Opening and closing control device, system, method, task system and computer readable medium

Abstract

The present disclosure relates to an opening and closing control device, system, method, task system and computer readable medium. The opening and closing control device according to an embodiment of the present disclosure is an opening and closing control device of a door of a receiving portion into or from which a robot loads or unloads an object, wherein the opening and closing control device includes: a state acquisition unit that acquires the state of the robot; and a control unit that controls a driving unit of the door based on the state of the robot to open and close the door.

Description

Technical Field

[0001] The present disclosure relates to an opening and closing control device, an opening and closing control system, a task system, an opening and closing control method and a computer-readable medium, and to an opening and closing control device, an opening and closing control system, a task system, an opening and closing control method and a computer-readable medium for a door of a storage part into which a robot loads or unloads objects. Background Art

[0002] As disclosed in Japanese Unexamined Patent Application Publication No. 2004-303835 (JP2004-303835A) Figure 1 The disclosed rack for accommodating articles such as packages is provided with a door that can be opened and closed. Therefore, when unloading articles from the rack or loading articles into the rack, the door is opened. Summary of the invention

[0003] The applicant has found the following problem. As mentioned above, when unloading or loading articles from or into a receiving portion (such as a shelf), the door is opened. However, when the door is opened for too long, the articles may be stolen when the door is opened.

[0004] The present disclosure is made in view of such problems and realizes an opening and closing control device, an opening and closing control system, a task system, an opening and closing control method and a computer-readable medium, which can suppress the theft of articles when unloading articles from a storage part and when loading articles in a storage part.

[0005] The opening and closing control device of the scheme of the present disclosure is an opening and closing control device for the door of a storage part into or from which a robot loads or unloads objects, and the opening and closing control device includes: a state acquisition unit that acquires the state of the robot; and a control unit that controls a drive unit of the door based on the state of the robot to open and close the door.

[0006] In the above-mentioned opening and closing control device, preferably, the control unit controls a lock unit which is arranged corresponding to each of the plurality of doors and is configured to restrict doors other than the opened door among the plurality of doors to a closed state.

[0007] In the above-mentioned opening and closing control device, preferably, the control unit acquires position information of the robot as the state of the robot, and based on the position information of the robot, the control unit controls the door driving unit to open the door in front of which the robot is arranged among the plurality of doors.

[0008] In the above-mentioned opening and closing control device, preferably, the control unit obtains progress information of the robot's task of loading or unloading objects into or from the storage part as the robot's state, and the control unit controls the door driving unit based on the progress information.

[0009] An opening and closing control system according to one embodiment of the present disclosure includes:

[0010] The above-mentioned opening and closing control device; and

[0011] Drive unit that opens and closes the door.

[0012] Preferably, the opening and closing control system includes a detection unit for detecting a state of the robot.

[0013] Preferably, the above-mentioned opening and closing control system includes a plurality of lock units arranged to correspond to each of the plurality of doors.

[0014] A task system according to one solution of the present disclosure includes:

[0015] The above-mentioned opening and closing control system; a robot operating based on task information for loading items into or unloading items from the accommodating portion; and a task control device for controlling the robot and the opening and closing control system.

[0016] Preferably, the task system includes a task command unit that externally inputs task information for causing the robot to load or unload objects.

[0017] Preferably, the above-mentioned task system includes a housing portion having a plurality of first doors capable of moving along a first track, and a second door capable of moving along a second track, wherein: the first track has a length obtained by adding a total width dimension of the first door to a width dimension of at least one first door; and the second track has a length obtained by adding a total width dimension of the second door to a width dimension of at least one second door.

[0018] The opening and closing control method of the scheme of the present disclosure is an opening and closing control method for the door of a storage part into or from which a robot loads or unloads objects, and the opening and closing control method includes: a step of acquiring the state of the robot; and a step of controlling the opening and closing of the door based on the state of the robot.

[0019] The computer-readable medium of the scheme of the present disclosure is a storage medium that stores an opening and closing control program for the door of a storage part into which a robot loads or unloads items, wherein the opening and closing control program enables a computer to execute: a process of obtaining the status of the robot; and a process of controlling the opening and closing of the door based on the status of the robot.

[0020] According to the present disclosure, an opening and closing control device, an opening and closing control system, a task system, an opening and closing control method, and a computer-readable medium can be realized, which can suppress the theft of articles when unloading articles from a storage portion and when loading articles in a storage portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0022] Figure 1 is a configuration diagram showing a task system according to an embodiment;

[0023] Figure 2 is a perspective view schematically showing a robot according to an embodiment;

[0024] Figure 3 is a side view schematically showing a robot according to an embodiment;

[0025] Figure 4 is a block diagram showing a system configuration of a robot according to an embodiment;

[0026] Figure 5 is a perspective view of the receiving portion of the embodiment as viewed from the front side;

[0027] Figure 6 is a diagram for describing the arrangement of a door of a receiving portion according to an embodiment;

[0028] Figure 7 is a perspective view showing a package being loaded into or unloaded from a receiving portion using a robot;

[0029] Figure 8 is a block diagram showing functional elements of an opening and closing control system according to an embodiment;

[0030] Fig. 9 is a block diagram showing functional elements of a task control device according to an embodiment;

[0031] Fig.10 is a flowchart showing a process of executing a task using a task system according to an embodiment;

[0032] Fig.11 is a diagram showing a state in which the robot has arrived in front of the third door of the accommodating section;

[0033] Fig.12 is a diagram showing a state in which the third door of the accommodating portion is opened;

[0034] Fig.13 is a diagram showing a state in which the robot unloads a desired package from a receiving portion;

[0035] Fig.14 is a diagram showing a state in which the third door of the accommodating portion is closed;

[0036] Fig.15 is a diagram showing a state where a robot is carrying a package;

[0037] Fig.16 is a diagram showing a state in which the first door of the accommodating portion is opened;

[0038] Fig.17 is a diagram showing a state in which the third door of the accommodating portion is opened;

[0039] Fig.18 is a diagram showing a state in which the second door of the accommodating portion is opened; and

[0040] Fig.19 is a diagram showing an example of a hardware configuration included in an opening and closing control device, an opening and closing control system, and a task system. DETAILED DESCRIPTION

[0041] The specific embodiments to which the present disclosure is applied will be described in detail below with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. In addition, in order to make the description clear, the following description and the accompanying drawings are appropriately simplified.

[0042] Figure 1 1 is a configuration diagram showing a task system according to the present embodiment. The task system 1 is used, for example, to perform a task of loading or unloading a package to or from a storage unit 3 using a robot 2 in a facility, and Figure 1 As shown, the task system 1 includes a robot 2 , a housing 3 , an opening and closing control system 4 , a task command unit 5 and a task control device 6 .

[0043] Figure 2 is a perspective view schematically showing the robot according to the present embodiment. Figure 3 is a side view schematically showing the robot according to the present embodiment. Figure 4 is a block diagram showing a system configuration of the robot according to the present embodiment.

[0044] The robot 2 is, for example, an autonomous mobile robot and is placed in the facility. Figures 1 to 4 As shown, the robot 2 includes a moving portion 21, a telescopic portion 22, a mounting portion 23, an arm 24, a drive mechanism 25, and a control unit 26, and is linked to a network 11. Here, the network 11 is, for example, the Internet, and is composed of a telephone line network, a wireless communication path, Ethernet (registered trademark), and the like.

[0045] The moving part 21 includes a robot body 21a, a pair of left and right driving wheels 21b rotatably provided for the robot body 21a, a pair of front and rear driven wheels 21c, and a pair of driving mechanisms 21d. The driving mechanisms 21d rotatably drive the driving wheels 21b.

[0046] Each driving mechanism 21d includes a motor, a speed reducer, etc. Each driving mechanism 21d is driven based on control information received from the control unit 26 and rotates the corresponding driving wheel 21b so that the robot body 21a can move forward and backward and rotate.

[0047] By this configuration, the robot body 21a can be moved to an arbitrary position. The configuration of the moving part 21 is an example, and the present invention is not limited thereto. For example, the number of driving wheels 21b and driven wheels 21c of the moving part 21 can be arbitrary, and a known configuration can be used as long as the robot body 21a can be moved to an arbitrary position.

[0048] The telescopic portion 22 is a telescopic mechanism that extends and contracts in the vertical direction. The telescopic portion 22 may be configured as a telescopic type extension and contraction mechanism. The telescopic portion 22 includes a drive mechanism 22a having a motor, a reduction device, etc., and extends and contracts by driving the drive mechanism 22a. The drive mechanism 22a is driven based on control information received from the control unit 26.

[0049] The loading portion 23 is provided at the upper portion (at the tip) of the telescopic portion 22. The loading portion 23 moves up and down due to the extension and contraction of the telescopic portion 22. In the present embodiment, the loading portion 23 is used to load or unload a package into or from the accommodating portion 3 by the robot 2.

[0050] Then, in order to transport the package, the robot 2 can move together with the package while the package is supported by the mounting portion 23. With this configuration, the robot 2 can transport the package. However, in the robot 2, when the mounting portion 23 can be raised and lowered, a known mechanism can be used instead of the telescopic portion 22.

[0051] For example, the mounting portion 23 includes a plate material as an upper surface and a plate material as a lower surface. A space for accommodating the arm 24 and the drive mechanism 25 is provided between the upper surface and the lower surface. In the present embodiment, the shape of the mounting portion 23 is, for example, a flat disk, but any other shape may be used.

[0052] More specifically, in the present embodiment, the placement portion 23 is provided with a cutout 23a along the line of flow of the arm 24 so that when the arm 24 is moved, the protrusion 24b of the arm 24 does not interfere with the placement portion 23. The cutout 23a is formed at least on the upper surface of the placement portion 23.

[0053] The placement portion 23 is provided with an arm 24 that moves horizontally in and out of the placement portion 23. The arm 24 includes a shaft portion 24a extending in the horizontal direction and a protrusion 24b extending in a direction perpendicular to the shaft portion 24a and provided at the tip of the shaft portion 24a. That is, in the present embodiment, the arm 24 is L-shaped.

[0054] The drive mechanism 25 moves the arm 24 in the horizontal direction (ie, the direction along the shaft portion 24 a , in other words, the longitudinal direction of the arm 24 ) and rotates around the shaft portion 24 a based on control information received from the control unit 26 .

[0055] The drive mechanism 25 includes, for example, a motor and a linear guide, and moves the arm 24 in the horizontal direction and rotates the arm 24. A known mechanism for performing the above-described operation can be used as the drive mechanism 25. The drive mechanism 25 is provided in the placement section 23.

[0056] As described above, the arm 24 is movable in the horizontal direction, and the protrusion 24b can rotate as the arm 24 rotates around the shaft portion 24a. That is, the protrusion 24b can rotate with the shaft portion 24a as the rotation axis.

[0057] The control unit 26 controls the operation of the robot 2 based on the control information received from the task control device 6. That is, the control unit 26 controls the operation of the moving part 21, the telescopic part 22, and the arm 24. The control unit 26 can control the rotation of each driving wheel 21b and move the robot body 21a to an arbitrary position by sending control information to the driving mechanism 21d of the moving part 21.

[0058] Furthermore, the control unit 26 can control the height of the placing portion 23 by sending control information to the driving mechanism 22a of the telescopic portion 22. Furthermore, the control unit 26 can control the horizontal movement of the arm 24 and the rotation around the shaft portion 24a by sending control information to the driving mechanism 25.

[0059] Here, the control unit 26 can control the movement of the robot 2 by performing known control such as feedback control and robust control based on rotation information of the driving wheel 21b detected by a rotation sensor (eg, encoder) provided for the driving wheel 21b.

[0060] Furthermore, the control unit 26 can make the robot 2 move autonomously by controlling the moving portion 21 based on information such as distance information detected by a distance sensor (such as a camera or an ultrasonic sensor) provided for the robot 2 and map information of the moving environment.

[0061] The receiving section 3 is arranged in the facility, and loads or unloads the package carried by the robot 2 . Figure 5 This is a perspective view of the housing portion of this embodiment as viewed from the front. Figure 63 is a diagram for describing the arrangement of the doors of the storage section according to the present embodiment, and shows a state where all the doors are closed. Here, in order to make the description clear, the side where the robot 2 loads or unloads the package is described as the front of the storage section 3.

[0062] The container body 31 has a rectangular frame as a basic form, and an opening is formed at least in the front of the container body 31. The interior of the container body 31 is partitioned into a plurality of spaces by partitions 31a.

[0063] The receiving portion body 31 of the present embodiment is divided into a first space S1, a second space S2 and a third space S3 by a partition 31a. The first space S1, the second space S2 and the third space S3 are arranged in the left-right direction of the receiving portion body 31 when viewed in the direction facing the front of the receiving portion body 31.

[0064] In these spaces S1, S2, S3, a plurality of pairs of rails 31b are arranged to face each other at intervals in the vertical direction in each space S1, S2, S3. The rails 31b extend in the front-rear direction of the housing body 31.

[0065] like Figure 5 As shown, the door 32 is arranged at the front side of each space S1, S2, S3 so as to cover the opening of each space S1, S2, S3. When viewed in a direction facing the front of the accommodation portion 3, the door 32 has a substantially rectangular shape.

[0066] like Figure 6 As shown, the receiving portion 3 of the present embodiment has a first door 32a covering the opening of the first space S1, a second door 32b covering the opening of the second space S2, and a third door 32c covering the third space S3 as the doors 32. That is, the receiving portion 3 includes a plurality of doors 32 corresponding to the number of compartments in the space.

[0067] like Figure 6 As shown, the slide portion 33 includes a first rail 33a and a second rail 33b. The first rail 33a is arranged, for example, at the front side and the upper side of the housing body 31 and extends in the left-right direction of the housing body 31.

[0068] The first rail 33a slidably suspends and supports the first door 32a and the third door 32c. For example, rollers provided on the upper sides of the first door 32a and the third door 32c are hooked on the first rail 33a. Thus, the first door 32a and the third door 32c can move in the left-right direction of the accommodating portion body 31 along the first rail 33a.

[0069] The first rail 33a has a length obtained by adding the total length of the width dimension of the first door 32a and the width dimension of the third door 32c to the width dimension of another door 32. That is, the first rail 33a has a total length of the width dimensions of the three doors 32, and the width dimension area of ​​one door 32 is used to slide the first door 32a or the third door 32c.

[0070] The second rail 33b is arranged at the rear side of the housing body 31 relative to the first rail 33a. The second rail 33b is arranged, for example, at the front side of the housing body 31 and the upper side of the housing body 31. The second rail 33b also extends in the left-right direction of the housing body 31.

[0071] The second rail 33b slidably hangs and supports the second door 32b. For example, a roller disposed on the upper side of the second door 32b is hooked on the second rail 33b. Thus, the second door 32b can move in the left-right direction of the accommodating portion body 31 along the second rail 33b.

[0072] The second rail 33b has a length obtained by adding the width dimension of the second door 32b to the width dimension of the two doors 32. That is, the second rail 33b also has a total length of the width dimension of the three doors 32, and the second door 32b can be slid using the width dimension area of ​​the two doors 32.

[0073] However, the second door 32b may be suspended and supported by the first rail 33a, and the first door 32a and the third door 32c may be suspended and supported by the second rail 33b. That is, the three doors may be assigned to the first rail 33a and the second rail 33b.

[0074] Furthermore, the second rail 33b only needs to have a length that the second door 32b can open, and only needs to have a total length of, for example, at least two width dimensions of the second door 32b.

[0075] Figure 7 is a perspective view showing packages being loaded into or unloaded from a receiving portion using a robot. Figure 7 As shown, the package 12 is a container having a box shape as a basic form, and, for example, brims 12 a are provided on both sides of the package 12 .

[0076] Since the edge 12a is supported by the pair of rails 31b of the receiving portion 3, the package 12 is supported in the respective spaces S1, S2, S3 of the receiving portion 3. With this configuration, the package 12 can move inside the receiving portion 3 in the front-rear direction of the receiving portion 3 along the pair of rails 31b of the receiving portion 3.

[0077] Therefore, the package 12 can be unloaded from the receiving portion 3 by pulling the package 12 out from the inside of the receiving portion 3. Conversely, the package 12 can be loaded into the receiving portion 3 by pushing the package 12 into the receiving portion 3. However, the package 12 only needs to have a configuration that can be supported by the pair of rails 31b of the receiving portion 3.

[0078] like Figure 7 As shown, the groove 12b for hooking the protrusion 24b of the arm 24 is provided at a predetermined position on the bottom surface of the package 12. Any article can be accommodated in the package 12.

[0079] Figure 8 FIG. 1 is a block diagram showing functional elements of the opening and closing control system according to the present embodiment. Figure 8 As shown, the opening and closing control system 4 includes a detection unit 41, a drive unit 42, a lock unit 43 and an opening and closing control device 44, and is connected to the network 11. The detection unit 41 detects the state of the robot 2.

[0080] The detection unit 41 may be configured by, for example, an infrared camera and disposed in the accommodation portion 3 so that the robot 2 can be detected in the facility in which the accommodation portion 3 is disposed. However, the type and arrangement of the sensor are not limited as long as the detection unit 41 can detect the state of the robot 2 moving in the facility.

[0081] The drive unit 42 opens and closes the door 32. In the opening and closing control system 4 of the present embodiment, as the drive unit 42, a first drive unit 42a that opens and closes the first door 32a, a second drive unit 42b that opens and closes the second door 32b, and a third drive unit 42c that opens and closes the third door 32c are provided.

[0082] For example, the first drive unit 42a, the second drive unit 42b and the third drive unit 42c may be configured by a drive mechanism such as a linear motor having an electromagnet and a permanent magnet. The first drive unit 42a, the second drive unit 42b and the third drive unit 42c are, for example, located at the front side of the accommodating portion body 31 and at the upper side of the accommodating portion body 31, and preferably, they are arranged corresponding to the respective doors 32a, 32b, 32c.

[0083] However, in the first drive unit 42a, the second drive unit 42b and the third drive unit 42c, if each door 32a, 32b, 32c can be opened and closed, a known drive mechanism can be used, and the arrangement of each drive unit 42a, drive unit 42b and drive unit 42c is not limited.

[0084] The opening and closing control system 4 of this embodiment (in which the locking unit 43 restricts the door 32 to a closed state) includes a first locking unit 43a, a second locking unit 43b and a third locking unit 43c as the locking unit 43, the first locking unit 43a restricts the first door 32a to a closed state, the second locking unit 43b restricts the second door 32b to a closed state, and the third locking unit 43c restricts the third door 32c to a closed state.

[0085] The first lock unit 43a, the second lock unit 43b and the third lock unit 43c can be configured by, for example, a lock mechanism (e.g., an actuator in which a pin moves linearly). Preferably, the first lock unit 43a, the second lock unit 43b and the third lock unit 43c are, for example, located at the front side of the accommodating portion body 31 and are arranged at the lower side of the accommodating portion body 31 so as to correspond to the doors 32a, 32b, 32c, respectively.

[0086] The first lock unit 43a, the second lock unit 43b, and the third lock unit 43c are mounted to the recessed portions formed on the bottom surfaces of the doors 32a, 32b, and 32c as the pins of the first lock unit 43a, the second lock unit 43b, and the third lock unit 43c protrude into the interior of the accommodating portion body 31. Thus, the doors 32a, 32b, and 32c can be restricted in a closed state.

[0087] However, if the first, second and third lock units 43a, 43b, 43c can be restricted so as to close the doors 32a, 32b, 32c, known lock mechanisms may be used, and the arrangement of the corresponding lock units 43a, 43b, 43c is not limited.

[0088] like Figure 8 As shown, the opening and closing control device 44 includes a state acquisition unit 441, a determination unit 442, and a control unit 443. The state acquisition unit 441 acquires detection information indicating the state of the robot 2 from the detection unit 41. Then, based on the detection information, the state acquisition unit 441 acquires (estimates) the position of the robot 2 in the facility and acquires the extension / contraction state of the telescopic part 22 of the robot 2 (for example, the height of the placing part 23 from the floor surface of the facility). The state acquisition unit 441 may include the detection unit 41.

[0089] Although the details will be described later, the determination unit 442 determines whether the robot 2 is arranged in front of the first door 32a, the second door 32b or the third door 32c of the accommodating portion 3, whether the loading portion 23 of the robot 2 has reached the height at which the package 12 is arranged, and whether the loading portion 23 of the robot 2 has begun to descend.

[0090] Although the details will be described later, the control unit 443 controls the drive unit 42 and the lock unit 43 that open and close the door so that the first door 32a, the second door 32b, or the third door 32c can be opened and closed according to the state of the robot 2.

[0091] That is, the control unit 443 may open and close the first door 32a, the second door 32b, or the third door 32c by transmitting control information to the driving unit 42 and the lock unit 43 of the first door 32a, the second door 32b, or the third door 32c.

[0092] At this time, for example, when the first drive unit 42a, the second drive unit 42b, and the third drive unit 42c are configured by linear motors, the control unit 443 controls the magnetic strength and magnetic direction of the electromagnet by adjusting the current flowing through the electromagnets of the respective drive units 42a, 42b, and 42c. The state acquisition unit 441, the determination unit 442, and the control unit 443 may be provided in the accommodation portion 3, or may be arranged outside the accommodation portion 3.

[0093] The task command unit 5 is operated by the user of the robot 2 or other personnel to input (command) task information for loading or unloading the package 12. Figure 1 As shown, the task command unit 5 is usually installed on a mobile terminal 13 (e.g., a smart phone owned by a user), and can select the identification information of the package 12 displayed on the display unit of the mobile terminal 13 and the task type information for loading or unloading the package 12 to issue a command. The task command unit 5 is connected to the network 11. The task command unit 5 only needs to be able to input the task information required to load or unload the package 12.

[0094] The task control device 6 controls the robot 2 and the opening and closing control system 4 . Fig. 9 is a block diagram showing the functional elements of the task control device according to this embodiment. Fig. 9 As shown, the task control device 6 includes a command acquisition unit 61 , a storage unit 62 and a control unit 63 , and is connected to the network 11 .

[0095] The command acquisition unit 61 acquires, for example, task information for loading or unloading the package 12 received from the task command unit 5. Note that the command acquisition unit 61 may be configured by the task command unit 5. In short, the command acquisition unit 61 only needs to acquire task information input by a user or the like.

[0096] The storage unit 62 includes identification information of the package 12, task type information for loading or unloading the package 12, location information of each space S1, S2, S3, identification information of the doors 32a, 32b, 32c, identification information of each drive unit 42a, 42b, 42c, identification information of each lock unit 43a, 43b, 43c, location information of the track 31b in each space S1, S2, S3, and the like.

[0097] Here, it is preferable that the identification information of the package 12, the position information of each space S1, S2, S3, and the position information of the track 31b in each space S1, S2, S3 are associated with each other. In addition, it is preferable that the position information of each space S1, S2, S3, the identification information of each door 32a, 32b, 32c, the identification information of each drive unit 42a, 42b, 42c, and the identification information of each lock unit 43a, 43b, 43c are associated with each other.

[0098] Although the details will be described later, the control unit 63 controls the control unit 26 of the robot 2 and the control unit 443 of the opening and closing control device 44 based on the task information for loading or unloading the package 12. That is, the control unit 63 controls the control unit 26 of the robot 2 and the control unit 443 of the opening and closing control device 44 so as to perform the desired task.

[0099] Next, the process of performing a task using the task system 1 according to the present embodiment will be described. Here, in the following description, it is assumed that the robot 2 performs a task of unloading the parcel 12 accommodated in the third space S3 of the accommodation section 3 and transporting the parcel 12. In addition, it is assumed that all the doors 32a, 32b, 32c are restricted in a state of being closed by the locking unit 43.

[0100] Fig.10 is a flowchart showing a flow of executing a task using the task system according to the present embodiment. Fig.11 : is a diagram showing a state in which the robot has reached the front of the third door of the accommodating section. Fig.12 It is a diagram showing a state in which the third door of the storage unit is opened. Fig.13 is a diagram showing a state in which the robot unloads a desired package from a storage portion. Fig.14 It is a figure which shows the state in which the third door of the storage part is closed. Fig.15 2 is a diagram showing a state where a robot is carrying a package.

[0101] First, when the user inputs task information via the task command unit 5 installed on the mobile terminal 13, the task command unit 5 sends information indicating the task information to the task control device 6. Thus, the control unit 63 of the task control device 6 sends control information to each control unit 26 and the control unit 443 so as to issue a command to start the task to the control unit 26 of the robot 2 and the control unit 443 of the opening and closing control device 44.

[0102] Next, the control unit 26 of the robot 2 controls the driving mechanism 21d of the moving part 21 to move the robot 2 toward the front of the third door 32c of the storage part 3 (S1). At this time, the control unit 443 of the opening and closing control device 44 controls the detection unit 41 to detect the state of the robot 2 in the facility.

[0103] When the detection unit 41 detects the state of the robot 2 in the facility, the detection unit 41 sends the detection information to the state acquisition unit 441 of the opening and closing control device 44. Thus, the state acquisition unit 441 of the opening and closing control device 44 acquires the position of the robot 2 in the facility and the height of the placing part 23 of the robot 2 (S2). Here, the opening and closing control device 44 continues to acquire the state of the robot 2 until the commanded task is completed.

[0104] Then, if Fig.11 As shown, when the robot 2 reaches the front of the third door 32c of the storage portion 3, the control unit 26 of the robot 2 controls the driving mechanism 22a of the telescopic portion 22 to make the placing portion 23 reach the desired height for storing the package 12.

[0105] At this time, the robot 2 autonomously moves to the front of the third door 32c based on the position information of the third space S3 of the storage section 3. Then, the driving mechanism 22a of the telescopic section 22 of the robot 2 autonomously lifts the loading section 23 to a height at which the package 12 is stored based on the position information of the track 31b associated with the identification information of the desired package 12.

[0106] At this time, the determination unit 442 of the opening and closing control device 44 determines whether the placement unit 23 of the robot 2 has reached the desired height for accommodating the package 12 based on the detection information received from the detection unit 41 ( S3 ).

[0107] When the loading part 23 of the robot 2 does not reach the desired height for accommodating the package 12 (S3, No), the opening and closing control device 44 returns to step S3 while maintaining the restricted state in which all doors 32a, 32b, and 32c of the accommodating part 3 are closed.

[0108] On the contrary, when the loading part 23 of the robot 2 reaches the desired height at which the package 12 is accommodated (S3, Yes), the control unit 443 of the opening and closing control device 44 controls the third driving unit 42c and the third locking unit 43c so as to Fig.12 The third door 32c of the storage section 3 is opened as shown (S4). Then, the control unit 443 of the opening and closing control device 44 sends information to the control unit 63 of the task control device 6 that the third door 32c of the storage section 3 has been opened.

[0109] Next, the control unit 63 of the task control device 6 sends information that the third door 32c of the accommodating portion 3 has been opened to the control unit 26 of the robot 2. Fig.13 As shown, the control unit 26 of the robot 2 controls the driving mechanism 25 of the arm 24 so as to unload the desired package 12 from the receiving portion 3 and place it on the placing portion 23 ( S5 ).

[0110] At this time, since the first door 32a and the second door 32b, which are other doors of the storage section 3, maintain a restricted state in which the doors are closed, the theft of packages stored in the first space S1 and the second space S2 of the storage section 3 can be suppressed when the robot 2 unloads the desired package 12 from the storage section 3.

[0111] When the desired package 12 is placed on the placing portion 23 of the robot 2, the control unit 26 of the robot 2 controls the driving mechanism 22a of the telescopic portion 22 to lower the placing portion 23. Conversely, the determination unit 442 of the opening and closing control device 44 determines whether the placing portion 23 of the robot 2 has started to descend based on the detection information received from the detection unit 41 (S6).

[0112] like Fig.14 As shown, when the loading part 23 of the robot 2 starts to descend (S6, yes), the control unit 443 of the opening and closing control device 44 closes the third door 32c of the storage part 3. The third driving unit 42c and the third locking unit 43c are controlled to adjust the state of the door (S7). Thus, all the doors 32a, 32b, 32c of the storage part 3 are restricted to the closed state.

[0113] As described above, in this embodiment, since the third door 32c is opened and closed based on the state of the robot 2, the opening period of the third door 32c can be suppressed to the period required for unloading the package 12. Therefore, the theft of the package 12 can be suppressed.

[0114] Furthermore, in the present embodiment, when it is detected that the placing portion 23 of the robot 2 has reached the desired height at which the package 12 is accommodated, the third door 32c of the accommodating portion 3 is opened. Therefore, compared with when the third door 32c of the accommodating portion 3 is opened when it is detected that the robot 2 has reached the front of the third door 32c of the accommodating portion 3, the opening time period of the third door 32c is shorter, and for example, the theft of the package 12 can be suppressed.

[0115] Furthermore, in the present embodiment, when the placing portion 23 of the robot 2 starts to descend, that is, when the completion of unloading of the package 12 is detected, the third door 32c of the accommodating portion 3 is closed and restrained in the closed state. Therefore, compared with when the third door 32c is closed and restrained in the closed state after the descent of the placing portion 23 of the robot 2 is completed, the opening time period of the third door 32c is shorter, and the theft of the package 12 can be suppressed.

[0116] like Fig.15 As shown, when the lowering of the loading part 23 is completed, the control unit 26 of the robot 2 controls the driving mechanism 21d of the moving part 21 to carry the package 12 (S8). Then, when the transportation of the package 12 is completed, the control unit 26 of the robot 2 sends information indicating that the task is completed to the control unit 63 of the task control device 6. When the control unit 63 of the task control device 6 receives the information indicating that the task has been completed, the control unit 63 ends the task using the task system 1.

[0117] On the contrary, when the placing unit 23 of the robot 2 has not started to descend ( S6 , No), the control unit 443 of the opening and closing control device 44 returns to step S6 .

[0118] Here, when the package 12 is loaded into the receiving portion 3 by using the robot 2, it can be implemented in a process substantially equivalent to the above-mentioned process. For example, in S1, the robot 2 can carry the package 12 instead of moving the robot 2 in a state where the package 12 is not placed, and in S5, the package 12 can be brought in instead of unloading the package 12, and step S8 can be omitted.

[0119] As described above, since the opening and closing control device 44, the opening and closing control system 4, the task system 1, and the opening and closing control method of the present embodiment open and close the door 32 based on the state of the robot 2, the opening time period of the door 32 can be suppressed within the time period required for loading and unloading the package 12. Therefore, the theft of the package 12 can be suppressed.

[0120] Furthermore, in the opening and closing control device 44, the opening and closing control system 4, the task system 1, and the opening and closing control method of the present embodiment, when the robot 2 unloads the package 12 from the storage section 3, the other door 32 of the storage section 3 is restricted to a closed state. Therefore, when the robot 2 loads or unloads the package 12 between the spaces that accommodate the desired package 12 in the storage section 3, the theft of the package 12 accommodated in another space of the storage section 3 can be suppressed.

[0121] Furthermore, the opening and closing control device 44, the opening and closing control system 4, the task system 1, and the opening and closing control method of the present embodiment open the door 32 of the storage section 3 when it is detected that the placing section 23 of the robot 2 has reached the desired height at which the package 12 is stored. Therefore, compared with when the third door 32 is opened when it is detected that the robot 2 has reached the front of the door 32 of the storage section 3, the opening time period of the third door 32 is shorter, for example, and the theft of the package 12 can be suppressed.

[0122] Furthermore, in the opening and closing control device 44, the opening and closing control system 4, the task system 1, and the opening and closing control method of the present embodiment, when the completion of unloading of the package 12 is detected, the door 32 of the space in the storage section 3 from which the package 12 is taken out is closed and restricted in the closed state. Therefore, compared with when the door 32 is closed and restricted in the closed state after the descent of the placing section 23 of the robot 2 is completed, the opening time period of the door 32 is shorter, and the theft of the package 12 can be suppressed.

[0123] Here, the effect of arranging the first door 32a, the second door 32b, and the third door 32c of the accommodating portion 3 will be described. Fig.16 It is a diagram showing a state in which the first door of the storage unit is opened. Fig.17 It is a diagram showing a state in which the third door of the storage unit is opened. Fig.18 It is a diagram showing a state in which the second door of the storage unit is opened.

[0124] When loading or unloading the parcel 12 to or from the accommodating portion 3 by using the robot 2, any one of the first door 32a, the second door 32b, and the third door 32c of the accommodating portion 3 may be opened. Figure 6 As shown, the first track 33a slidably suspends and supports the first door 32a and the third door 32c, and the second track 33b slidably suspends and supports the second door 32b.

[0125] At this time, the first rail 33a has a length obtained by adding the width dimension of the other door 32 to the total length of the width dimension of the first door 32a and the width dimension of the third door 32c. That is, the first rail 33a has a total length of the width dimensions of the three doors 32, and the width dimension area of ​​one door 32 is used to slide the first door 32a or the third door 32c, as shown in FIG. Fig.16 and Fig.17 shown.

[0126] In addition, the second rail 33b has a length obtained by adding the total width dimension of the two doors 32 to the width dimension of the second door 32b. That is, the second rail 33b also has a total length of the width dimension of the three doors 32, and the second door 32b can slide using the width dimension area of ​​the two doors 32, as shown in FIG. Fig.18 shown.

[0127] As described above, in the present embodiment, the three doors 32 can be opened and closed by using the first rail 33a and the second rail 33b. Therefore, compared with the case where a rail is provided for each door in a general sliding door, the number of rails can be reduced and the size of the accommodation portion 3 can be reduced. Therefore, when the accommodation portion 3 is arranged in a facility, the occupied space of the accommodation portion 3 can be reduced.

[0128] However, the number of doors slidably supported by one track and the number of tracks are not limited to the above. In short, it is only necessary that the length of each track is the total width of the number of doors supported by the track plus the width of at least one door, and that a plurality of doors are slidably supported on at least one track. In addition, the present invention is not limited to the case where the upper side of the door is supported by the track, and the lower side of the door may also be supported.

[0129] The opening and closing control device, the opening and closing control system, and the task system according to the above-described embodiments may have the following hardware configurations. Fig.19 is a diagram showing an example of an opening and closing control device, an opening and closing control system, and a task system. Since the processing procedures in the opening and closing control device, the opening and closing control system, and the task system have been described in the above various embodiments, the present disclosure may also take the form of a control method.

[0130] Fig.19 The control device shown includes a processor 101, a memory 102, and an interface 103. The configuration of the opening and closing control system and a part of the task system and the opening and closing control device described in the above embodiment is implemented in such a way that the processor 101 reads and executes the control program stored in the memory 102. That is, the program is a program for causing the processor 101 to function as a part of the opening and closing control system and the task system and the configuration of the opening and closing control device. It can be said that the program is a program for causing the opening and closing control system, the task system, and the opening and closing control device to perform processing in the configuration or partial configuration.

[0131] The above program is stored using various types of non-transitory computer-readable media and can be provided to a computer (including a computer of an information notification device). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (such as floppy disks, magnetic tapes, hard disk drives, etc.), magneto-optical recording media (such as magneto-optical disks). In addition, the above examples include read-only compact disk memory (CD-ROM), recordable compact disk (CD-R), and erasable compact disk (CD-R / W). In addition, the above examples include semiconductor memories (such as mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash ROM, random access memory (RAM)). The program can also be provided to a computer via various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide programs to computers via wired communication paths (such as wires and optical fibers) or wireless communication paths.

[0132] The present disclosure is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit.

[0133] In the above-described embodiment, the state of the robot 2 is detected by using an infrared camera. However, for example, by using a weight sensor or the like provided on the loading portion 23 of the robot 2, the progress state of the task of whether the package 12 is loaded on the loading portion 23 of the robot 2 (or in other words, whether the package 12 is loaded or unloaded) can be detected as the state of the robot 2.

[0134] In addition, the state of the robot 2 and the progress state of the task can be detected based on the detection results of the rotation sensors provided in the drive mechanism 21d of the moving part 21 and the drive mechanism 22a of the telescopic part 22 of the robot 2. In short, if the state acquisition unit 441 of the opening and closing control device 44 can acquire the state of the robot 2 and the progress state of the task, the method of acquiring the state of the robot 2 and the progress state of the task is not limited.

[0135] In the above-described embodiment, the robot 2 loads or unloads the package 12 to or from the accommodating portion. However, the items to be loaded and unloaded are not limited to the packages 12, as long as they can be stored in the storage unit. In addition, the configuration of the accommodating portion 3 is not limited to the above, as long as the accommodating portion 3 can accommodate items and the door can be opened and closed. Therefore, the door is not limited to the above-described sliding door, and may be configured to rotate around a rotation axis. In addition, the configuration of the robot 2 is not limited to the above, and may be any configuration as long as the robot 2 can load or unload items from the accommodating portion, for example, it may be a humanoid robot.

Claims

1. A device for controlling the opening and closing of a door of a storage portion, wherein a robot loads an object into the storage portion or unloads the object from the storage portion, the storage portion comprising a plurality of the doors, the device comprising: A state acquisition unit, which acquires the state of the robot; as well as a control unit that controls a driving unit of the door to open and close the door based on the state of the robot; a determination unit that determines whether the robot is arranged in front of any one of the plurality of doors of the accommodation portion; wherein the control unit acquires position information of the robot as the state of the robot, and, based on the position information of the robot, the control unit controls the driving unit of the door to open the door in front of which the robot is arranged among the plurality of doors; wherein the determination unit is further configured to determine whether the loading portion of the robot has reached a height at which the article is arranged in the receiving portion, and whether the loading portion of the robot has begun to descend; Wherein, the control unit is further configured as follows: when the determination unit determines that the placement portion of the robot has reached the height at which the article is arranged in the storage portion, opening the door to be opened for performing a task; and When the determination unit determines that the placing portion of the robot has started to descend, the opened door is closed.

2. The opening and closing control device according to claim 1, wherein: The control unit controls a lock unit that is disposed corresponding to each of the plurality of doors and is configured to restrict doors other than the opened door among the plurality of doors to a closed state.

3. An opening and closing control system, comprising: The opening and closing control device according to claim 1 or 2; as well as A drive unit for opening and closing the door.

4. The opening and closing control system according to claim 3, comprising a detection unit that detects the state of the robot. 5 . The opening and closing control system according to claim 3 , comprising a plurality of lock units arranged to correspond to each of the plurality of doors.

6. A task system comprising: An opening and closing control system according to any one of claims 3 to 5; a robot that operates based on task information for loading or unloading the article into or from the accommodation portion; and A task control device controls the robot and the opening and closing control system. 7 . The task system according to claim 6 , comprising a task command unit which inputs the task information for causing the robot to load or unload the article from the outside.

8. The task system according to claim 6 or 7, comprising a housing having a plurality of first doors movable along a first track, and a second door movable along a second track, wherein: The first track has a length obtained by adding a total width dimension of the plurality of first doors to a width dimension of at least one first door; and The second rail has a length obtained by adding the total width dimension of the second door to the width dimension of at least one second door.

9. A method for controlling the opening and closing of a door of a storage portion, wherein a robot loads an object into the storage portion or unloads the object from the storage portion, and the storage portion includes a plurality of the doors, the method comprising: A step of obtaining the status of the robot; as well as a step of controlling the opening and closing of the door based on the state of the robot; The opening and closing control method further comprises: a step of determining whether the robot is arranged in front of any one of the plurality of doors of the accommodation portion; a step of acquiring position information of the robot as the state of the robot, and, based on the position information of the robot, controlling a driving unit of the door to open the door in front of which the robot is arranged among the plurality of doors; Wherein, the opening and closing control method further comprises: a step of determining whether the placing portion of the robot has reached a height at which the article is arranged in the storage portion, and whether the placing portion of the robot has begun to descend; When it is determined that the placing portion of the robot has reached the height at which the article is arranged in the storage portion, opening the door to be opened for performing a task; and A step of closing the opened door when it is determined that the placing portion of the robot has started to descend.

10. A computer-readable medium storing an opening and closing control program of a door of a storage section into which a robot loads or unloads an object, the storage section comprising a plurality of the doors, wherein the opening and closing control program causes a computer to execute: A process for obtaining the status of the robot; and a process for controlling the opening and closing of the door based on the state of the robot; The opening and closing control program further causes the computer to execute: a process of determining whether the robot is arranged in front of any one of the plurality of doors of the storage section; a process of acquiring position information of the robot as the state of the robot, and, based on the position information of the robot, controlling a driving unit of the door to open the door in front of which the robot is arranged among the plurality of doors; in, The opening and closing control program further causes the computer to execute: a process of determining whether the placing portion of the robot has reached a height at which the article is arranged in the storage portion and whether the placing portion of the robot has started to descend; When it is determined that the placement portion of the robot has reached the height at which the article is arranged in the storage portion, a process of opening the door to be opened for executing a task; as well as A process of closing the opened door when it is determined that the placing portion of the robot has started to descend.

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