is being moved. FIG. 2 is a schematic diagram illustrating a mobile storage device according to an embodiment of the present invention holding and taking out a desired delivery item from among a plurality of delivery items stored on a shelf; FIG. 3B is a diagram showing a state in which the member is inserted into a groove formed in the shelf, and FIG. FIG. 2 is a schematic diagram illustrating how a desired delivery item is being taken out by a worker from a mobile storage device according to an embodiment of the present invention. 1 is a flowchart illustrating an example of a home delivery method using a mobile storage device according to an embodiment of the present invention.

Hereinafter, a storage device according to an embodiment of the present invention will be described based on the accompanying drawings. Note that the present invention is not limited to this embodiment. Further, in the following description, the same or corresponding elements are given the same reference numerals throughout all the figures, and redundant explanation thereof will be omitted.

(Mobile type accommodation device 10)
FIG. 1 is an external perspective view of a mobile storage device according to this embodiment. Moreover, FIG. 2 is a schematic diagram showing the internal structure of the accommodation device. The mobile storage device 10 (hereinafter simply referred to as the "accommodation device 10" unless otherwise required) according to the present embodiment delivers multiple parcels D (multiple articles or multiple deliveries). It is applied and used in the field. Specifically, the storage device 10 is used to transport the parcel D in the final section (so-called "last mile") from the distribution base for parcel delivery to a private home.

As shown in FIGS. 1 and 2, the storage device 10 according to the present embodiment includes a shelf 40 (accommodating section) for storing a plurality of delivery items D, and a storage unit for storing a plurality of delivery items D stored in the shelf 40. It includes a robot 60 that can hold and take out a desired delivery item D from inside, and a casing 20 that can be carried around with a shelf 40 and the robot 60 built therein.

(Case 20)
The housing 20 includes a bottom plate 21 that is rectangular in plan view, a front plate 22 that stands up on the front edge of the bottom plate 21, a back plate 23 that stands up on the rear edge of the bottom plate 21, and a right end of the bottom plate 21. A box body consisting of a right side plate 24 standing on the edge, a left side plate 25 standing on the left side edge of the bottom plate 21, the bottom plate 21, the front plate 22, the back plate 23, the right side plate 24, and the left side plate 25. It has a top plate 26 provided so as to cover the top surface.

In the following description, the direction connecting the bottom plate 21 and the top plate 26 will be referred to as the height direction or the vertical direction, and the direction connecting the front plate 22 and the back plate 23 will be referred to as the width direction or the front-back direction (first direction). In addition, the direction connecting the right side plate 24 and the left side plate 25 is referred to as the longitudinal direction or the left-right direction (second direction).

A rail 28a extending in the longitudinal direction from the right side plate 24 to the vicinity of the left side plate 25 is provided on a portion of the bottom plate 21 of the housing 20 on the front plate 22 side. Furthermore, a rail 28b is provided in a portion of the top plate 26 of the housing 20 that corresponds to the rail 28a. A mover 29a is provided on the rail 28a, which is movable with wheels (not shown) on the rail 28a, and a mover 29a is provided on the rail 28b, which is movable with wheels (not shown) on the rail 28b. A mover 29b is provided. At least one of the movers 29a and 29b is provided with a servo motor 76e (see FIG. 5) whose operation is controlled by a robot control device 70, which will be described later.

The housing 20 is further provided with a connecting shaft 30 for connecting the movers 29a and 29b. The connecting shaft 30 is arranged to extend in the height direction. According to the above configuration, the connecting shaft 30 and the movers 29a and 29b are respectively movable in the longitudinal direction within the housing 20 integrally with the robot arm 61 and the end effector 50, which will be described later.

The back plate 23 (the first part of the side surface of the housing) of the housing 20 has an opening 32 (an opening/closing member) bored at a position corresponding to the shelf 40 so as to cover the entire range of the shelf 40 when viewed from the front. , see FIG. 8) and hinged doors 33a and 33b (same as the front) for opening and closing the opening 32. The hinged doors 33a and 33b are provided so as to be able to be opened and closed from the center of the opening 32 in the longitudinal direction to both sides.

Further, a take-out port 34 for taking out a desired delivery item D from inside the case 20 is bored in the left side plate 25 of the case 20 (either the second part or the third part of the side surface of the case). Ru. A temporary storage shelf 36 for temporarily storing a desired delivery item D is provided in a portion of the bottom plate 21 of the housing 20 adjacent to the takeout port 34. The temporary storage shelf 36 is configured to temporarily store three desired delivery items D vertically side by side.

(Shelf 40)
The shelf 40 extends longitudinally along the inner surface of the closed hinged doors 33a and 33b of the housing 20 (in other words, the opening 32 formed in the housing 20). , 33b and the inner surface of the right side plate 24. The shelf 40 includes four pillars 42a to 42d erected on the bottom plate 21 of the housing 20, and four plate members 44a to 44d constructed from the pillars 42a and 42b to the pillars 42c and 42d. have

Specifically, the struts 42a and 42b are erected at a predetermined distance from each other at a portion adjacent to the right side plate 24 of the bottom plate 21 of the housing 20, and the struts 42c and 42d are installed at a portion adjacent to the right side plate 24 of the bottom plate 21 of the housing 20. They are erected in the vicinity at predetermined intervals. The four plate-like members 44a to 44d are installed so as to extend horizontally in parallel with each other from the pillars 42a and 42b to the pillars 42c and 42d, respectively.

The shelf 40 has a placement surface 45 on each of the plate-like members 44a to 44d, and can accommodate the delivery item D while being placed on the placement surface 45 (see FIG. 11, etc.). A plurality of grooves 46 are formed in the mounting surface 45, extending from a first edge on the side where the robot 60 is placed to a second edge on the opposite side (same as above).

(Robot 60)
FIG. 3 is a schematic plan view of the robot arm and end effector included in the mobile accommodation device according to the present embodiment. As shown in FIG. 3, the robot 60 includes a robot arm 61 having three joint axes JT1 to JT3 (at least one joint shaft), and is attached to the tip of the robot arm 61 to hold a desired delivery item D. and a robot control device 70 (see FIG. 5, etc.) for controlling the operations of the robot arm 61, the end effector 50, and the movers 29a and 29b described above.

The robot arm 61 includes an attachment part 62 attached to the above-mentioned connecting shaft 30, three links 64a to 64c made up of members extending in the horizontal direction, and joint shafts JT1 to JT3 that sequentially connect the three links 64a to 64c. and has.

The attachment part 62 is provided at the base end of the robot arm 61. A through hole 63 is bored in the attachment portion 62, and the above-mentioned connecting shaft 30 is inserted into the through hole 63. Thereby, the robot arm 61 and the end effector 50 are controlled by the robot control device 70 and can move on the connecting shaft 30 in the height direction.

The link 64a has its base end attached to the attachment portion 62 via a joint shaft JT1 driven by a servo motor 76a. As a result, the link 64a is attached to the attachment portion 62 in a rotatable state around an axis extending in the height direction.

The base end of the link 64b is attached to the distal end of the link 64a via a joint shaft JT2 driven by a servo motor 76b. Thereby, the link 64b is attached to the link 64a in a rotatable state around an axis extending in the height direction.

The base end of the link 64c is attached to the distal end of the link 64b via a joint shaft JT3 driven by a servo motor 76c. Thereby, the link 64c is attached to the link 64b in a rotatable state around an axis extending in the height direction.

The end effector 50 has its proximal end attached to the distal end of the link 64c. The end effector 50 includes two claw members 58a and 58b that can be inserted into each of the plurality of grooves 46 formed in the placement surface 45 of the shelf 40 from the first edge side on which the robot 60 is placed. , and a spacing changing mechanism 51 for changing the spacing between the claw members 58a and 58b.

FIG. 4 is a schematic diagram showing a part of the interval changing mechanism included in the mobile storage device according to the present embodiment. As shown in FIGS. 3 and 4, the interval changing mechanism 51 includes a frame 52 formed in the shape of a hollow rectangular parallelepiped, two bevel gears 54a and 54b provided inside the frame 52, and the same frame body. It has two racks 56a and 56b provided inside the rack 52.

The proximal end of the claw member 58a is fixed to the rack 56a, and extends linearly to the outside of the frame 52. Further, the claw member 58b has its base end fixed to the rack 56b, and extends straight to the outside of the frame 52 in parallel with the claw member 58a.

Here, a servo motor 76d is provided at the tip of the robot arm 61 (in other words, the tip of the link 64c). The servo motor 76d is arranged inside the link 64c so that its rotation shaft rotates in the torsional direction of the link 64c.

The base end portion of the bevel gear 54a described above is attached to the rotating shaft of the servo motor 76d. The bevel gear 54a is arranged so that its axis is located on the same straight line as the rotation axis of the servo motor 76d. A bevel gear 54b is arranged at the tip of the bevel gear 54a so as to mesh with the bevel gear 54a. The bevel gear 54b is arranged such that its axis extends vertically downward from the portion where it meshes with the bevel gear 54a.

The above-mentioned racks 56a and 56b are respectively engaged with a pinion 55 provided at the lower end of the bevel gear 54b. Specifically, the above-mentioned rack 56a is engaged with a portion on one side of the pinion 55 in the radial direction (here, a portion located on the distal end side of the end effector 50). Further, the above-mentioned rack 56b is engaged with the other portion of the pinion 55 in the radial direction (here, the portion located on the proximal end side of the end effector 50). The spacing changing mechanism 51 is arranged so that the racks 56a and 56b move to opposite sides within the frame 52 as the pinion 55 (that is, the bevel gear 54b) rotates, thereby changing the spacing between the claw members 58a and 58b. It is composed of

FIG. 5 is a block diagram showing a robot control system included in the mobile accommodation device according to the present embodiment. As shown in FIG. 5, the robot control device 70 includes at least a memory 72 (storage device) for storing programs, and a processor 74 (processing device) for executing the programs stored in the memory 72. have Although the specific configuration of the robot control device 70 is not particularly limited, it may be realized, for example, by a CPU (Central Processing Unit) operating according to a program stored in a memory.

Then, the robot 60 holds and takes out a desired delivery item D found by a search device 80, which will be described later, from among the plurality of delivery items D stored in the shelf 40, and places the desired delivery item D in the case. It can be transported to a take-out port 34 formed in the body 20.

(Search device 80)
FIG. 6 is a block diagram showing the search device and its peripheral parts included in the mobile accommodation device according to the present embodiment. As shown in FIG. 6, the storage device 10 according to the present embodiment further includes a search device 80 for searching for a desired delivery item D from among the plurality of delivery items D stored on the shelf 40.

The search device 80 includes the robot 60 described above, an imaging device 82 provided at the tip of the robot 60, and an analysis device 84 for analyzing image information captured by the imaging device 82. Note that, as shown in FIG. 6, the analysis device 84 may be configured as a part of the robot control device 70, or may be provided separately from the robot control device 70.

As shown in FIG. 6, the housing device 10 according to the present embodiment further includes a battery 86 (at least a battery for driving the robot) for driving a search device 80 and a power assist device 90 (described later). The accommodation device 10 also includes a conversion device 88 (at least a robot It further includes a conversion device for converting the device into a form usable in the.

(Power assist device 90)
FIG. 7 is a block diagram showing the power assist device and its peripheral parts included in the mobile accommodation device according to the present embodiment. As shown in FIG. 7, the accommodation device 10 according to the present embodiment may further include a power assist device 90 for reducing the burden on the worker P (see FIG. 8, etc.) when carrying the housing 20. .

The power assist device 90 includes four wheels 98 provided near the four corners of the bottom surface of the bottom plate 21 of the housing 20, and two wheels 98 provided on the left side plate 25 side of the housing 20 among the four wheels 98. It has at least an electric motor 99 for driving.

The power assist device 90 also includes an operating device 92 attached to the outer surface of the left side plate 25 of the housing 20, and a handle 94 (handle) provided to protrude from the front and rear sides of the operating device 92, respectively. It also has. Note that the operating device 92 has, for example, not only a configuration for operating the power assist device 90 but also a switch for switching on and off the power of the robot 60 and the search device 80 built in the accommodation device 10. You may.

The power assist device 90 includes an external force sensor 96 for detecting an external force applied by the worker P (see FIG. 8, etc.) to the handle 94, and an electric motor 99 based on the detected value of the external force sensor 96. It further includes a control device 95 for controlling the operation. When an external force is applied to the handle 94 by the worker P such that the handle 94 rotates about its axis, the control device 95 controls the electric motor 99 based on, for example, the direction and magnitude of the external force. The rotation speed may be changed.

(Example of home delivery method)
Next, based on FIGS. 8 to 13, an example of a delivery method for transporting a delivery item D from a delivery distribution base to an individual's home using the storage device 10 according to the above embodiment will be described. Further, the effects achieved by the accommodation device 10 according to the embodiment described above will also be explained.

FIG. 8 is a schematic diagram showing a worker loading parcels into the mobile storage device according to the above embodiment. First, as shown in FIG. 8, at a delivery distribution base, a worker P opens the hinged doors 33a and 33b provided on the back plate 23 of the casing 20, and displays a plurality of shelves 40 from the opening 32 of the casing 20. Load delivery D. After loading all the deliveries D onto the shelf 40, the worker P closes the swing doors 33a and 33b.

Here, the opening 32 of the housing 20 is bored at a position corresponding to the shelf 40 so as to include the entire range of the shelf 40 when viewed from the front, and the robot 60 opens the opening of the housing 20 through the shelf 40. 32 in the housing 20, the worker P can easily load and store a plurality of parcels D on the shelf 40.

Further, since the robot 60 and the search device 80 are arranged in the storage device 10, when loading the plurality of parcels D into the storage device 10, the worker P can load each parcel D into the storage device 10 based on the delivery route. There is no need to consider the storage location within the shelf 40. Thereby, the worker P can perform the loading work even more easily.

Note that it is preferable that the worker P loads the plurality of delivery items D onto the shelf 40 so that each invoice is located on the front plate 22 side or the top plate 26 side of the housing 20. This makes it easier for the search device 80 to search for the desired delivery item D. In this embodiment, step S1 (first step) shown in FIG. 13 is performed as described above.

FIG. 9 is a schematic diagram showing how the mobile storage device according to the above embodiment is being carried by a worker. Next, as shown in FIG. 9, the worker P operates the power assist device 90 while holding the handle 94 to carry the storage device 10 to the truck V (see FIG. 10, etc.).

At this time, the worker P can easily carry the storage device 10 using the handle 94 and four wheels 98 provided on the housing 20. In other words, the housing device 10 is equipped with the handle 94 and four wheels 98, thereby making it possible to improve its mobility.

Further, the operator P can change the speed of the casing 20 by, for example, applying an external force to the handle 94 such that the handle 94 rotates about its axis. That is, the power assist device 90 allows the worker P to carry the housing 20 more easily. In other words, by including the power assist device 90, the housing device 10 can further improve its mobility.

Furthermore, by including the battery 86 for driving the power assist device 90, the accommodation device 10 can further improve its mobility.

Then, the worker P loads the storage device 10 onto the loading platform LC of the truck V. At this time, the worker P may load the storage device 10 onto the cargo platform LC of the freight vehicle V using, for example, a cargo handling device (not shown) such as a forklift. In this embodiment, two storage devices 10, 10 are loaded onto the loading platform LC of the freight vehicle V (see FIG. 12).

Note that the loading platform LC of the freight vehicle V has an opening formed on the back side, and a hinged door is provided in the opening so as to open from the center to both sides (see above). The worker P opens the hinged door of the loading platform LC of the truck V, and loads the storage devices 10, 10 onto the loading platform LC so that the take-out ports 34 of each of the storage devices 10, 10 are located on the opening side of the loading platform LC. After that, the worker P, for example, operates the operating device 92 of each of the storage devices 10 and 10 to turn on the power of the robot 60 and the search device 80, and then opens the hinged door of the loading platform LC of the freight vehicle V. close. In this embodiment, step S2 (second step) shown in FIG. 13 is performed as described above.

When the power is turned on, the searching device 80 searches the image information of the invoice (that is, the image information of the delivery destination) affixed to the top or side surface of each of the plurality of delivery items D stored in the shelf 40 to the robot. The image is captured and acquired by the imaging device 82 while changing the posture of the arm 61. At this time, the accommodation device 10 is equipped with the conversion device 88 and can drive the search device 80 using electric power supplied from the power source PS of the freight vehicle V. Note that the accommodation device 10 can also drive the search device 80 using power supplied from the battery 86 described above.

For example, the search device 80 moves the imaging device 82 (i.e., the tip of the robot arm 61) from one end of the uppermost plate-like member 44d of the shelf 40 to the other end in the left-right direction, and moves the imaging device 82 onto the plate-like member 44d. Image information is acquired by capturing images of the upper surfaces of the plurality of delivered items D placed thereon. Next, the search device 80 moves the imaging device 82 from the other end to one end in the left-right direction of the uppermost plate member 44d of the shelf 40, and moves the plurality of delivery items D stored on the plate member 44d. The front side of the camera is imaged to obtain image information.

Furthermore, the search device 80 also detects the upper surfaces of the plurality of parcels D stored in the second plate-like member 44c from the top, the third plate-like member 44b from the top, and the lowest plate-like member 44a, respectively. The front side is also imaged in the same way to obtain image information of the delivery destination. By acquiring image information in this way, for example, even if there is a mixture of delivery items D with an invoice attached to the front and delivery items D with an invoice attached to the top, it is possible to It becomes possible to obtain image information of the delivery destination of each delivery item D without any problem. The imaging device 82 transmits the image information of the delivery destination of each of the plurality of delivery items D thus obtained to the analysis device 84 . Note that in this embodiment, the imaging device 82 acquires image information that allows the size of the multiple delivery items D (for example, the length of the bottom in the width direction) to be recognized, and sends the image information to the analysis device 84. and send.

The search device 80 also transmits the position information of the tip of the robot arm 61 or the posture of the robot arm 61 when the imaging device 82 captures the image information of the delivery destination of each of the plurality of delivery items D to the robot control device 70. . Thereby, the robot 60 holds and takes out the desired delivery item D from among the plurality of delivery items D stored in the shelf 40 based on the acquired positional information of the tip of the robot arm 61 or the posture of the robot arm 61. becomes possible.

The analysis device 84 analyzes the delivery destination of each of the plurality of delivery items D based on the acquired image information of the delivery destination. Then, the analysis device 84 determines a delivery route for efficiently delivering the plurality of parcels D stored in the storage device 10, based on the analyzed delivery destinations of the plurality of parcels D. Note that at this time, the analysis device 84 determines the delivery route based on the location information of the storage device 10 that can be obtained from a GPS control device, which will be described later, in addition to the location information of each of the plurality of parcels D. good. The delivery route determined in this manner may be output from an output device such as a display disposed in the driver's seat DS of the freight vehicle V, for example. Furthermore, the analysis device 84 recognizes the size of each of the plurality of delivery items D from the acquired image information.

FIG. 10 is a schematic diagram showing a state in which the mobile storage device according to the above embodiment is mounted on a truck and is being moved. As shown in FIG. 10, after loading the storage devices 10, 10 onto the loading platform LC of the freight vehicle V, the worker P, for example, sends the storage devices 10, 10 to multiple locations from the delivery logistics base based on the delivery route determined by the analysis device 84. A freight vehicle V is driven to one of the delivery destinations of the delivery items D.

Here, the accommodation devices 10, 10 may further include a GPS control device (not shown) and a GPS receiver (same as above) that constitute a part of a GPS (Global Positioning System). good. Further, the GPS control device may include at least a storage device (same as above) for storing a program and a processing device (same as above) for executing a program stored in the storage device.

The GPS control device receives GPS signals from GPS satellites via a GPS receiver. Then, the GPS control device may, for example, transmit its own location information (that is, the location information of the accommodation device 10) to a smartphone or a PC (Personal Computer) owned by the person at the delivery destination. Thereby, the person at the delivery destination can grasp the delivery status of the delivery item D addressed to him/her. In this embodiment, step S3 (third step) shown in FIG. 13 is performed as described above.

FIG. 11 is a schematic diagram showing how the mobile storage device according to the above embodiment holds and takes out a desired delivery item from among a plurality of delivery items stored on a shelf; (B) is a diagram showing a state in which the claw member is inserted into a groove formed in the shelf, and (B) is a diagram in which the claw member is moved upward to lift a desired delivery item. As shown in FIG. 11, while moving the plurality of delivery items D (multiple articles or plural delivery items) to any one of the delivery destinations in step S3, the robot 60 places them on the shelf 40. A desired delivery item D is held and taken out from among a plurality of housed delivery items D, and the desired delivery item D is conveyed to a take-out port 34 formed in the casing 20.

Specifically, the robot control device 70 controls the desired first delivery item D ₁ stored in the memory 72 (the first delivery item D ₁ placed on the left side in FIG. 13. Hereinafter, unless particularly necessary, , simply referred to as the "first delivery item D ₁ "), the robot arm 61 changes its posture and moves the claw members 58a and 58b to the lower side in front of the first delivery item D ₁ . Further, the robot control device 70 changes the distance between the claw members 58a and 58b to the size of the first delivery object _D1 using the interval changing mechanism 51 based on the information regarding the size of the first delivery object _D1 stored in the memory 72. Change the interval accordingly. Then, the robot control device 70 connects the first edge 45a of the placement surface 45 to the groove 46 located below the first delivery object _D1 among the plurality of grooves 46 formed in the placement surface 45 of the shelf 40. The operations of the robot arm 61 and the end effector 50 are controlled so that the claw members 58a, 58b are inserted from the side.

After that, the robot control device 70 moves the robot arm 61 and the end effector 50 so that the claw members 58a, 58b are moved upward and separated from the groove 46 and the mounting surface 45. Control behavior. Furthermore, the robot control device 70 controls the operation of the robot arm 61 and the end effector 50 so as to temporarily place the held first delivery item D ₁ on the temporary storage shelf 36 disposed adjacent to the takeout port 34 . do.

As described above, in this embodiment, the robot 60 inserts the two claw members 58a and 58b into the groove 46 located below the delivery item _D1 placed on the shelf 40, and , 58b upward, it is possible to lift and hold the delivery item _D1 . Therefore, the robot 60 according to the present embodiment has a simpler structure than the case where the delivery items D stored in the shelf 40 are held by suction with a suction pad attached to the tip of the robot arm. ₁ can be held and taken out.

Furthermore, in this embodiment, the end effector 50 has the two claw members 58a and 58b, so that the delivery item _D1 can be stably handled compared to the case where the end effector 50 has only one claw member. It becomes possible to hold the

Furthermore, this embodiment further includes an interval changing mechanism for changing the interval between the two claw members 58a, 58b, so that the interval between the two claw members 58a, 58b can be adjusted appropriately depending on the size of the delivery item _D1 . It becomes possible to change.

In this embodiment, step S4 (fourth step) shown in FIG. 13 is performed as described above.

FIG. 12 is a schematic diagram showing how a desired delivery item is being taken out by a worker from the mobile storage device according to the present embodiment. As shown in FIG. 12, when the worker P gets off the driver's seat DS and opens the swing door of the loading platform LC, the delivery item _D1 can be taken out from the takeout port 34 drilled in the housing 20. . Thereby, the worker P can easily take out the delivery item _D1 from the storage device 10. Finally, the worker P carries the delivery item _D1 present at the take-out port 34 to the delivery destination. In this embodiment, step S5 (fifth step) shown in FIG. 13 is performed as described above.

Here, for example, in logistics bases for home delivery, automation has been actively promoted using DA (Distribution Automation, a system that aims to automate distribution) using robots and AGV (Automated guided vehicles). It is being However, for example, automation has not progressed much in the last leg of delivery from a distribution center to a person's home (the so-called "last mile").

In the last mile, attempts are being made to further automate the last mile by, for example, installing delivery boxes in self-driving unmanned cars and using drones. However, in the former case, there were concerns about safety, and in the latter case, there was a problem in that the amount that could be delivered at one time was limited. This has made it difficult in reality to automate the last mile delivery process.

On the other hand, by using the storage device 10 according to the embodiment described above, it is possible to transport a plurality of parcels D by loading them onto the loading platform LC of the truck V driven by the worker P, so there is a concern about safety. There is no limit to the amount that can be delivered at one time. Therefore, by using the storage device 10, it is possible to realistically automate part of the last mile delivery work.

(Modified example)
From the above description, many modifications and other embodiments of the invention will be apparent to those skilled in the art. Accordingly, the above description is to be construed as illustrative only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Substantial changes may be made in the structural and/or functional details thereof without departing from the spirit of the invention.

In the embodiment described above, the end effector 50 has two claw members 58a, 58b, and after inserting the claw members 58a, 58b into the grooves 46 formed in the mounting surface 45 of the shelf 40, the claw members 58a, 58b are A case has been described in which a desired delivery item D is lifted and held by moving the item D upward. However, the end effector 50 is not limited to this case, and the end effector 50 may, for example, hold the delivery item D by adsorbing it with negative pressure, may hold the delivery item D by pinching it, or may hold the delivery item D by holding it therein. The delivery item D may be held in this manner.

In the above embodiment, a case has been described in which the end effector 50 has two claw members 58a and 58b. However, the present invention is not limited to this case, and the end effector 50 may have only one claw member, or may have three or more claw members. In addition, when the end effector 50 has only one claw member, in order to hold the delivery item D (article) in a stable state, the width of the claw member is set to the width of each of the two claw members 58a and 58b shown in FIG. It is preferable to make it larger compared to the width.

Note that when the end effector 50 has only one claw member, the robot 60 does not need to include the interval changing mechanism 51 for changing the interval between the two claw members 58a and 58b. Furthermore, when the end effector 50 has three or more claw members, the interval changing mechanism 51 may be configured to appropriately change the intervals between the three claw members.

In the above embodiment, a case has been described in which the operating device 92 attached to the outer surface of the left side plate 25 of the housing 20 is used to switch the power of the robot 60 and the search device 80 on and off. However, the invention is not limited to this case, and for example, an operating device for switching on and off the power of the robot 60 and the search device 80 may be arranged in the driver's seat DS of the freight vehicle V.

In the above embodiment, a case has been described in which a temporary storage shelf 36 for temporarily storing a desired delivery item D is arranged adjacent to the takeout port 34 formed in the housing 20. However, the present invention is not limited to this case. For example, the robot 60 holds the delivery item D at the takeout port 34 without providing the temporary storage shelf 36, and directly receives the desired delivery item D from the robot 60 to the worker P. You can also pass it on.

In the above embodiment, a case has been described in which the outlet 34 is provided only in the left side plate 25 of the housing 20, but the present invention is not limited thereto. That is, the outlet 34 may be provided in at least one of the front plate 22, the back plate 23, the right side plate 24, the left side plate 25, and the top plate 26 of the housing 20.

In the above embodiment, a case has been described in which the housing 20 has a rectangular parallelepiped shape, but the present invention is not limited to this. For example, the housing 20 may have a cubic shape, a polygonal column shape other than a quadrangular column, or a cylindrical shape. Alternatively, the casing 20 may have another shape in which the shelf 40 and the robot 60 can be placed, and the outlet 34 can be bored in the side surface thereof.

In the above embodiment, a case has been described in which the accommodation device 10 includes the battery 86 and the conversion device 88 for driving the search device 80 and the power assist device 90. However, the present invention is not limited to this case, and the housing device 10 may have a configuration that includes only one of the battery 86 and the conversion device 88, or a configuration that does not include both the battery 86 and the conversion device 88. There may be. In the latter case, the search device 80 and the power assist device 90 may be supplied with power from another power source provided separately from the battery 86 and the power source PS of the freight vehicle V.

Further, for example, the battery 86 may supply power only to the power assist device 90 and the imaging device 82 that is part of the search device 80. At this time, for example, the conversion device 88 converts the form of electric power supplied from the power supply PS of the freight vehicle V into a form that can be used by the robot 60 that is a part of the search device 80, and then supplies the electric power only to the robot 60. May be supplied. Furthermore, for example, the battery 86 may be provided individually for each of the robot 60, the imaging device 82, and the power assist device 90.

In the embodiment described above, step S4 shown in FIG. 13 is performed while moving to one of the delivery destinations among the plurality of delivery items D (that is, while performing step S3 shown in the figure). I explained the case where this happens. At this time, step S4 may be performed, for example, while the freight vehicle V is temporarily stopped at a traffic light or the like in step S3. As a result, vibrations due to movement do not occur while the desired delivery item D is being transported to the take-out port 34 formed in the housing 20, so the desired delivery item D is reliably transported to the take-out port 34. becomes possible.

Further, the present invention is not limited to the above case, and step S4 shown in FIG. 13 may be performed after steps S1 to S3 are performed. In such a case, for example, step S4 may be performed after the freight vehicle V arrives at the delivery destination until the worker P opens the hinged door of the loading platform LC of the freight vehicle V. By performing step S4 at this timing, the accommodation device 10 does not vibrate, compared to, for example, performing step S4 while driving and moving the freight vehicle V, so step S4 can be reliably performed. It becomes possible to do so.

In the above embodiment, the robot 60 is movable on the rail 28 and the connecting shaft 30, and is configured as a one-armed horizontal multi-joint robot having three joint axes JT1 to JT3. Not limited. For example, the robot 60 may be configured as a dual-arm horizontally articulated robot. Alternatively, the robot 60 may be configured as a polar coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, or a vertically articulated robot. or may be configured as other robots.

If the robot 60 is configured such that the tip of the robot arm 61 can be moved to the entire range of the shelf 40 (accommodating section) by simply changing the posture of the robot arm 61, the housing 20 It is not necessary to provide the rail 28 and the connecting shaft 30 inside. This makes it possible to further simplify the configuration of the storage device 10.

In the embodiment described above, a case has been described in which the accommodation device 10 includes the power assist device 90 for reducing the burden on the worker P when carrying the housing 20. However, the present invention is not limited to this case, and the accommodation device 10 may not include the power assist device 90. This makes it possible to further simplify the configuration of the storage device 10. In such a case, the housing 20 may be provided with at least one of the wheels 98 and the handle 94 (handle), for example. Thereby, the housing device 10 has a simpler configuration than the case where the power assist device 90 is provided, and it becomes possible to reduce the burden on the worker P when carrying the housing 20.

In the above embodiment, the mobile storage device 10 is applied to a site (more specifically, the so-called "last mile") for delivering a plurality of parcels D (goods) to individual homes. explained. However, the storage device 10 is not limited to this case; It may be applied and used in the field (more specifically, the "last mile"). Further, the accommodation device 10 may be used at a logistics site other than the last mile, or may be used at a site other than logistics. In the latter case, the storage device 10 may be used to store multiple items other than the delivery.

10 Storage device 20 Housing 21 Bottom plate 22 Front plate 23 Back plate 24 Right side plate 25 Left side plate 26 Top plate 28 Rail 29 Mover 30 Connection shaft 32 Opening 33 Swinging door 34 Outlet 36 Temporary storage shelf 40 Shelf 42 Support 44 Plate member 45 Placement surface 46 Groove 50 End effector 51 Interval change mechanism 52 Frame 54 Bevel gear 55 Pinion 56 Rack 58 Claw member 60 Robot 61 Robot arm 62 Attachment part 63 Through hole 64 Link 70 Robot control device 72 Memory 74 Processor 76 Servo motor 80 Search device 82 Imaging device 84 Analyzing device 86 Battery 88 Conversion device 90 Power assist device 92 Operating device 94 Handle 95 Control device 96 External force sensor 98 Wheel D Delivery object JT Joint axis P Worker V Truck DS Driver's seat LC Loading platform PS Power source

Claims (10)

a storage section for storing a plurality of articles;
a robot capable of holding and taking out a desired article from among a plurality of articles stored in the storage section;
a casing that can be carried in a state in which the accommodation section and the robot are built in;
The robot is capable of transporting the desired article to a takeout port bored in the housing,
The casing has an opening bored at a position corresponding to the accommodating part so as to include the entire range of the accommodating part when viewed from the front, and an opening/closing member for opening and closing the opening,
The robot is a mobile housing device, wherein the robot is disposed within the housing so as to face an opening of the housing via the housing section. The opening of the housing is bored in a first portion of a side surface of the housing,
The outlet of the housing is located at least at one of a second portion and a third portion of a side surface of the housing that face each other in a second direction orthogonal to a first direction connecting the robot and the opening of the housing. 2. The mobile storage device according to claim 1 , wherein the mobile storage device is perforated in a hole. Further comprising a rail extending along the housing part and built into the housing,
The mobile storage device according to claim 1 or 2 , wherein the robot is movable on the rail. The mobile storage device according to any one of claims 1 to 3 , wherein the robot is a horizontal articulated robot. Each of the plurality of items is a delivery item,
The mobile storage device according to any one of claims 1 to 4 , which can be transported by being placed on the loading platform of a truck for delivering the delivery items. The mobile storage device according to claim 5 , further comprising a conversion device for converting a mode of electric power supplied from the power source of the truck into at least a mode usable by the robot. A delivery method using the mobile storage device according to claim 5 or 6 ,
a first step of accommodating the plurality of deliveries in the storage section;
After performing the first step, a second step of carrying the storage device and placing the storage device on the loading platform of the truck;
After performing the first and second steps, a third step of driving the truck to a delivery destination of one of the plurality of deliveries;
After performing at least the first step, the robot holds and takes out a desired article from among the plurality of articles housed in the storage section, and the desired article is drilled into the housing. a fourth step of transporting to the take-out port;
After performing the first to fourth steps, a fifth step of carrying the desired delivery item present at the take-out port to the delivery destination. 8. The delivery method according to claim 7 , wherein the fourth step is performed while the delivery destination is being moved to one of the delivery destinations in the third step. 9. The delivery method according to claim 8 , wherein the fourth step is performed while the truck is temporarily stopped in the third step. 8. The delivery method according to claim 7 , wherein the fourth step is performed after performing the first to third steps.

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