Automatic movement device, management device, transport system, and control method and management method for automatic

Abstract

An automatic moving device according to the present disclosure is used in a transport system for transporting articles, and is provided with: a drive unit for driving wheels provided in a vehicle body unit; a loading part which is disposed on the vehicle body part, and which loads or engages with the object to be transported; and a control unit for controlling the drive unit and the loading unit, the control unit controlling the loading unit and the drive unit such that the loading unit loads or engages with the digitized sign having the notification unit for notifying information, and drives the wheels to move the vehicle body unit within the specific space.

Description

Technical Field

[0001] This specification discloses an automatic mobile device, a management device, a handling system, a control method for an automatic mobile device, and a management method. Background Art

[0002] Conventionally, as a robot for providing intelligent services in a commercial facility, a robot has been proposed that includes a mobile cart, an upper sensor that detects an object within the upper field of view of the robot, a lower sensor that detects an object within the lower field of view of the robot, a display, and a computer that communicates with the mobile cart, the upper sensor, and the lower sensor (for example, refer to Patent Document 1). The computer of this robot is configured to perform inventory management of products in a commercial facility and provide inventory discrepancy data to users at a computer station.

[0003] Prior Art Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-502649 Summary of the Invention

[0005] Problems to be Solved by the Invention

[0006] However, robots used in commercial facilities include, for example, an automatic mobile device that moves a load such as a pallet within the commercial facility. Such an automatic mobile device transports products outside of the business hours of the commercial facility and waits in the backyard during business hours, resulting in a problem of low operating time. Thus, an effective means for improving the operating rate of the automatic mobile device is required.

[0007] The present disclosure has been made to solve such problems, and its main object is to provide an automatic mobile device, a management device, a handling system, a control method for an automatic mobile device, and a management method that can further improve the operating rate.

[0008] Means for Solving the Problems

[0009] The present disclosure has adopted the following means to achieve the above main object.

[0010] The automatic mobile device disclosed in this specification is used in a handling system for handling articles, and the automatic mobile device includes:

[0011] a drive unit that drives wheels provided in a vehicle body unit;

[0012] a loading unit that is provided in the vehicle body unit and loads or engages with a load; and

[0013] a control unit that controls the drive unit and the loading unit,

[0014] The above control unit controls the above loading unit and the above driving unit so that the above loading unit loads or engages with a digital signage having a notification unit with notification information, and drives the above wheels to move the above vehicle body unit within a specific space.

[0015] In addition to moving and transporting objects, this automatic mobile device is combined with a digital signage with notification information and moves within a specific space such as in a commercial facility. Therefore, in this automatic mobile device, the operation rate of the automatic mobile device can be further improved by the movement of the digital signage. Additionally, for example, this automatic mobile device can provide effective information such as increasing the sales of a commercial facility through the movement of the digital signage. Description of the Drawings

[0016] Figure 1 It is a schematic explanatory diagram showing an example of the handling system 10.

[0017] Figure 2 It is an explanatory diagram showing an example of the automatic mobile device 30.

[0018] Figure 3 It is a four-view drawing showing an example of the automatic mobile device 30.

[0019] Figure 4 It is a three-view drawing of the automatic mobile device 30 connected to the cart 12.

[0020] Figure 5 It is an explanatory diagram showing an example of the information stored in the storage unit 23.

[0021] Figure 6 It is an explanatory diagram showing an example of the digital signage 60.

[0022] Figure 7 It is an explanatory diagram showing an example of another digital signage 60B.

[0023] Figure 8 It is a flowchart showing an example of an operation instruction processing routine.

[0024] Figure 9 It is a flowchart showing an example of an automatic movement processing routine.

[0025] Figure 10 It is a flowchart showing an example of a digital signage movement processing routine.

[0026] Figure 11 It is an explanatory diagram of the automatic mobile device 30 engaged with the digital signage 60.

[0027] Figure 12 It is a flowchart showing an example of an advertisement notification processing routine.

[0028] Figure 13 This is an explanatory diagram showing an example of the movement path of the digital signage 60 in the commercial facility 11. Detailed implementation mode

[0029] The embodiments of the present disclosure will be described with reference to the accompanying drawings. Figure 1 This is a schematic explanatory diagram showing an example of the handling system 10. Figure 2 This is an explanatory diagram showing an example of the automatic mobile device 30. Figure 3 This is a four-view diagram showing an example of the automatic mobile device 30. Figure 3 (A) of this is a top view. Figure 3 (B) of this is a front view. Figure 3 (C) of this is a side view. Figure 3 (D) of this is a rear view. Figure 4 This is a three-view diagram of the automatic mobile device 30 connected to the cart 12. Figure 4 (A) of this is a top view. Figure 4 (B) of this is a front view. Figure 4 (C) of this is a side view. Figure 5 This is an explanatory diagram showing an example of the handling information 24, map information 25, notification information 26, and business information 27 stored in the storage unit 23 of the management device 20. Figure 6 This is an explanatory diagram showing an example of the digital signage 60. Figure 7 This is an explanatory diagram showing an example of another digital signage 60B.

[0030] The handling system 10 includes an automatic mobile device 30 that automatically moves an item as a moving object within a specific space, and is a system that performs the process of handling the item. The handling system 10 will be described by taking as an example a structure that uses a cart 12 as a handled item, but is not particularly limited thereto, and the cart 12 may be omitted, or other structures may be used. Here, as the "item", any item to be handled may be used, and there is no particular limitation. For example, industrial products including machines, devices, device units, components, etc., daily necessities generally used for daily use, foods, fresh products, etc. may be cited. In addition, as the specific space, a commercial facility 11 having a plurality of stores 15, etc. will be described here, but is not particularly limited thereto, and it may also be set as an exhibition hall, a sports facility, a museum, a science museum, a zoo, an aquarium, etc.

[0031] As Figure 1As shown, the handling system 10 is configured to include a management device 20 and an automatic moving device 30, and is used within a commercial facility 11. The commercial facility 11 has a plurality of stores 15, and has aisles 16, charging points 17, etc. The stores 15 display and sell the items transported thereto. Each store 15 has one or more automatic moving devices 30 that can automatically move the trolley 12. Each store 15 has an aisle for the trolley 12 and people to move through and a display rack 19 for displaying items. In addition, each store 15 also has a store PC for managing items. The aisles 16 are located between the stores 15 and within the stores 15, and are for the automatic moving device 30 and people to move through. The charging point 17 is a facility for charging the battery 76 of the digital signage 60 and the battery 46 of the automatic moving device 30, which will be described in detail later. The charging point 17 can perform either wireless power supply based on electromagnetic induction or wired power supply to a terminal-connected cable. The commercial facility 11 has one or more automatic moving devices 30 that can automatically move the transported items such as the trolley 12. In this commercial facility 11, an operator or the like performs an operation of placing items on the trolley 12 corresponding to the destination store 15. The automatic moving device 30 performs an operation of loading or engaging the trolley 12 with the determined destination and moving it to the destination store 15. The standby location of the automatic moving device 30 is set to the charging point 17 in the backyard (refer to Figure 1 ). In addition, in the handling system 10, when there is no handling of the trolley 12 by the automatic moving device 30 and the commercial facility 11 is in business hours, a notification process is performed to move the digital signage 60 for notification, publicity, and advertising within the commercial facility 11 by the automatic moving device 30. The management device 20 sets the operation content of the automatic moving device 30.

[0032] The trolley 12 is a transported item for handling items. As Figure 1 、 Figure 4 shown, it has a loading part 13 and casters 14. The loading part 13 is a flat component for loading items. The casters 14 have wheels for the trolley 12 to travel and are arranged on the lower surface side of the loading part 13. This trolley 12 can also be a pallet.

[0033] The management device 20 is disposed in the commercial facility 11 and is a control device configured to perform control such as commodity management and management of the automatic moving device 30 in the commercial facility 11. The management device 20 is a server used in the handling system 10 including the automatic moving device 30, and the automatic moving device 30 loads or engages with the transported item and moves the transported item. The management device 20 includes: a management control unit 22 as a management unit, a storage unit 23, and a communication unit 29. The management control unit 22 has a CPU and is responsible for the overall control of the device. The storage unit 23 stores various application programs and various data files. In the storage unit 23, handling information 24, map information 25, notification information 26, business information 27, etc. are stored. As Figure 5As shown, the handling information 24 is information for managing the handling of articles within the commercial facility 11, including information such as the identification information (ID) of the article, its handling time, the category of the item being handled, the current position and destination as the travel route, and the current status of the item being handled. The map information 25 is information on the map of the commercial facility 11. The notification information 26 includes information related to promotions and advertisements provided to customers visiting the store 15. In the notification information 26, a correspondence is established between customer segments and the corresponding promotion or advertisement content. As customer segments, for example, in addition to age segments such as children, youth, family segments, and the elderly, it also includes genders such as male and female. The advertisement content includes, for example, information on restaurants within the commercial facility 11, fashion information, pet stores, grocery stores, jewelry stores, etc. Additionally, in the advertisement content, it also includes information on events or price cuts corresponding to the season. The business information 27 contains information related to the operation of the commercial facility 11 and is used for the utilization of the automatic mobile device 30. In the business information 27, for example, for each time period on a specific day of the week in a specific season, a correspondence is established between the travel mode, travel route, statistical values of the main and customer segments, and the number of customers of the automatic mobile device 30. Additionally, the business information 27 is configured to include predetermined factors such as season, time period, day of the week, number of visitors, and visitor segments for determining the movement path of the automatic mobile device 30 and the digital signage 60. The management device 20 uses the business information 27 to set the movement path and advertisement content of the digital signage 60 within the commercial facility 11. The communication unit 29 is an interface for communicating wirelessly with external devices such as the automatic mobile device 30. The management control unit 22 exchanges information with external devices via the communication unit 29.

[0034] As Figures 2 - 4 shown, the automatic mobile device 30 is a vehicle that automatically moves the trolley 12 or the digital signage 60 as the item to be handled. This automatic mobile device 30 enters the space between the casters 14 on the lower surface side of the mounting portion 13 of the trolley 12, lifts the mounting portion 13 from below for loading, or connects to the trolley 12 in a manner that locks and pulls the mounting portion 13, and moves the trolley 12. This automatic mobile device 30 can be an AGV (Automatic Guided Vehicle) that moves along a line formed on the road surface or wall surface, etc., or an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route. As Figure 2 shown, the automatic mobile device 30 includes: a control device 31, a vehicle body portion 37, a lifting portion 38, a communication portion 39, a drive portion 40, a loading portion 42, a power portion 45, a detection portion 50, and a lighting portion 56.

[0035] The control device 31 is a controller that controls the entire automatic mobile device 30, and includes a handling control unit 32 such as a CPU and a storage unit 33 such as a flash memory. The handling control unit 32 outputs control signals and the like to the lifting unit 38, the drive unit 40, the communication unit 39, and the detection unit 50, and inputs signals from the communication unit 39 and the detection unit 50. The handling control unit 32 controls the loading unit 42 by controlling the lifting unit 38. The handling control unit 32 grasps the moving direction, moving distance, current position, etc. of the automatic mobile device 30 based on the driving state of the drive unit 40, etc. The handling control unit 32 controls the movement and stop of the automatic mobile device 30 based on the information from the detection unit 50. The storage unit 33 stores various application programs and various data files. For example, in the storage unit 33, there are stored handling information 34, map information 35, notification information 36, etc. that are the same as the handling information 24, map information 25, notification information 26, etc. stored in the storage unit 23. The handling information 34, map information 35, notification information 36 are obtained from the management device 20, etc. through communication.

[0036] The vehicle body part 37 is a flat shell that enters the lower surface of the carriage 12. Wheels 41 are arranged on the lower surface side, a loading unit 42 is arranged on the upper surface side, and it travels. Inside the vehicle body part 37, there are housed the control device 31, the communication unit 39, the drive unit 40, the power unit 45, etc. The detection unit 50 is arranged on the outer surface of the vehicle body part 37. The communication unit 39 is an interface that exchanges information with external devices such as the management device 20 and the digital signage 60 wirelessly. The handling control unit 32 exchanges information with external devices via the communication unit 39.

[0037] The drive unit 40 is connected to each wheel 41 of the vehicle body part 37, and is an electric motor that drives the automatic mobile device 30 to travel by rotationally driving the connected wheels 41. The automatic mobile device 30 has four wheels 41 and moves by the rotational drive of the wheels 41. The wheels 41 can also be Mecanum wheels or omnidirectional wheels that can move longitudinally and laterally by independent drive of the four wheels.

[0038] The loading unit 42 is disposed on the upper surface of the vehicle body portion 37, and is configured to load the cart 12 as a transported object or a structure that engages with the cart 12 and moves the cart 12. The loading unit 42 has, for example: a loading member 43 that moves the cart 12 in a state where the placement portion 13 of the cart 12 is lifted; and an engaging member 44 that engages with and pulls the placement portion 13. The loading member 43 is a flat plate-shaped member that pushes up the lower surface of the object to be moved, and is disposed on the side of the upper surface of the vehicle body portion 37 so as to be able to be lifted and lowered piece by piece. The engaging member 44 is a plurality of pin-shaped members, and is configured to descend by a spring when a load is applied from the upper surface side. The engaging member 44 is disposed at the four corners of the upper surface of the vehicle body portion 37, and is disposed so as to be inserted into a through hole in the center of the loading member 43. The lifting unit 38 is a driving unit that lifts and lowers the loading unit 42, and lifts and lowers either the loading member 43 or the engaging member 44.

[0039] The power unit 45 is a device that supplies power to the control device 31, the lifting unit 38, the driving unit 40, etc. The power unit 45 includes: a storage battery 46, a power receiving unit 47, and a power supply unit 48. The storage battery 46 is a secondary battery that stores power supplied from an external power source and discharges as the automatic moving device 30 operates. The power receiving unit 47 is a unit that inputs power in a non-contact state based on electromagnetic induction or a connected state where terminals are connected with respect to an external power source. The power receiving unit 47 may be connected to a terminal disposed on the wall surface of the commercial facility 11 to receive power. The power supply unit 48 is, for example, a unit that supplies power to an external device such as the digital signage 60, and can supply power in a non-contact state by electromagnetic induction or in a contact state where terminals are connected. The power supply unit 48 is disposed at the center of the upper surface of the vehicle body portion 37.

[0040] The detection unit 50 detects the state of the automatic mobile device 30, the objects existing around the automatic mobile device 30, and the distances thereto. For example, the detection unit 50 may also irradiate light such as laser or sound waves to the surroundings, and detect the presence of the object and its distance by detecting the reflected waves. For example, the detection unit 50 may also be one or more of an inertial measurement unit, a laser scanning sensor, a camera, a stereo camera, and a sonar sensor. The detection unit 50 is configured to include first to fifth detection units 51 to 55. The first detector 51 may be a stereo camera disposed on the front of the vehicle. The second detector 52, the third detector 53, the fourth detector 54, and the fifth detector 55 may be LiDAR (light detection and ranging) disposed on the front, side, and rear of the vehicle body portion 37. In addition, it may be that the detection unit 50 includes a gyro sensor and an acceleration sensor (not shown), and the automatic mobile device 30 includes an inertial measurement unit (IMU: Inertial Measurement Unit) for detecting the inclination and acceleration of its own vehicle body. In the detection unit 50, it is possible to detect a person located around the vehicle body portion 37 by the first detector 51. The lighting unit 56 is an LED lamp that irradiates light to the surroundings.

[0041] The digital signage 60 is arranged at a plurality of predetermined positions in the commercial facility 11 and is a device for notifying information to the surroundings. As Figure 6As shown, the digital signage 60 is configured as a digital digital signage, and includes a control device 61, a photographing unit 67, a communication unit 69, casters 70, a frame 71, a notification unit 72, and a power unit 75. The digital signage 60 is configured to be movable by the casters 70. The control device 61 is a controller that controls the entire digital signage 60, and includes a notification control unit 62 such as a CPU and a storage unit 63 such as a flash memory. The notification control unit 62 outputs control signals and the like to the photographing unit 67, the communication unit 69, the notification unit 72, and the power unit 75, and inputs signals from the photographing unit 67, the communication unit 69, the notification unit 72, and the power unit 75. The notification control unit 62 notifies information to visitors and the like around by controlling the notification unit 72. The notification control unit 62 can obtain information related to people located around based on the photographed image of the photographing unit 67. The storage unit 63 stores various application programs and various data files. For example, notification information 66 identical to the notification information 26 in the storage unit 23 and the notification information 36 in the storage unit 33 is stored in the storage unit 63. The notification information 66 is obtained through communication from the management device 20, the automatic moving device 30, or the like. The photographing unit 67 is an example of a detection unit that detects the surroundings, and is configured as a camera that photographs images. The communication unit 69 is an interface that exchanges information with external devices such as the management device 20 and the automatic moving device 30 wirelessly. The notification control unit 62 exchanges information with external devices via the communication unit 69. The casters 70 have wheels for moving the digital signage 60 and are disposed on the lower surface side of the frame 71. The frame 71 is a structure on which the control device 61 and the notification unit 72 are disposed. The engaging member 44 engages with the frame 71. The notification unit 72 includes a display unit 73 and a speaker 74. The display unit 73 is a display for displaying a screen. The speaker 74 outputs sounds and music together with the image displayed on the display unit 73. Visitors can obtain information visually through the display unit 73 and obtain information auditorily through the speaker 74. The power unit 75 is a device that supplies power to the control device 61, the photographing unit 67, the notification unit 72, and the like. The power unit 75 includes a storage battery 76 and a power receiving unit 77. The storage battery 76 is a secondary battery that stores the power supplied from an external power source and discharges as the digital signage 60 operates. The power receiving unit 67 is a unit that receives power in a non-contact state based on electromagnetic induction or a connected state in which terminals are connected with respect to an external power source. The power receiving unit 77 can also receive power in a non-contact state from a charging point 17 disposed on the ground of the commercial facility 11 or the power supply unit 48 of the automatic moving device 30.

[0042] In addition, the digital signage 60 may not be a digital digital signage, and may be as Figure 7Like the digital signage 60B shown, it is configured to not require power and is a display board with immovable legs 70B and a display unit 73B for posting advertisements. In this digital signage 60B, the automatic moving device 30 also enters the lower surface of the frame 71 and can move within the commercial facility 11 through the automatic moving device 30.

[0043] Next, the process of the automatic moving device 30 performing operations within the commercial facility 11 in the handling system 10 configured as such will be described. First, the process of setting the operation content of the automatic moving device 30 in the management device 20 will be described. Here, in the handling system 10, as a specific example, the process of the management device 20 determining the moving paths of the automatic moving device 30 and the digital signage 60 and the automatic moving device 30, which functions as an AMR, moving within the commercial facility 11 in the store 15 or the passage 16 will be described. Figure 8 It is a flowchart showing an example of an operation instruction processing routine executed by the management control unit 22, which is the management unit of the management device 20. This routine is stored in the storage unit 23 and is executed after the management device 20 is started. When this routine starts, first, the management control unit 22 of the management device 20 reads and obtains the map information 25 from the storage unit 23 (S100), and determines whether there is a transported item in the current time period based on the transport information 24 (S110). When there is a transported item in the current time period, the management control unit 22 determines whether the automatic moving device 30 is moving the digital signage 60 (S120). Also, in the handling system 10, when the automatic moving device 30 is not transporting a transported item, for the purpose of publicity, the digital signage 60 is moved within the commercial facility 11.

[0044] When the automatic moving device 30 is moving the digital signage 60, the management control unit 22 sets the optimal configuration position of the digital signage 60 to interrupt the movement of the digital signage 60 (S130). For example, the management control unit 22 can also set the charging point 17 closest to the current position of the automatic moving device 30 as the configuration position. In addition, the management control unit 22 can also set the charging point 17 that is closer to the current position of the automatic moving device 30 and has more visitors during this time period as the configuration position. Preferably, the automatic moving device 30 configures the moving digital signage 60 to a more effective configuration position.

[0045] After S130, or when the digital signage 60 is not being moved in S120, the management control unit 22 reads and obtains the handling information 24 including the current position of the handled object and the destination position of the handling destination (S140). Then, the management control unit 22 sets the shortest movement path between the current position and the destination position of the handled object (S150), and outputs the movement path information including the set movement path to the automatic moving device 30 (S160). In this movement path information, it includes the movement path via the configuration position where the engagement with the digital signage 60 is released next, the current position of the handled object, and the destination position of the handling destination during the movement of the digital signage 60 by the automatic moving device 30. The automatic moving device 30 that has obtained this movement path information performs operations such as moving the digital signage 60, releasing the engagement, engaging the trolley 12, moving, and releasing the engagement according to this movement path information.

[0046] On the other hand, when there is no handled object in the current time period in S110, the management control unit 22 determines whether the commercial facility is within the business hours (S170). When the commercial facility 11 is within the business hours, it is assumed that there are customers inside, and the movement path of the digital signage 60 is set, etc. Specifically, the management control unit 22 first determines whether the automatic moving device 30 is moving the digital signage 60 (S180). When the digital signage 60 is not being moved, it obtains the business information 27 including predetermined factors (S200). Then, the management control unit 22 sets the digital signage 60 to move within the commercial facility 11 (S210), and sets the driving mode, movement path, etc. of the automatic moving device 30 according to the predetermined factors of the business information 27 (S220).

[0047] Here, the set driving mode may include, for example, a configuration mode in which the digital signage 60 moves from a certain location in the commercial facility 11 to the next location and a tour mode in which the commercial facility 11 moves in a predetermined order. For example, in the commercial facility 11, in the period immediately after opening, in order for the visitors to confirm the inside of the commercial facility, it is preferable to configure the digital signage 60 near the entrance. In addition, if time has passed after opening, the arriving customers will move to various places, so it is preferable that the digital signage 60 tours inside the facility. Also, in the commercial facility 11, in order to notify the location of the food court or the dining menu even during the dining period, etc., it is preferable that the digital signage 60 moves in the area with more customers. In the management device 20, effective advertising and promotion of the commercial facility 11 can be carried out using the business information 27 including predetermined factors.

[0048] On the other hand, when the automatic moving device 30 is moving the digital signage 60 in S180, the management control unit 22 determines whether to change the moving conditions (S190). When changing the moving conditions, the management control unit 22 uses the business information 27 in the same manner as described above to change and set the moving path of the digital signage 60 (S200 to S220). And after S220, the management control unit 22 outputs the moving path information including the driving mode and the moving path set in S160 to the automatic moving device 30.

[0049] After S160, or when the commercial facility is not within business hours in S170, or when the moving conditions are not changed in S190, the management control unit 22 determines the open state where all processes have been completed (S230). When all processes are not completed, the management control unit 22 executes the processes after S110. On the other hand, when all processes are completed in S230, this routine ends. In this way, the management device 20 sets the operation content of the automatic moving device 30.

[0050] Next, the processes performed by the control device 31 of the automatic moving device 30 will be described. Figure 9 FIG. is a flowchart showing an example of an automatic moving process routine executed by the control device 31 of the automatic moving device 30. This routine is stored in the storage unit 33 and is executed by the handling control unit 32 after the automatic moving device 30 is started. When starting this routine, first, the handling control unit 32 of the control device 31 reads and obtains the map information 35 from the storage unit 33 (S300), and determines whether the moving path information has been obtained (S310). When the moving path information has not been obtained, the handling control unit 32 directly stands by. On the other hand, when the moving path information has been obtained, it is checked whether the object to be processed is a transported item or the digital signage 60 (S320). When the object to be processed is a transported item, the handling mode described below is executed (S10). Specifically, the handling control unit 32 reads the handling information 34 to obtain the information on the current position of the transported item and the destination position as the handling destination (S330), and moves the vehicle body unit 37 along the moving path to the target position, that is, the current position of the transported item (S340). In addition, the target position is the current position of the trolley 12 during the process of the automatic moving device 30 receiving the trolley 12, and is the destination position when the automatic moving device 30 moves the trolley 12 to the destination position. In addition, the handling control unit 32 uses the detection unit 50 to determine whether there is an obstacle on the moving path (S350). When there is an obstacle, it moves while avoiding the obstacle (S360). After S360, or when there is no obstacle in S350, it is determined whether the target position has been reached (S370). When the target position has not been reached, the processes after S340 are executed. That is, the handling control unit 32 moves on the moving path to the target position.

[0051] On the other hand, when the vehicle body unit 37 reaches the target position, the transfer control unit 32 performs the loading or engagement process of the carriage 12 when the target position is the initial position of the carriage 12, and performs the loading / unloading or engagement release process of the carriage 12 when the target position is the destination position (S380). Next, the transfer control unit 32 determines whether the transfer process has ended (S390). When the transfer process has not ended, the processes after S340 are executed. On the other hand, when the transfer process ends in S390, the transfer control unit 32 determines whether all the processes that the automatic transfer device 30 should perform have been completed (S400). When the processes have not been completed, the transfer control unit 32 executes the processes after S310. On the other hand, when the processes are completed in S400, the transfer control unit 32 moves to the initial position of the predetermined automatic transfer device 30 as needed (S420), and ends this routine.

[0052] On the other hand, when the object to be processed is the digital signage 60 in S320, the digital signage movement processing mode is executed (S410). Figure 10 It is a flowchart showing an example of the digital signage movement processing routine executed by the transfer control unit 32. This routine is stored in the storage unit 33 of the control device 31 and is executed by the transfer control unit 32 in S410. When this routine starts, first, the transfer control unit 32 of the control device 31 determines whether the traveling mode of the automatic transfer device 30 is the patrol process or the placement process to the predetermined placement position based on the acquired movement path information (S500).

[0053] When the traveling mode of the automatic transfer device 30 places the digital signage 60 at the predetermined placement position, the same digital signage movement processing as the above transfer mode is executed (S590). In the digital signage movement processing, the transfer control unit 32 performs the same processes as S330 to S390, that is, acquires the information of the current position and the destination position of the transported digital signage 60, moves to the current position and engages the digital signage 60, then moves to the destination position, and controls the drive unit 40 and the loading unit 42 to release the engagement of the digital signage 60. Figure 11 It is an explanatory diagram of the automatic transfer device 30 engaged with the digital signage 60. Figure 11 (A) of is a diagram just before engagement. Figure 11The figure (B) is the one after engagement. The automatic moving device 30 dives into the lower part of the frame 71 of the digital signage 60, and raises the loading part 42 through the lifting part 38, so that the engaging part 44 engages with the frame 71. The digital signage 60 is towed by the automatic moving device 30 through the engagement of the engaging part 44 with the frame 71. In addition, at this time, the power supply part 48 of the automatic moving device 30 faces the power receiving part 77 of the digital signage 60, and power can be supplied from the storage battery 46 of the automatic moving device 30 to charge the storage battery 76. The digital signage 60 is arranged at the target position and notifies the information to the visitors here. In addition, in order to ensure the continuous operation of the digital signage 60, the target position can also be set at the charging point 17.

[0054] On the other hand, when the traveling mode of the automatic moving device 30 is patrol in S500, the handling control unit 32 executes the patrol process of the digital signage 60. Specifically, the handling control unit 32 controls the loading unit 42 and the driving unit 40 to first move to the current position of the digital signage 60 that should be moved, and engage the automatic moving device 30 with the digital signage 60. After S510, the handling control unit 32 drives and controls the driving unit 40 to move on the patrol moving path (S520). Then, the handling control unit 32 determines whether it is the timing to detect the surroundings of the vehicle body part 37 (S530). The timing for detecting the surroundings can be set, for example, at every predetermined time, such as every 5 minutes, or at a predetermined time, such as 11:00, 11:10, etc. When it is the timing to detect the surroundings, it is determined whether there are visitors around by the detection unit 50 (S540). The handling control unit 32 can also detect the presence or absence of people through the captured image of a stereo camera such as the first detector 51 to detect the visitors. Or, the handling control unit 32 can obtain the captured image captured by the imaging unit 67 of the digital signage 60 via the communication unit 39 and confirm the presence of the visitors.

[0055] When a visitor is detected, the handling control unit 32 determines the customer class of the visitor (S550). As the customer class, for example, age classes such as children, young people, ordinary people, and elderly people, genders, etc. can be cited. When the customer class is determined in S550, the handling control unit 32 approaches the visitor and causes the digital signage 60 to output publicity and advertisements corresponding to the customer class, so as to notify the information to the visitor (S560). At this time, the handling control unit 32 issues an instruction to the digital signage 60 to display the advertisement content corresponding to the customer class of the visitor. The notification control unit 62 of the digital signage 60 displays the notification information on the display unit 73 according to the instruction, and outputs a sound from the speaker 74. The digital signage 60 notifies the publicity and advertisements of restaurants, fashion stores, service providers, etc. corresponding to the age class to the visitors, for example.

[0056] Next, the conveyance control unit 32 determines whether the advertisement notified to the visitor has ended (S570). When the advertisement has not ended, the processes after S560 are executed. On the other hand, when the advertisement has ended, or when it is not the surrounding detection timing in S530, or when no visitor is detected in S540, the conveyance control unit 32 moves along the tour movement path (S580). Then, after S580 or after the digital signage movement process is executed in S590, the conveyance control unit 32 determines whether to end the digital signage movement process (S600). When the digital signage movement process is not ended, the conveyance control unit 32 repeatedly executes the processes after S500. On the other hand, when the digital signage movement process is ended, the conveyance control unit 32 moves the digital signage 60 to the position where it is arranged with the engagement released and releases the engagement (S610), and moves to the initial position or the like as needed to end this routine.

[0057] Next, the process performed by the control device 61 of the digital signage 60 will be described. Figure 12 FIG. is a flowchart showing an example of an advertisement notification process routine executed by the control device 61 of the digital signage 60. This routine is stored in the storage unit 63 and is executed by the notification control unit 62 after the digital signage 60 is started. When this routine starts, first, the notification control unit 62 of the control device 61 reads a general advertisement from the storage unit 63 and displays and outputs it to the display unit 73, and also outputs sound if there is sound (S700). This general advertisement is an advertisement such as a promotional advertisement of the commercial facility 11 that is not related to the season or time period. The digital signage 60 may basically use this general advertisement as the main means to notify the visitor. Next, the notification control unit 62 determines whether a notification instruction for a specific advertisement has been obtained from an external device (S710). Examples of the external device include the management device 20 and the automatic moving device 30.

[0058] When receiving a notification instruction for a specific advertisement, the notification control unit 62 performs a display process for the specific advertisement on the display unit 73 and outputs it from the speaker 74 when there is sound (S720). Next, the notification control unit 62 determines whether the notification process for the specific advertisement has ended (S730). When the notification process has not ended, it performs the processes after S720. That is, the notification control unit 62 continues the notification process for the specific advertisement. On the other hand, when the notification process for the specific advertisement has ended or when no notification instruction for the specific advertisement is obtained in S710, the notification control unit 62 determines whether all advertisement processes have been completed (S740). When the advertisement processes have not been completed, the notification control unit 62 performs the processes after S700. That is, the notification control unit 62 notifies general advertisements and performs the notification process for the specific advertisement according to the instruction. On the other hand, when all advertisement processes have been completed in S740, the notification control unit 62 ends this routine. The digital signage 60 performs the above advertisement processes regardless of whether it is moving itself and notifies information to the customers who come to the store.

[0059] Figure 13 It is an explanatory diagram showing an example of the movement path of the digital signage 60 in the commercial facility 11. In Figure 13 it, as the movement of the digital signage 60 in the digital signage movement process, an example in which the automatic moving device 30 engages with the digital signage 60 at location I starting from location A as the initial position and moves to location C is marked with a solid arrow. In addition, in Figure 13 it, as the movement of the digital signage 60 in the patrol process, an example of moving from location E via location L to location E is shown by a dashed line. In the commercial facility 11, when it is preferable to arrange the digital signage 60 at a predetermined arrangement position such as near the entrance and exit, for example, when opening the store, the automatic moving device 30 arranges the digital signage 60 at the predetermined arrangement position. At this time, preferably, the automatic moving device 30 does not move the digital signage 60 to the target position by taking a detour or the like so that it can be arranged at the predetermined arrangement position earlier. On the other hand, in a time period such as before the meal time, in order to notify more customers who come to the store, the automatic moving device 30 patrols on the patrol route and approaches the customer who comes to the store if there is one, disregarding the movement path and directly notifying information corresponding to the customer group. The automatic moving device 30 transports goods and other carried items in the commercial facility 11 outside the business hours of the commercial facility 11, but is almost on standby in the backyard during the business hours of the commercial facility 11. In this transportation system 10, during the standby time of the automatic moving device 30, by moving the digital signage 60 in the commercial facility 11, its operation rate can be further improved.

[0060] Here, the correspondence between the components of this embodiment and the components of the present disclosure is clarified. The automatic mobile device 30 of this embodiment is an example of the automatic mobile device of the present disclosure, the drive unit 40 is an example of the drive unit, the loading unit 42 is an example of the loading unit, the handling control unit 32 is an example of the control unit, and the detection unit 50 is an example of the detection unit. In addition, the management device 20 is an example of the management device, the management control unit 22 is an example of the management unit, the digital signage 60 is an example of the digital signage, and the notification unit 72 is an example of the notification unit. In addition, in this embodiment, by explaining the operation of the handling system 10, an example of the control method and management method of the automatic mobile device 30 of the present disclosure is also clarified.

[0061] According to the automatic mobile device 30 of the present embodiment described above, in addition to moving the transported object, it is combined with the digital signage 60 for notifying information and moves within a specific space such as inside the commercial facility 11. Therefore, in this automatic mobile device 30, the operation rate of the automatic mobile device 30 can be further improved by the movement of the digital signage 60. In addition, for example, this automatic mobile device 30 can provide effective information such as increasing the sales of the commercial facility 11 through the movement of the digital signage 60. In addition, the handling control unit 32 as the control unit controls the loading unit 42 and the drive unit 40 so that the vehicle body unit 37 moves to the installation position of the digital signage 60. The loading unit 42 loads or engages with the digital signage 60, and after moving inside the commercial facility 11, releases the loading or engagement of the digital signage 60 and configures the digital signage 60 at a predetermined installation position. In this automatic mobile device 30, by moving the digital signage 60 to a predetermined installation position, the promotional effect of the information notification can be further improved.

[0062] In addition, the handling control unit 32 can further improve the information providing effect of the digital signage 60 by moving the digital signage 60 to a predetermined installation position corresponding to one or more predetermined factors including time period, day of the week, number of visitors, and visitor class. In addition, the handling control unit 32 can further improve the information providing effect of the digital signage by moving the digital signage 60 along a movement path corresponding to one or more predetermined factors including time period, day of the week, number of visitors, and visitor class. In addition, the automatic mobile device 30 is provided with a power supply unit 48 that supplies power to the digital signage 60 wirelessly or wiredly. Therefore, by supplying power to the digital signage 60, the information provision of the digital signage can be executed.

[0063] In addition, the handling control unit 32 moves along the movement path selected based on the detection results of the surrounding detection unit 50. Therefore, it can achieve more efficient movement along the movement path and can provide more effective information. In addition, since the handling control unit 32 moves the digital signage 60 to the movement path and movement destination selected based on the detection results of the surrounding detection unit 50, such as near the visitors, it can provide more effective information. Moreover, since the handling control unit 32 causes the digital signage 60 to output the notification information selected based on the detection results of the surrounding detection unit 50, it can provide more effective information. In addition, since the handling control unit 32 releases the loading or engagement of the digital signage 60 at a predetermined timing and transfers to the operation of moving the handled object, it can execute the recovery from the movement of the digital signage 60 to the movement of the handled object.

[0064] The management device 20 can further improve the operation rate of the automatic moving device 30 through the movement of the digital signage 60 by sending an instruction to move the digital signage 60 to the automatic moving device 30. In addition, the management device 20 can provide effective information such as increasing the sales of the commercial facility 11 as a specific space by moving the digital signage 60 within the specific space. In addition, since the management control unit 22 sets a predetermined position or movement path for arranging the digital signage 60 based on a predetermined factor including one or more of a time period, day of the week, number of visitors, and visitor class, by adopting the predetermined position or movement path corresponding to these predetermined factors, the information providing effect of the digital signage 60 can be further improved. Moreover, the management control unit 22 outputs an instruction to end the movement of the digital signage 60 and transfer to the operation of moving the handled object. In this management device 20, the recovery from the movement of the digital signage 60 to the handling process of the handled object can be executed.

[0065] The handling system 10 includes the above-described automatic moving device 30 and the above-described management device 20. In this handling system 10, since the above-described automatic moving device 30 and management device 20 are included, the operation rate of the automatic moving device 30 can be further improved through the movement of the digital signage 60, and thus effective information can be provided.

[0066] In addition, it goes without saying that the present disclosure is not limited to any of the above-described embodiments, and can be implemented in various ways as long as it belongs to the technical scope of the present disclosure.

[0067] For example, in the above-described embodiment, business information 27 including predetermined factors is used to set the movement paths of the automatic mobile device 30 and the digital signage 60 and the predetermined configuration positions of the digital signage 60, but it is not particularly limited thereto. For example, the predetermined factors include one or more of season, time period, day of the week, number of visitors, and visitor class, but one or more of them may be omitted, and other factors may be used in addition to or instead of them. Further, the management device 20 may set the movement path of the digital signage 60 or the predetermined configuration position of the digital signage 60 without using the predetermined factors.

[0068] In the above-described embodiment, the power unit 45 of the automatic mobile device 30 has a power supply unit 48 that supplies power to the digital signage 60, but it may be omitted. In this case, the automatic mobile device 30 may also move the digital signage 60B that does not have the power unit 75.

[0069] In the above-described embodiment, although not particularly described, the conveyance control unit 32 may also release the loading or engagement of the digital signage 60 at a predetermined timing, move to the standby location, and charge the storage battery 46. In this automatic mobile device 30, it is possible to switch from the movement of the digital signage 60 to the execution of the charging process of the storage battery 46. Alternatively, as the predetermined timing, when the remaining capacity of the storage battery 46 becomes equal to or less than a predetermined value, the automatic mobile device 30 moves to the standby location or the charging point 17 to perform charging. At this time, the automatic mobile device 30 may also load the digital signage 60 on the charging point 17 or release the engagement. In this automatic mobile device 30, it is also possible to charge the storage battery 76 provided in the digital signage 60. Or, the management control unit 22 may also release the loading or engagement of the digital signage 60 at a predetermined timing and set a movement path for moving to the standby location to charge the storage battery 46.

[0070] In the above-described embodiment, the management device 20 sets the movement path of the digital signage 60 and the predetermined configuration position after the digital signage 60 moves, but it is not particularly limited thereto, and the movement path and the configuration position may be set by other devices such as the automatic mobile device 30, the digital signage 60, and the store PC.

[0071] In the above-mentioned embodiment, the transport control unit 32 of the automatic moving device 30 uses the detection result of the detection unit 50 to change the moving path or moving destination of the digital signage 60, or uses the detection result of the detection unit 50 to set the notification information in the digital signage 60, but the present invention is not particularly limited to this. The transport control unit 32 may also obtain the captured image of the imaging unit 67 as the detection unit of the digital signage 60 from the digital signage 60, and based on the captured image, change the moving path or moving destination of the digital signage 60, or set the notification information notified by the digital signage 60. In addition, for example, the management control unit 22 of the management device 20 may also use the detection results of the detection unit 50 and the imaging unit 67 to change the moving path or moving destination of the digital signage 60, or use the detection results of the detection unit 50 and the imaging unit 67 to set the notification information in the digital signage 60. In this transport system 10, it is possible to use the result of detecting the surrounding conditions to perform more efficient setting of the moving path or moving destination, or to provide more efficient information. Alternatively, in the automatic moving device 30, these processes using the surrounding detection results may be omitted.

[0072] In the above-mentioned embodiment, the automatic moving device 30 directly uses the loading unit 42 to load or engage the digital sign 60 and move it, but it is not particularly limited to this. For example, an accessory may be installed on the digital sign 60, and the automatic moving device 30 is connected to the accessory. In the automatic moving device 30 and the digital sign 60, the accessories installed on the digital sign 60 can be connected in the same way as the automatic moving device 30 is connected to the trolley 12. In addition, it is preferred that a power supply unit is provided on the accessory, and power can be supplied from the automatic moving device 30 to the digital sign 60.

[0073] In the above-mentioned embodiment, although not specifically described, the control mode of the automatic moving device 30 may be different when, for example, the vehicle 12 is transported and when the digital sign 60 is moved. The automatic moving device 30 may switch its operation between the pallet transport mode and the digital sign movement mode, for example. In addition, the management device 20 may change the way of issuing instructions during the transport of the vehicle 12 and the movement of the digital sign 60. In addition, the automatic moving device 30 may generate a route to guide visitors in the digital sign movement mode, or may patrol only within a specific space without transporting the transported objects.

[0074] In the above-mentioned embodiment, the wheels 41 of the autonomous moving device 30 are Mecanum wheels or omnidirectional wheels, but the present invention is not particularly limited thereto and may be ordinary wheels.

[0075] In the above-described embodiments, the present disclosure has been described as the transportation system 10, but it is not particularly limited thereto, and it may also be the management device 20 or the automatic moving device 30 as a management device. In addition, the present disclosure may be set as a management method or a program of the management device 20 in addition to the control method applied to the automatic moving device 30.

[0076] The present disclosure may also be configured as follows.

[0077] For example, the management device of the present disclosure is used in a transportation system including an automatic moving device, and the automatic moving device loads or engages with a transported object to move the transported object.

[0078] The management device includes a management unit, and the management unit issues an instruction to the automatic moving device during a period when the automatic moving device does not move the transported object, so that a digital sign having a notification unit with notification information moves within a specific space.

[0079] In this management device, by sending an instruction to the automatic moving device to move the digital sign, the operation rate of the automatic moving device can be further improved by the movement of the digital sign, and effective information provision such as increasing the sales of a commercial facility can be performed.

[0080] The control method of the automatic moving device of the present disclosure controls the automatic moving device, and the automatic moving device is used in a transportation system for transporting articles. The automatic moving device includes: a driving unit that drives wheels provided on a vehicle body unit; and a loading unit that is disposed on the vehicle body unit and loads or engages with a transported object.

[0081] The control method of the automatic moving device includes the following steps: controlling the loading unit and the driving unit so that the loading unit loads or engages with a digital sign of a notification unit having notification information, and driving the wheels to move the vehicle body unit within a specific space.

[0082] In this control method, similar to the above-described automatic moving device, the operation rate of the automatic moving device can be further improved by the movement of the digital sign. In addition, for example, in this control method, effective information provision such as increasing the sales of a commercial facility can be performed by the movement of the digital sign. In this control method, various modes of the above-described automatic moving device can be adopted, and steps for implementing each function of the above-described automatic moving device can also be added.

[0083] The management method of the present disclosure is used in a transportation system including an automatic moving device and is executed by a computer. The automatic moving device loads or engages with a transported object to move the transported object.

[0084] The above management method includes the following steps: issuing an instruction to the above automatic moving device during a period when the above automatic moving device does not move the above carried object, so that a digital signage having a notification unit with notification information moves within a specific space.

[0085] In this management method, similar to the above management device, by moving the digital signage, the operation rate of the automatic moving device can be further improved. In addition, for example, in this management method, by moving the digital signage, effective information provision such as increasing the sales of commercial facilities can be performed. In this management method, various modes of the above management device can be adopted, and in addition, steps for implementing each function of the above management device can also be added.

[0086] In this specification, the technical idea of changing "the automatic moving device according to claim 1 or 2" to "the automatic moving device according to any one of claims 1 to 3" in claim 4 at the initial application, the technical idea of changing "the automatic moving device according to claim 1 or 2" to "the automatic moving device according to any one of claims 1 to 4" in claim 5 at the initial application, the technical idea of changing "the automatic moving device according to claim 1 or 2" to "the automatic moving device according to any one of claims 1 to 5" in claim 6 at the initial application, the technical idea of changing "the automatic moving device according to claim 1 or 2" to "the automatic moving device according to any one of claims 1 to 6" in claim 7 at the initial application, and the technical idea of changing "the automatic moving device according to claim 1 or 2" to "the automatic moving device according to any one of claims 1 to 7" in claim 11 at the initial application are also disclosed.

[0087] Industrial Applicability

[0088] The automatic moving device, management device, handling system, control method of the automatic moving device, and management method of the present disclosure can be applied to the technical field of a circulation system for handling articles.

[0089] Explanation of Reference Numerals

[0090] 10 Transfer system, 12 Cart, 13 Loading section, 14 Caster, 15 Store, 16 Passageway, 17 Charging point, 19 Display rack, 20 Management device, 22 Management control section, 23 Storage section, 24 Transfer information, 25 Map information, 26 Notification information, 27 Business information, 29 Communication section, 30 Automatic mobile device, 31 Control device, 32 Transfer control section, 33 Storage section, 34 Transfer information, 35 Map information, 36 Notification information, 37 Vehicle body section, 38 Lifting section, 39 Communication section, 40 Driving section, 41 Wheel, 42 Loading section, 43 Loading component, 44 Engaging component, 45 Power section, 46 Storage battery, 47 Power receiving section, 48 Power supply section, 50 Detection section, 51 First detector, 52 Second detector, 53 Third detector, 54 Fourth detector, 55 Fifth detector, 56 Lighting section, 60, 60B Digital signage, 61 Control device, 62 Notification control section, 63 Storage section, 66 Notification information, 67 Shooting section, 69 Communication section, 70 Caster, 70B Leg, 71 Frame, 72 Notification section, 73, 73B Display section, 74 Speaker, 75 Power section, 76 Storage battery, 77 Power receiving section.

Claims

1. An automatic moving device, a handling system for handling articles, the automatic moving device comprising: A driving unit that drives wheels provided in a vehicle body unit; A loading unit disposed on the vehicle body unit for loading or engaging with a handled article; and A control unit that controls the driving unit and the loading unit, The control unit controls the loading unit and the driving unit so that the loading unit loads or engages with a digital sign having a notification unit with notification information, and drives the wheels to move the vehicle body unit within a specific space.

2. The automatic moving device according to claim 1, wherein The control unit controls the loading unit and the driving unit so that the vehicle body unit moves to the arrangement position of the digital sign, loads or engages with the digital sign in the loading unit and moves the digital sign within the specific space, and then releases the loading or engagement of the digital sign and arranges the digital sign at a predetermined arrangement position.

3. The automatic moving device according to claim 1 or 2, wherein The control unit moves the digital sign to the predetermined arrangement position corresponding to a predetermined factor, or moves the digital sign along a movement path corresponding to the predetermined factor, the predetermined factor including one or more of season, time period, day of the week, number of visitors, and visitor class.

4. The automatic moving device according to claim 1 or 2, wherein The automatic moving device is provided with a power supply unit that supplies power to the digital sign wirelessly or by wire.

5. The automatic moving device according to claim 1 or 2, wherein The control unit performs one or more of the following controls: moving the digital sign along a movement path selected according to a detection result of a detection unit that detects the surroundings, moving the digital sign to a predetermined arrangement position determined according to the detection result, and outputting notification information selected according to the detection result to the digital sign via a communication unit that exchanges information with the digital sign.

6. The automatic moving device according to claim 1 or 2, wherein The control unit performs one or more of the following controls: releasing the loading or engagement of the digital sign at a predetermined timing and switching to an operation of moving the handled article, or releasing the loading or engagement of the digital sign at a predetermined timing and moving to a standby location for charging.

7. The management device according to claim 1 or 2, wherein The control unit sets one or more of a movement path of the digital sign, a movement destination of the digital sign, and notification information to be notified by the digital sign according to a detection result of a detection unit that detects the surroundings provided in either the digital sign or the automatic moving device.

8. A management device used in a handling system including an automatic moving device, the automatic moving device loading or engaging with a handled article and moving the handled article, The management device includes a management unit that issues an instruction to the automatic mobile device during a period when the automatic mobile device does not move the transported object, so that a digital signage having a notification unit with notification information moves within a specific space.

9. The management device according to claim 8, wherein the management unit sets a predetermined arrangement position for arranging the digital signage and / or a movement path for moving the digital signage according to predetermined factors, and the predetermined factors include one or more of season, time period, day of the week, number of visitors, and visitor class.

10. The management device according to claim 8 or 9, wherein the management unit outputs one or more of the following instructions to the automatic mobile device: end the movement of the digital signage and switch to an operation of moving the transported object, or end the movement of the digital signage and move to a standby location for charging.

11. A transportation system, comprising: the automatic mobile device according to claim 1 or 2; and the management device according to claim 8 or 9.

12. A control method for an automatic mobile device, which controls an automatic mobile device used in a transportation system for transporting articles, the automatic mobile device including: a drive unit that drives wheels provided on a vehicle body unit; and a loading unit that is disposed on the vehicle body unit and loads or engages with a transported object, the control method for the automatic mobile device includes the following steps: controlling the loading unit and the drive unit so that the loading unit loads or engages with a digital signage having a notification unit with notification information, and driving the wheels to move the vehicle body unit within a specific space.

13. A management method, which is used in a transportation system including an automatic mobile device and is executed by a computer, the automatic mobile device loading or engaging with a transported object and moving the transported object, the management method includes the following step: issuing an instruction to the automatic mobile device during a period when the automatic mobile device does not move the transported object, so that a digital signage having a notification unit with notification information moves within a specific space.

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