Unmanned conveyance robot, management device, conveyance system, monitoring method, and program

Abstract

This unmanned transport robot (1) transports a cargo to a user, and is provided with an abnormality determination unit (12) that determines the presence or absence of a safe abnormality relating to the cargo on the basis of monitoring information indicating the state of occurrence of the safe abnormality relating to the cargo, and notifies the occurrence of the abnormality when it is determined that the abnormality exists.

Description

Technical Field

[0001] This disclosure relates to unmanned transport robots, management devices, transport systems, monitoring methods, and procedures for transporting goods. Background Technology

[0002] Services using unmanned transport robots to deliver goods to users have attracted attention. Patent Document 1 discloses an autonomous land vehicle that retrieves goods transported by trucks and delivers them to users. The autonomous land vehicle described in Patent Document 1 is an example of an unmanned transport robot, and a locking mechanism is installed in the storage area where goods are stacked. Users can unlock the locking mechanism by entering an access code through an input interface such as a keyboard on the autonomous land vehicle, thereby allowing them to retrieve the goods stored in the storage area.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6773885 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the technology described in Patent Document 1, the goods cannot be retrieved by anyone other than the user by locking the storage compartment. However, locking alone is sometimes insufficient as a security measure.

[0008] This disclosure was made in view of the above circumstances, and its purpose is to obtain an unmanned transport robot that can achieve enhanced safety.

[0009] Methods for solving problems

[0010] To address the aforementioned issues and achieve the objectives, the unmanned transport robot disclosed herein transports goods to users and includes an anomaly determination unit. This anomaly determination unit determines whether there is a safety anomaly related to the goods based on monitoring information, and notifies the occurrence of the anomaly if an anomaly is determined to exist. The monitoring information indicates the occurrence status of the safety anomaly related to the goods.

[0011] Invention Effects

[0012] The unmanned transport robot disclosed herein achieves the effect of enhanced safety. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating a structural example of the conveying system according to Embodiment 1.

[0014] Figure 2 This is a diagram showing an example of the general appearance of the unmanned transport robot according to Embodiment 1.

[0015] Figure 3 This is a flowchart illustrating an example of the first exception determination process in Implementation 1.

[0016] Figure 4 This is a flowchart illustrating an example of the second anomaly determination process in Implementation 1.

[0017] Figure 5 This is a flowchart illustrating an example of the third anomaly determination process in Implementation 1.

[0018] Figure 6 This is a flowchart illustrating an example of the fourth abnormality determination process in Implementation 1.

[0019] Figure 7 This is a diagram illustrating a structural example of a conveying system in Embodiment 1, where an anomaly detection unit is installed in the management device.

[0020] Figure 8 This is a diagram illustrating an example of the structure of the processing circuit of the control device implementing Embodiment 1.

[0021] Figure 9 This is a diagram illustrating a structural example of the conveying system in Embodiment 2.

[0022] Figure 10 This is a timing diagram illustrating an example of the sensor information provision process in Implementation 2.

[0023] Figure 11 This is a diagram illustrating a structural example of the conveying system in Embodiment 3.

[0024] Figure 12 This is a flowchart illustrating an example of the anomaly detection and handling in Implementation Method 3.

[0025] Figure 13 This is a diagram illustrating a structural example of the conveying system in Embodiment 4.

[0026] Figure 14 This is a flowchart illustrating an example of the anomaly detection and handling in Implementation Method 4.

[0027] Figure 15 This is a diagram illustrating an example of the operating mechanism in implementation method 4. Detailed Implementation

[0028] Hereinafter, the unmanned transport robot, management device, transport system, monitoring method and procedure of the embodiments will be described in detail based on the accompanying drawings.

[0029] Implementation method 1.

[0030] Figure 1This diagram illustrates a structural example of the transport system according to Embodiment 1. The transport system 100 of this embodiment includes an unmanned transport robot 1 and a management device 5 for managing the unmanned transport robot 1. The unmanned transport robot 1 is capable of transporting goods to users. The unmanned transport robot 1 can be a vehicle that travels on land, or it can be a drone (unmanned aerial vehicle), etc. The unmanned transport robot 1 only needs to be able to move unmanned; it can be a robot capable of autonomous driving, or it can be a robot capable of moving unmanned under the control of the management device 5 or other devices not shown. The transport system 100 delivers goods to users via the unmanned transport robot 1 based on a request from a sender who is the consignor of the goods. The sender is a business operator or the like that that arranges to send goods to a recipient user based on a request from a user other than the recipient user. Furthermore, in Figure 1 The diagram shows one unmanned transport robot 1, but the number of unmanned transport robots 1 is not limited to [number missing]. Figure 1 The example shown only requires one or more units.

[0031] User terminal 6 is a terminal device that can be operated by the recipient of the goods, such as a smartphone, tablet, smartwatch, personal computer, etc., but not limited to these. User terminal 6 has a transceiver unit 61 for communicating with other devices, a display unit 62 for displaying various information, images, etc., and an input receiving unit 63 for receiving input from the user.

[0032] The sender device 7 is a device for managing the sender and entrusts the transport system 100 to transport goods to the receiving user. For example, the sender device 7 sends transport entrustment information to the management device 5, which includes the address of the receiving user, the location where the goods are stored, and information indicating the contents of the goods. The sender device 7 performs processing to arrange the delivery of goods to the receiving user, for example, based on a request from the receiving user or a user other than the receiving user, but this processing can be arbitrary, so detailed description is omitted. Furthermore, if the sender and the operator managing the transport system 100 are the same, the management device 5 may also have the function of the sender device 7.

[0033] In this embodiment, the unmanned transport robot 1 determines whether a security anomaly has occurred. If a security anomaly has occurred, it notifies the management device 5. The management device 5 issues an alarm upon receiving notification of the anomaly from the unmanned transport robot 1. This enhances the security of the unmanned transport robot 1. Details of the security anomaly will be described later; examples of security anomalies include unauthorized access to the unmanned transport robot 1 and the removal of the robot 1. Alternatively, the management device 5 may also notify at least one of the user terminal 6 and the sender device 7 of the anomaly when notified by the unmanned transport robot 1. Or, the unmanned transport robot 1 may further notify both the user terminal 6 and the sender device 7 of the anomaly.

[0034] like Figure 1 As shown, the management device 5 includes a transceiver unit 51, an alarm issuing unit 52, an operation management unit 53, and an information storage unit 54. The transceiver unit 51 communicates with other devices. For example, the transceiver unit 51 outputs the transport request information received from the sender device 7 to the operation management unit 53. Additionally, when the transceiver unit 51 receives information destined for the unmanned transport robot 1 from the operation management unit 53, it sends the received information to the unmanned transport robot 1. Furthermore, when the transceiver unit 51 receives information from the unmanned transport robot 1, it outputs the received information to the operation management unit 53.

[0035] The operation management unit 53 manages the operation of the unmanned transport robot 1. For example, when the operation management unit 53 receives transport request information from the receiving and dispatching unit 51, it determines which unmanned transport robot 1 will be used to transport the goods corresponding to the transport request information based on the operation information representing the operation plan of each unmanned transport robot 1. That is, it assigns the unmanned transport robot 1 to the transport request corresponding to the transport request information and updates the operation information related to the determined unmanned transport robot 1 based on the transport request information. The operation information is stored in the information storage unit 54 as described below, and includes, for example, the operation schedule and current location of each unmanned transport robot 1. The operation schedule includes, for example, the scheduled start time of the transport, the stacking location of the goods, the destination of the goods, and the contents of the goods, but the operation schedule may also include the contents of the goods to be transported. The operation schedule only needs to provide information on when and where the goods will be transported, and the specific items constituting the operation schedule are not limited to the examples described above.

[0036] Furthermore, the management unit 53 generates control information instructing the unmanned transport robot 1 to move based on the application information stored in the information storage unit 54, so that the robot can arrive at the goods storage location at the start of the transport process. This control information is then sent to the unmanned transport robot 1 via the transceiver unit 51. Alternatively, application information corresponding to the unmanned transport robot 1 can be sent to the robot 1, and the robot 1 moves based on this application information. The method by which the management device 5 manages the use of the unmanned transport robot 1 and the method for controlling its movement are not limited to the examples described above.

[0037] Furthermore, the management unit 53 generates authentication information based on the delivery request information, which is used by the recipient user of the goods corresponding to the delivery request information when retrieving the goods delivered by the unmanned delivery robot 1 from the unmanned delivery robot 1. This authentication information is stored in the information storage unit 54 and sent to the unmanned delivery robot 1 via the transceiver unit 51. The authentication information can be a combination of numbers, a combination of characters, a combination of numbers and characters, a combination of numbers, characters, and symbols, or any combination other than these.

[0038] Additionally, the application management unit 53 notifies the recipient user of the generated authentication information. For example, if the delivery order information includes user information (i.e., user information) to be sent to the user terminal 6 corresponding to the recipient user, the application management unit 53 sends the generated authentication information to the user terminal 6. Alternatively, the application management unit 53 may send the generated authentication information to the sender device 7, and the sender device 7 may send the authentication information to the user terminal 6. The user information may be a mobile phone number, an email address, a user ID (identifier) ​​determined during registration for the delivery service for receiving goods, or other information. If the user information is a mobile phone number, the authentication information may be sent, for example, as an SMS (Short Message Service) to the user terminal 6, which also functions as a mobile phone, such as a smartphone. If the user information is an email address, the authentication information may be sent to the user terminal 6, for example, as an email address. If the user information is a user ID determined during registration, the authentication information may also be sent to the user terminal 6 by logging into a website or application (hereinafter referred to as an application) used to receive the service.

[0039] Furthermore, when the application management unit 53 receives an anomaly message indicating an anomaly from the unmanned transport robot 1 via the transceiver unit 51, it instructs the alarm issuing unit 52 to issue an alarm. The anomaly message may also include information indicating the nature of the anomaly. In this embodiment, as described later, the anomaly determination unit 12 may perform multiple anomaly determination processes. When the anomaly determination unit 12 performs multiple anomaly determination processes, the anomaly content may, for example, include information indicating which anomaly determination process determined the anomaly. In this case, when instructing the alarm issuing unit 52 to issue an alarm, the application management unit 53 notifies the alarm issuing unit 52 of the anomaly content.

[0040] The information storage unit 54 stores application information and authentication information. When the transceiver unit 11 receives abnormal information, that is, when it receives an instruction to issue an alarm from the application management unit 53, the alarm issuing unit 52 issues an alarm. The alarm can be issued through one or more methods, such as display, sound, alarm tone, illumination of lights, or notification of an abnormality to a portable terminal carried by the administrator of the management and transport system 100, but other methods are also possible. When the application management unit 53 notifies the alarm of the abnormality, the alarm issuing unit 52 also includes the abnormality content in the alarm. For example, when issuing an alarm through a display, the abnormality content is displayed; when issuing an alarm through sound, the abnormality content is emitted as a sound; when issuing an alarm by notifying other devices of an abnormality, the abnormality content is included in the notification. When issuing an alarm through illumination of lights, the color of the light or the flashing pattern can be different depending on the abnormality content. Furthermore, when using an alarm tone, the alarm tone can be different depending on the abnormality content.

[0041] Furthermore, when the management unit 53 receives location information indicating the location of the unmanned transport robot 1 from the transceiver unit 51, it can also notify the alarm issuing unit 52 of the location information when instructing the alarm issuing unit 52 to issue an alarm. Thus, the alarm issuing unit 52 can, for example, display the location of the unmanned transport robot 1 on a map when displaying an alarm. Additionally, the alarm issuing unit 52 can also send information indicating the location of the unmanned transport robot 1 when notifying other devices of an anomaly.

[0042] like Figure 1 As shown, the unmanned transport robot 1 has a cargo compartment 2, a movement control unit 3, a movement mechanism 4, a receiving and dispatching unit 11, an anomaly detection unit 12, a shooting device 13, an authentication information storage unit 14, an authentication unit 15, an acceptance unit 16, and a self-position determination unit 17.

[0043] The cargo compartment 2 is equipped with a door 21 and an opening / closing sensor 22 for detecting the opening and closing of the door 21. The door 21 has a lock 221. The lock 221 can be electronically locked and unlocked, and is locked when goods are stacked in the cargo compartment 2 and unlocked according to an unlocking command from the authentication unit 15. Furthermore, the unlocking of the lock 221 can be performed by the authentication unit 15 or by an unlocking unit (not shown) based on the authentication result from the authentication unit 15. In addition, the example of setting up the cargo compartment 2 is described here, but the cargo compartment 2 is an example of a holding part for holding goods, and the holding part is not limited to the cargo compartment 2. The holding part can be any part that can carry or hold goods, such as a platform for stacking or not surrounding goods, a robotic arm in the case where the unmanned transport robot 1 uses a robotic arm to move goods, a part equivalent to a hand in the case where the unmanned transport robot 1 is a humanoid robot, or other parts.

[0044] The opening / closing sensor 22 is a sensor that detects the opening and closing of the door 21. When it detects that the door 21 is open, it notifies the anomaly determination unit 12 that the door 21 is open as a detection result. Alternatively, the opening / closing sensor 22 may also notify the anomaly determination unit 12 as a detection result indicating whether the door 21 is opening at a certain period. The detection result of the opening / closing sensor 22 is opening / closing information indicating the opening / closing state of the door 21. The opening / closing sensor 22 may be installed on the door 21, but is not limited to this; it may also be installed inside the cargo compartment 2, and be a sensor that detects the door 21 being open by detecting a certain amount or more of light.

[0045] The transceiver unit 11 communicates with other devices. For example, when it receives authentication information from the management device 5, the transceiver unit 11 stores the received authentication information in the authentication information storage unit 14. The authentication information is used in authentication for unlocking the lock 211 of the door 21 of the cargo compartment 2. Additionally, when the transceiver unit 11 receives control information from the management device 5, it outputs the received control information to the movement control unit 3. Furthermore, when the transceiver unit 11 receives exception information indicating an anomaly from the exception determination unit 12, it sends the exception information to the management device 5.

[0046] The self-positioning unit 17 determines the position of the unmanned transport robot 1 and outputs position information indicating the determined position to the motion control unit 3. The self-positioning unit 17 can determine the position using a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System), or it can obtain image data from surrounding photographs as position information, or it can use other methods to determine the position. That is, the position information can be the positioning result using a satellite positioning system, image data representing captured images, or other data. The motion control unit 3 controls the motion mechanism 4 based on the position information received from the self-positioning unit 17, the control information received from the transceiver unit 11, and sensors used for controlling movement (not shown in the figure). The sensors used for controlling movement are, for example, LiDAR (Light Detection and Ranging) or millimeter-wave sensors, but are not limited to these. The motion mechanism 4 is a mechanism for moving the unmanned transport robot 1, and can be a wheeled motion mechanism or a tracked motion mechanism. Alternatively, if the unmanned transport robot 1 is an aircraft, it may also be a propeller-driven movement mechanism. The movement control unit 3 may also transmit the position information received from its own position determination unit 17 to the management device 5 via the transceiver unit 11. Alternatively, the own position determination unit 17 may output position information to the transceiver unit 11, and the transceiver unit 11 may transmit the position information to the management device 5.

[0047] The authentication information storage unit 14 stores authentication information. The receiving unit 16 accepts the input authentication information and outputs the accepted authentication information to the authentication unit 15. The authentication unit 15 performs authentication based on the authentication information accepted by the receiving unit 16, i.e., the authentication information received from the receiving unit 16, and outputs the authentication result. Specifically, the authentication unit 15 uses the authentication information stored in the authentication information storage unit 14 and the authentication information received from the receiving unit 16 to perform authentication, and unlocks the lock 211 if the authentication is successful. The authentication unit 15 notifies the exception determination unit 12 of the authentication result, i.e., whether the authentication was successful or failed. Furthermore, the authentication method in the authentication unit 15 includes, for example, a method for determining whether the authentication information stored in the authentication information storage unit 14 and the authentication information received from the receiving unit 16 constitute a predetermined relationship, and a method for determining whether the authentication information stored in the authentication information storage unit 14 and the authentication information received from the receiving unit 16 are consistent, but is not limited to these. The authentication method in the authentication unit 15 could be, for example, a method of determining whether the value obtained by adding a predetermined value to the value shown in the authentication information received by the acceptance unit 16 is consistent with the value shown in the authentication information stored in the authentication information storage unit 14. Alternatively, the authentication in the authentication unit 15 could be biometric authentication such as facial recognition, fingerprint authentication, or iris recognition.

[0048] The imaging device 13 captures images of the area surrounding the unmanned transport robot 1 and outputs the captured data to the anomaly detection unit 12. The imaging device 13 can be, for example, a camera, which may be a camera used for motion control in the motion control unit 3, or it may be set separately from the camera used for motion control. Alternatively, there may be multiple imaging devices 13, and some of these imaging devices 13 may also be cameras used for motion control.

[0049] The anomaly determination unit 12 determines whether there is a safety anomaly related to the goods based on monitoring information indicating the occurrence status of a safety anomaly related to the goods, and notifies the occurrence of the anomaly if an anomaly is determined to exist. For example, the anomaly determination unit 12 generates anomaly information indicating that an anomaly has occurred and outputs the generated anomaly information to the transceiver unit 11, thereby notifying the occurrence of the anomaly. The transceiver unit 11, for example, sends the anomaly information to the management device 5. The monitoring information includes, for example, at least one of the authentication results from the authentication unit 15 (notifications from the authentication unit 15), the detection results from the opening / closing sensor 22 (opening / closing information indicating the opening / closing status of the door 21), and the captured data received from the capturing device 13, but may also include information other than these.

[0050] The anomaly determination unit 12 can determine whether there is an anomaly by using, for example, the number of authentication failures of the authentication unit 15, or by combining the authentication result of the authentication unit 15 with the detection result of the opening / closing sensor 22, or by using the result obtained by analyzing the captured data. Details of the anomaly determination in the anomaly determination unit 12 will be described later.

[0051] Figure 2 This is a diagram showing an example of the general appearance of the unmanned transport robot 1 according to this embodiment. Figure 2 In the example shown, the unmanned transport robot 1 has wheels 31 as part of the movement mechanism 4. Additionally, in Figure 2 In the example shown, the unmanned transport robot 1 has a housing 32, and a [missing information] is provided inside the housing 32. Figure 2 The control device (not shown) has the following features: Figure 1 The diagram shows an anomaly detection unit 12, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. Furthermore, the control device equipped with the movement control unit 3 and the control device equipped with the anomaly detection unit 12, the authentication information storage unit 14, and the authentication unit 15 can also be provided separately. Additionally, at least a portion of the control device can be provided outside the housing 32. A transceiver unit 11 and a self-position determination unit 17 are also provided inside the housing 32, but some or all of these devices can also be provided outside the housing 32. At least a portion of the transceiver unit 11 and the self-position determination unit 17 can also be provided inside the aforementioned control device.

[0052] exist Figure 2 In the example shown, a receiving unit 16 is provided next to door 21. The receiving unit 16 can be, for example, an input device that accepts numeric input such as a numeric keypad, or an input device such as a keyboard, touch panel, or button; any device capable of accepting authentication information input is acceptable. Behind door 21 is a cargo compartment 2 containing a space for storing goods. When storing goods, door 21 is opened, and goods are placed in cargo compartment 2. Lock 211 (in...) Figure 2 (Not shown in the diagram) is locked. When the user receives the goods, they enter authentication information through the operation acceptance section 16. Upon successful authentication, the lock 211 of door 21 (in...) is locked. Figure 2 (Not shown in the image) is unlocked, allowing you to collect goods.

[0053] In addition, Figure 2 In the example shown, the imaging device 13 is disposed at both the upper part and the bottom surface of the housing 32. The number and arrangement of the imaging devices 13 are not limited to [specific locations]. Figure 2 The example shown. Additionally... Figure 2This is just one example; the shape of the unmanned transport robot 1, the manner of the moving mechanism 4, the position, size, and shape of the door 21, and the position, size, and shape of the receiving section 16 are not limited to these specifications. Figure 3 The example shown.

[0054] Next, a specific example of the monitoring method, i.e., the anomaly determination method, of this embodiment will be described. During the period from when goods are placed on the unmanned transport robot 1 until the user receives the goods, safety issues may arise. In this embodiment, if a safety issue is likely to occur, the anomaly determination unit 12 determines that an anomaly has occurred and notifies the management device 5 of the anomaly via the transceiver unit 11.

[0055] As an anomaly in terms of security, examples can be given such as a third party who is neither the recipient of the goods nor the manager of the goods opening the door 21 and taking the goods, taking them along with the unmanned transport robot 1, or damaging the unmanned transport robot 1.

[0056] As an anomaly detection process that determines the possibility of such problems, the unmanned transport robot 1 of this embodiment can perform anomaly detection processing based on the number of authentication failures. Hereinafter, the anomaly detection processing based on the number of authentication failures will also be referred to as the first anomaly detection processing. Since a third party does not know the correct authentication information, they may operate the receiving unit 16 and repeatedly enter codes in an attempt to open the door 21. Therefore, the anomaly detection unit 12 of the unmanned transport robot 1 can determine that an anomaly has occurred when the number of authentication failures exceeds a threshold.

[0057] Figure 3 This is a flowchart illustrating an example of the first anomaly determination process in this embodiment. Figure 3 The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1 until the robot 1 departs for its destination, but... Figure 3 The timing for starting the process shown is not limited to this.

[0058] like Figure 4 As shown, the unmanned transport robot 1 initializes the number of authentication failures (step S1). Specifically, the exception determination unit 12 sets the number of authentication failures to 0 as an initial value.

[0059] The unmanned transport robot 1 determines whether the authentication information has been accepted (step S2). Specifically, the authentication unit 15 determines whether the authentication information has been received from the acceptance unit 16. If the authentication information has not been accepted (step S2 is "No"), step S2 is repeated. If the authentication information has been accepted (step S2 is "Yes"), the unmanned transport robot 1 determines whether the authentication was successful (step S3). Specifically, the authentication unit 15 uses the authentication information received from the acceptance unit 16 and the authentication information stored in the authentication information storage unit 14 to perform authentication, and notifies the anomaly determination unit 12 of the authentication result.

[0060] If authentication is successful (step S3 is "Yes"), the unmanned transport robot 1 unlocks the lock 211 of the door 21 (step S4), ending the process. In step S4, specifically, the authentication unit 15 outputs an unlock instruction to the lock 211, thereby unlocking the lock 211.

[0061] If authentication fails (step S3 is "No"), the unmanned transport robot 1 increments the authentication failure count (step S5). In step S5, specifically, the authentication unit 15 notifies the anomaly determination unit 12 of the authentication failure as an authentication result, and the anomaly determination unit 12 increments the authentication failure count by adding 1.

[0062] Next, the unmanned transport robot 1 determines whether the number of authentication failures exceeds a threshold (step S6). Specifically, the anomaly determination unit 12 determines whether the number of authentication failures exceeds a threshold. The threshold can be any integer greater than or equal to 1, and can be preset by a manager, but can also be changed after being set.

[0063] If the number of authentication failures is less than the threshold (step S6 is "No"), the unmanned transport robot 1 repeatedly performs the processing from step S2. If the number of authentication failures is greater than or equal to the threshold (step S6 is "Yes"), the unmanned transport robot 1 notifies of an anomaly (step S7) and terminates the processing. In step S7, specifically, the anomaly determination unit 12 determines that an anomaly exists based on the number of authentication failures exceeding the threshold, generates an anomaly message indicating that an anomaly has occurred, and sends the generated anomaly message to the management device 5 via the transceiver unit 11. That is, the transceiver unit 11 functions as a transmitter to send anomaly message to the management device 5. Furthermore, as described above, the anomaly message can also be sent to at least one of the user terminal 6 and the sender device 7. In the management device 5, the transceiver unit 51, which functions as a receiver to receive anomaly message, receives the anomaly message. When the transceiver unit 51 receives the anomaly message, the alarm issuing unit 52 issues an alarm according to the instruction of the application management unit 53. The manager who issued the alarm implements countermeasures. For example, operators can be assigned to check the status of the unmanned transport robot 1, or the recipient of the goods can be contacted to check whether the authentication information has been entered incorrectly, and other countermeasures can be taken.

[0064] Thus, in the first anomaly detection process, the monitoring information includes the authentication result of the authentication unit 15, and the anomaly detection unit 12 determines whether there is an anomaly based on the authentication result of the authentication unit 15. For example, if the number of authentication failures determined by the authentication unit 15 exceeds a threshold, the anomaly detection unit 12 determines that an anomaly exists.

[0065] Alternatively, it can either replace sending abnormal information to the management device 5, or, together with sending abnormal information to the management device 5, activate an alarm device (not shown) on the unmanned transport robot 1. When activated, the alarm device notifies the surrounding area of ​​the abnormality, for example, by emitting a warning sound.

[0066] Next, the second anomaly detection process will be explained. If door 21 is pried open, it becomes a state where door 21 is open despite unsuccessful authentication. Therefore, the anomaly detection unit 12 of the unmanned transport robot 1 can also detect improper door opening as an anomaly. For example, the anomaly detection unit 12 can determine whether an anomaly has occurred based on the authentication result and the detection result of the opening / closing sensor 22.

[0067] Figure 4 This is a flowchart illustrating an example of the second anomaly determination process in this embodiment. Figure 4 The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1 until the robot 1 departs for its destination, but... Figure 4 The timing for starting the process shown is not limited to this.

[0068] like Figure 5 As shown, the unmanned transport robot 1 determines whether the door 21 is open (step S11). In detail, the anomaly determination unit 12 determines whether the door 21 is open based on the detection result received from the opening / closing sensor 22.

[0069] If it is determined that door 21 is not open (step S11 is "No"), the unmanned transport robot 1 repeatedly performs the process of step S11. If it is determined that door 21 is open (step S11 is "Yes"), the unmanned transport robot 1 determines whether a certain period of time has elapsed since the successful authentication (step S12). In detail, the anomaly determination unit 12 determines, based on the authentication result notified by the authentication unit 15, whether the elapsed time since the time of the successful authentication notification is within a certain period of time.

[0070] If the time elapsed since successful authentication is less than a certain period (step S12 is "Yes"), the unmanned transport robot 1 ends the process. If the time elapsed since successful authentication is less than a certain period (step S12 is "No"), that is, if the elapsed time since successful authentication exceeds a certain period or if authentication is not performed even once, the unmanned transport robot 1 notifies of an exception (step S13). For example, if after the sender places the goods into the cargo compartment of the unmanned transport robot 1 and locks it, and the sending process has started, and before authentication is performed, if door 21 is improperly opened, an exception is also determined and an exception is notified. The exception notification method is the same as in step S7.

[0071] Thus, in the second anomaly determination process, the monitoring information includes the authentication result of the authentication unit 15 and the opening and closing information indicating the opening and closing status of the door 21. If the door 21 is opened at a time other than a predetermined time (a certain time) after the authentication is determined to be successful, it can be determined as an anomaly. The processing in the anomaly determination unit 12 is not limited to the above example.

[0072] Next, the third anomaly detection process will be explained. In cases where the unmanned transport robot 1 is damaged or its cargo is stolen, or the robot is taken along with the cargo, or the unmanned transport robot 1 is damaged or its cargo is affected, sometimes people approaching the unmanned transport robot 1 may observe suspicious behavior that is different from usual. Therefore, the anomaly detection unit 12 of the unmanned transport robot 1 determines, for example, based on the captured data whether a person is taking suspicious actions, thereby determining whether an anomaly has occurred.

[0073] Figure 5 This is a flowchart illustrating an example of the third anomaly determination process in this embodiment. Figure 5The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1 until the robot 1 departs for its destination, but... Figure 5 The timing for starting the process shown is not limited to this.

[0074] like Figure 2 As shown, the unmanned transport robot 1 acquires camera data (step S21). Specifically, the camera device 13 acquires camera data (first camera data) by photographing the area around the unmanned transport robot 1, and outputs the acquired camera data to the anomaly detection unit 12. Only one or more camera devices 13 are required, but to detect people approaching the unmanned transport robot 1 from various directions, it can be configured to photograph all directions around the unmanned transport robot 1, or it can be configured to pre-determine a portion of the directions where people are likely to approach, and only photograph those determined directions. When photographing all directions around the unmanned transport robot 1, the camera device 13 can be an omnidirectional camera, or multiple camera devices 13 with different shooting directions can be used.

[0075] The unmanned transport robot 1 determines whether a person is within a predetermined distance (step S22). Specifically, the anomaly detection unit 12 uses image recognition technology to detect a person from the image shown in the image data received from the self-capture device 13. Based on the size of the area corresponding to the detected person, the position of that area in the image, and the viewing angle of the capture device 13, it infers the distance between the unmanned transport robot 1 and the person. Then, the anomaly detection unit 12 determines whether a person is within a predetermined distance from the unmanned transport robot 1. The method for detecting a person from the image can be any method, such as using image recognition technology based on machine learning, or other methods. For example, skeletal detection, which detects human bones using machine learning, can also be used.

[0076] If no one is within the specified distance (step S22 is "No"), the process from step S21 onwards is repeated. If someone is within the specified distance (step S22 is "Yes"), the unmanned transport robot 1 determines whether there is suspicious action (step S23). Specifically, in step S22, the actions of a person determined to be within a specified distance from the unmanned transport robot 1 are analyzed to determine whether the analyzed actions are defined as suspicious actions. For example, the detection results of skeleton detection based on machine learning are used to determine whether the person's actions meet the predefined suspicious actions. Predefined suspicious actions include, but are not limited to, actions such as trying to forcibly open the door 21 of the cargo compartment 2 of the unmanned transport robot 1 (actions of trying to open the door 21 for a long time), hitting the unmanned transport robot 1 with an object, approaching the unmanned transport robot 1 with an object of a certain size such as a crowbar, trying to lift the unmanned transport robot 1, kicking the unmanned transport robot 1, and trying to throw an object at the unmanned transport robot 1.

[0077] If there is no suspicious action (step S23 is "No"), the process from step S21 is repeated. If there is suspicious action (step S23 is "Yes"), the unmanned transport robot 1 notifies of an anomaly (step S24), and the process from step S21 is repeated. The anomaly notification method in step S24 is the same as in step S7.

[0078] Thus, in the third anomaly determination process, the monitoring information includes first image data obtained by taking pictures of the area around the unmanned transport robot 1. The anomaly determination unit 12 uses the first image data to determine whether there is a person taking suspicious actions within a range of a predetermined distance from the unmanned transport robot 1. If it is determined that there is a person taking suspicious actions within the range, an anomaly is determined to exist.

[0079] Next, the fourth anomaly detection and handling will be explained. When the unmanned transport robot 1 is taken away along with the unmanned transport robot, the state of the unmanned transport robot 1 becomes different from its normal state. For example, when the unmanned transport robot 1 is moving on land, Figure 2 In the structural example, the wheels 31 of the unmanned transport robot 1 are attached to the ground. When the unmanned transport robot 1 is lifted, the wheels 31 leave the ground. Therefore, the anomaly detection unit 12 of the unmanned transport robot 1 monitors the distance between the wheels 31 and the ground, for example, based on captured data, thereby determining whether an anomaly has occurred. Furthermore, here, as... Figure 6As shown, a camera device 13 is installed on the bottom surface of the housing 32, which can detect the distance between the wheel 31 and the ground. However, a sensor that detects the distance between the bottom surface and the ground can be used instead of the camera device 13. In addition, when the unmanned transport robot 1 is a drone or the like, after landing, the anomaly determination unit 12 can also determine whether an anomaly has occurred by detecting the distance between the bottom part of the unmanned transport robot 1 that is usually in contact with the ground and the ground.

[0080] Furthermore, when the unmanned transport robot 1 moves inside a building, it sometimes also moves on the ground. In such cases, for example, the anomaly detection unit 12 can determine whether an anomaly has occurred by monitoring the distance between the wheels 31 and the ground. That is, the anomaly detection unit 12 only needs to monitor the distance between a reference plane and the bottom of the unmanned transport robot 1. The reference plane is a plane perpendicular to the vertical direction, which can be the ground, the floor, or any other surface, as long as it is the surface that the bottom of the unmanned transport robot 1 contacts under normal conditions.

[0081] Figure 6 This is a flowchart illustrating an example of the fourth abnormality determination process in this embodiment. Figure 6 The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1 until the robot 1 departs for its destination, but... Figure 6 The timing for starting the process shown is not limited to this. As mentioned above, when the unmanned transport robot 1 is a drone or the like, it can also start after landing.

[0082] like Figure 7 As shown, the unmanned transport robot 1 acquires photographic data (step S31). Specifically, the photographing device 13 acquires photographic data (second photographic data) by photographing the area below the unmanned transport robot 1. For example, the photographing device 13, configured to detect the distance between the part of the unmanned transport robot 1 in contact with the ground and the ground, or the distance between the bottom surface of the unmanned transport robot 1 and the ground, acquires photographic data (second photographic data) by photographing the area including the ground, and outputs the acquired photographic data to the anomaly determination unit 12. The part of the unmanned transport robot 1 in contact with the ground is, for example, the wheel 31, but is not limited to this.

[0083] The unmanned transport robot 1 determines whether it has moved more than a certain distance from the ground (step S32). Specifically, the anomaly determination unit 12 uses the image data received from the imaging device 13 to detect the distance between the part of the unmanned transport robot 1 in contact with the ground and the ground, or the distance between the bottom surface of the unmanned transport robot 1 and the ground. If a distance between the part of the unmanned transport robot 1 in contact with the ground and the ground is detected, the aforementioned certain distance becomes a threshold for determining that the unmanned transport robot 1 has been lifted and the part in contact with the ground has moved away from the ground. If a distance between the bottom surface of the unmanned transport robot 1 and the ground is detected, the normal distance between the bottom surface and the ground is calculated in advance as a standard distance, and the aforementioned certain distance is set to be longer than the standard distance.

[0084] If the unmanned transport robot 1 does not move more than a certain distance from the ground (step S32 is "No"), the process starting from step S31 is repeated. If the unmanned transport robot 1 moves more than a certain distance from the ground (step S32 is "Yes"), the unmanned transport robot 1 notifies of an exception (step S33), and the process starting from step S31 is repeated. The exception notification method in step S33 is the same as in step S7.

[0085] Thus, in the fourth anomaly determination process, the monitoring information includes second image data obtained by taking pictures of the area below the unmanned transport robot 1. The anomaly determination unit 12 uses the second image data to determine that an anomaly exists when the distance between the unmanned transport robot 1 and the reference plane perpendicular to the vertical direction is a certain distance or more.

[0086] The above examples illustrate four types of abnormality determination processes: the first abnormality determination process, the second abnormality determination process, the third abnormality determination process, and the fourth abnormality determination process. However, the abnormality determination process performed by the abnormality determination unit 12 is not limited to these examples. For instance, the abnormality determination unit 12 may obtain position information from its own position determination unit 17 and use the position information to determine an abnormality if the unmanned transport robot 1 has deviated from the path indicated by the management device 5 via control information by a predetermined distance.

[0087] In the above example, the anomaly determination unit 12 performs a first anomaly determination process, a second anomaly determination process, a third anomaly determination process, and a fourth anomaly determination process. However, it is not limited to these; the anomaly determination unit 12 may perform at least one of the first, second, third, and fourth anomaly determination processes and other anomaly determination processes. For example, the anomaly determination unit 12 may only perform the first anomaly determination process. In this case, the imaging device 13 and the opening / closing sensor 22 may not be provided. Alternatively, in this case, the authentication unit 15 may be integrated with the anomaly determination unit 12, and the authentication unit 15 may also have the function of the anomaly determination unit 12.

[0088] Furthermore, when performing multiple anomaly determination processes, the anomaly determination unit 12 can also notify the anomaly content along with information indicating which anomaly determination process determined it to be an anomaly when notifying the anomaly. For example, if an anomaly is determined in the first anomaly determination process, the anomaly content includes information indicating that the number of authentication failures exceeds a threshold; if an anomaly is determined in the second anomaly determination process, the anomaly content includes information indicating that door 21 was opened while authentication was unsuccessful. Additionally, if an anomaly is determined in the third anomaly determination process, the anomaly content includes information indicating that a person taking suspicious actions is present near the unmanned transport robot 1; and if an anomaly is determined in the fourth anomaly determination process, the anomaly content includes information indicating that the unmanned transport robot 1 has left the ground. Furthermore, if a category of suspicious action is also determined in the third anomaly determination process, this category can also be included in the anomaly content. By confirming the anomaly content, the manager can take corresponding countermeasures.

[0089] In addition, in the above example, the anomaly determination unit 12 is installed in the unmanned transport robot 1, but it is not limited to this. The anomaly determination unit 12 may also be installed in the management device. Figure 7 This diagram illustrates a structural example of the conveying system in this embodiment when the anomaly determination unit 12 is installed in the management device. Figure 1 The conveying system 100a shown includes an unmanned conveying robot 1a and a management device 5a. The management device 5a is... Figure 7 The management device 5 shown is formed by adding an authentication unit 15 and an anomaly determination unit 12. Figure 1 The unmanned transport robot 1a shown is from Figure 1 The unmanned transport robot 1 shown has removed the authentication information storage unit 14, the authentication unit 15, and the anomaly detection unit 12. For robots with... Figure 1 The same functional components are labeled and Figure 7 The same labels are used, and repeated descriptions are omitted.

[0090] existFigure 7 In the illustrated structural example, the authentication information received by the receiving unit 16 is sent to the management device 5a by the transceiver unit 11. In the management device 5a, the authentication unit 15 receives the authentication information from the unmanned transport robot 1a via the transceiver unit 51, performs authentication processing by comparing the received authentication information with the authentication information stored in the information storage unit 54, and outputs the authentication result to the anomaly detection unit 12. Furthermore, Figure 1 In the illustrated structural example, the imaging data acquired by the imaging device 13 and the detection results of the opening / closing sensor 22 are also transmitted to the management device 5a via the transceiver unit 11. The anomaly determination unit 12 receives the imaging data acquired by the imaging device 13 and the detection results of the opening / closing sensor 22 via the transceiver unit 51. The anomaly determination unit 12 obtains information for anomaly determination from the unmanned transport robot 1a and... Figure 1 The illustrated structural example also performs anomaly detection processing. When an anomaly is detected, the alarm issuing unit 52 is notified of the anomaly. When the anomaly detection unit 12 notifies the alarm of the anomaly, the alarm issuing unit 52 issues an alarm.

[0091] Furthermore, the functional division between unmanned transport robots and management devices is not limited to Figure 7 and Figure 7 The example shown. For example, in Figure 7 In the example shown, the authentication unit 15 can also be added to the unmanned transport robot 1a, or removed from the management device 5a. Additionally, for example, in... Figure 8 In the example shown, the anomaly determination unit 12 can also be added to the unmanned transport robot 1a or removed from the management device 5a. In these cases, the authentication result of the authentication unit 15 is transmitted to the anomaly determination unit 12 via the transceiver unit 11 and the transceiver unit 51.

[0092] Next, the hardware structure of the control device in the unmanned transport robot 1 of this embodiment will be described. The control device in the unmanned transport robot 1 includes an anomaly determination unit 12, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. As described above, the anomaly determination unit 12, the authentication information storage unit 14, the authentication unit 15, and the movement control unit 3 can also be divided into two or more control devices. In this embodiment, the control device executes a program (computer program) describing the processing of the control device on a computer system, and the computer system functions as the control device. The computer system includes, for example, a processing circuit. Figure 8 This is a diagram illustrating an example of the structure of the processing circuit of the control device implementing this embodiment. For example... Figure 8 As shown, the processing circuit includes a processor 101 and a memory 102. The processing circuit can be a single circuit or multiple circuits. They are connected via a system bus.

[0093] existFigure 1 In this embodiment, the processor 101 is a control unit such as a CPU (Central Processing Unit) that executes a program describing the processing in the control device. The memory 102 includes various types of memory such as RAM (Random Access Memory) and ROM (Read Only Memory), as well as storage devices such as hard disks, and stores the program to be executed by the processor 101, necessary data obtained during processing, etc. In addition, the memory 102 also serves as a temporary storage area for the program.

[0094] Here, an example of the operation of the computer system up to the point where the program of this embodiment can be executed will be described. In a computer system employing the above structure, for example, a CD-ROM or DVD-ROM drive (not shown) is used to load the program into the memory 102. Furthermore, when executing the program, the program read from the memory 102 is stored in the main memory area of ​​the memory 102. In this state, the processor 101 executes the processing of the control device of this embodiment according to the program stored in the memory 102.

[0095] Furthermore, in the above description, CD-ROM or DVD-ROM is used as the recording medium to provide a program that describes the processing in the control device. However, it is not limited to this. Depending on the structure of the computer system, the capacity of the provided program, etc., a program provided via a communication unit (not shown) through a transmission medium such as the Internet may also be used.

[0096] The procedure of this embodiment, for example, causes the computer system controlling the unmanned transport robot 1 that delivers goods to the user to perform the following steps: based on monitoring information, determining whether there is any safety abnormality related to the goods; and notifying the occurrence of the abnormality if it is determined that an abnormality exists. This computer system can be a control device in the unmanned transport robot 1, or it can be a management device 5.

[0097] Figure 8 The anomaly detection unit 12, authentication unit 15, and motion control unit 3 shown are connected by... Figure 8 The processor 101 shown executes the stored... Figure 1 The program for the memory 102 shown is used to implement this. To achieve this... Figure 8 The anomaly detection unit 12, authentication unit 15, and motion control unit 3 shown also use Figure 1 The memory 102 shown. Figure 8 The authentication information storage unit 14 shown isFigure 1 A portion of the memory 102 shown.

[0098] Figure 8 The management device 5 shown also includes Figure 8 The processing circuit shown is implemented by a computer system. In addition to the processing circuit, the computer system implementing the management device 5 also includes a communication unit (not shown) comprising a transmitter and a receiver. Furthermore, the computer system implementing the management device 5 may also include at least one of an input unit and a display unit.

[0099] Figure 1 The transceiver unit 51 shown is implemented by the communications unit. The operation management unit 53 is implemented by... Figure 8 The processor 101 shown executes the stored... Figure 1 The program for the memory 102 shown is used to implement this. To achieve this... Figure 8 The application management unit 53 shown also uses Figure 1 The memory 102 shown. Figure 7 The information storage unit 54 shown is Figure 8 A portion of the memory 102 shown. Figure 7 The alarm issuing unit 52 shown can be implemented by a display unit (not shown) provided by the computer system implementing the management device 5, or by a speaker provided by the computer system implementing the management device 5, or by a display device, speaker, lamp, etc. connected to the computer system implementing the management device 5.

[0100] Figure 8 The management device 5a shown in the structural example is also similar to management device 5, for example, composed of... Figure 7 The computer system implementation of the processing circuit shown. Figure 9 The control device (not shown) in the unmanned transport robot 1a also includes... Figure 9 The computer system implementation of the processing circuit shown. Figure 9 The control device of the unmanned transport robot 1a shown includes a motion control unit 3.

[0101] As described above, in this embodiment, the anomaly determination unit 12 determines whether the unmanned transport robot 1 has any safety anomalies, and notifies the system of an anomaly if an anomaly is detected. Therefore, the unmanned transport robot 1 of this embodiment can achieve enhanced safety.

[0102] Implementation method 2.

[0103] Figure 10This diagram illustrates a structural example of the conveying system in Embodiment 2. The conveying system 100b of this embodiment includes an unmanned conveying robot 1b and a management device 5b. Structural elements having the same functions as in Embodiment 1 are labeled with the same reference numerals as in Embodiment 1. Hereinafter, the differences from Embodiment 1 will be mainly explained.

[0104] The unmanned transport robot 1b in this embodiment transports goods to the user in the same manner as in Embodiment 1. Since the goods are transported unmanned, it is assumed that the user may sometimes feel uneasy about the condition of the goods during transport. The condition of the goods includes, for example, at least one of the condition of the goods themselves and the environment surrounding the goods, i.e., the environment within the goods compartment 2b. In this embodiment, the user's anxiety is alleviated by providing the user with information indicating the condition of the goods during transport.

[0105] The unmanned transport robot 1b of this embodiment has a cargo compartment 2b instead of a cargo compartment 2 in the unmanned transport robot 1 of embodiment 1. The cargo compartment 2b is formed by adding a sensor 23 to the cargo compartment 2 of embodiment 1. The sensor 23 detects at least one of the state of the goods in the cargo compartment 2b and the surrounding environment of the goods, and outputs the detection result as sensor information to the transceiver unit 11. The surrounding environment of the goods is, for example, the environment of the cargo compartment 2b, but is not limited thereto. Sensor information is an example of information indicating the state of the goods, and is information indicating at least one of the state of the goods in the cargo compartment 2b and the environment in the cargo compartment 2b. The transceiver unit 11 sends the sensor information received from the sensor 23 to the management device 5b. The sensor 23 can be a camera that takes pictures of the cargo compartment 2b, a sensor that detects vibration of the goods, or a sensor that detects at least one of temperature, humidity, pressure, and odor in the cargo compartment 2b. When using a camera to photograph the interior of cargo compartment 2b as sensor 23, a night vision camera can be used, or a visible light camera can be used by installing a lighting device inside cargo compartment 2b. Furthermore, if cargo compartment 2b is not provided, sensor 23 can be a sensor that detects at least one of the following: temperature, humidity, pressure, and odor in the holding section; it can also be a camera that photographs the area around the holding section or the cargo. Figure 10 The figure shows one sensor 233, but there may be more than one sensor 233. The number of sensors 23 is not limited to one. Figure 9 The example shown.

[0106] The management device 5b in this embodiment is formed by adding an information provision management unit 55 to the management device 5 in embodiment 1. When the information provision management unit 55 receives an information provision request from the user terminal 6 via the transceiver unit 51, indicating a request for sensor information, it instructs the unmanned transport robot 1b to provide sensor information via the transceiver unit 51. As a result, the sensors 23 of the unmanned transport robot 1b transmit sensor information to the management device 5b via the transceiver unit 11. When the information provision management unit 55 receives sensor information via the transceiver unit 51, it transmits the received sensor information to the user terminal 6 via the transceiver unit 51. Alternatively, the information provision management unit 55 may also instruct the unmanned transport robot 1b to send sensor information to the user terminal 6 via the transceiver unit 51 when it receives an information provision request from the user terminal 6 via the transceiver unit 51. In this case, the information provision management unit 55 notifies the unmanned transport robot 1b of the information for sending sensor information to the user terminal 6, and the transceiver unit 11 of the unmanned transport robot 1b sends the sensor information to the user terminal 6.

[0107] Figure 7 This is a timing diagram illustrating an example of the sensor information provisioning process in this embodiment. For example... Figure 8 As shown, the user terminal 6 sends an information provision request to the management device 5b (step S41). In detail, the input receiving unit 63 receives the input from the user indicating a request for information provision of sensor information, outputs the received information provision request to the transceiver unit 61, and the transceiver unit 61 sends the information provision request to the management device 5b.

[0108] Upon receiving an information provision request, the management device 5b sends an information provision instruction to the unmanned transport robot 1b (step S42). Specifically, when the information provision management unit 55 of the management device 5b receives an information provision request from the transceiver unit 51, it generates an information provision instruction indicating that sensor information should be provided, and sends the generated information provision instruction to the unmanned transport robot 1b via the transceiver unit 51.

[0109] Upon receiving the information provision instruction, the unmanned transport robot 1b sends the sensor information to the management device 5b (step S43). Specifically, when the transceiver unit 11 receives the information provision instruction, it outputs the received information provision instruction to the sensor 23. When the sensor 23 receives the information provision instruction, it outputs the sensor information to the transceiver unit 11. The transceiver unit 11 then sends the sensor information received from the sensor 23 to the management device 5b.

[0110] Upon receiving sensor information, the management device 5b sends the received sensor information to the user terminal 6 (step S44). Specifically, the transceiver unit 51 receives the sensor information and outputs it to the information provision management unit 55. The information provision management unit 55 then sends the sensor information received from the transceiver unit 51 to the user terminal 6 via the transceiver unit 51. Alternatively, the information provision management unit 55 may instruct the transceiver unit 51 to forward the sensor information received from the unmanned transport robot 1b to the user terminal 6, and the transceiver unit 51 will forward the sensor information received from the unmanned transport robot 1b to the user terminal 6 according to this instruction. In this way, the sensor information is sent from the transceiver unit 11 to the user terminal 6 via the management device 5b or directly from the transceiver unit 11. Therefore, the transceiver unit 11 is a provider that provides sensor information to the user corresponding to the goods.

[0111] The user terminal 6, having received the sensor information, displays the sensor information (step S45). Specifically, the transceiver 61 receives the sensor information and outputs it to the display unit 62, which then displays the sensor information. By visually confirming the sensor information displayed on the user terminal 6, the user can grasp at least one aspect of the cargo's status and the environment within the cargo compartment 2b. This alleviates the user's anxiety.

[0112] For example, by displaying captured data as sensor information, users can confirm whether goods have been overturned, whether the vibration of goods is excessive, or whether the goods are dirty. Additionally, by displaying temperature data as sensor information, users can confirm whether goods are being transported within a normal temperature range. Users can also check sensor information and, if they determine that the condition of the goods or the environment within cargo compartment 2b is abnormal, contact the sender or the manager of the transport system 100b to request improvement.

[0113] Furthermore, in the example described above, the management device 5b obtains sensor information from the unmanned transport robot 1b upon receiving an information provision request. However, the management device 5b may also periodically receive sensor information and store it in the information storage unit 54, regardless of whether an information provision request has been received. In this case, the information provision management unit 55 of the management device 5b stores the information provision request in the information storage unit 54 upon receiving it from the transceiver unit 51, and transmits the sensor information received from the unmanned transport robot 1b to the user terminal 6 via the transceiver unit 51. Additionally, in this case, the information provision management unit 55 of the management device 5b may also read the corresponding sensor information from the information storage unit 54 if the user terminal 6 has previously requested sensor information, and transmit the read sensor information to the user terminal 6 via the transceiver unit 51.

[0114] Furthermore, in the example described above, the management device 5b sends sensor information to the user terminal 6. However, it can also process the sensor information and send the processed information to the user terminal 6. For example, if the sensor information is captured data, the information providing management unit 55 can generate information that reduces the resolution of the captured data received from the unmanned transport robot 1b, and send the generated information to the user terminal 6 via the transceiver unit 51. Additionally, if multiple sensors 23 are provided, the information providing management unit 55 can generate display information for displaying the sensor information from the multiple sensors 23 on a single screen, and send the generated display information to the user terminal 6 via the transceiver unit 51.

[0115] Furthermore, the functional division between management devices and unmanned transport robots is not limited to... Figure 8 The example shown. For example, in implementation 1... Figure 8 In the structural example shown, a sensor 23 can also be added to the unmanned transport robot 1a of Embodiment 1, and an information provision management unit 55 can be added to the management device 5a to perform the actions described in this embodiment.

[0116] Furthermore, in the above example, the operation of this embodiment was performed based on the anomaly detection processing described in Embodiment 1. However, it is not limited to this; the operation of this embodiment may also be performed without performing the anomaly detection processing described in Embodiment 1. In this case, the unmanned transport robot 1b may not have the anomaly detection unit 12, the opening / closing sensor 22, and the imaging device 13, and the management device 5b may not have the alarm issuing unit 52.

[0117] The management device 5b in this embodiment is similar to the management device 5 in embodiment 1, for example, it consists of a... Figure 8 The computer system implements the processing circuitry shown. The control device (not shown) in the unmanned transport robot 1b also comprises... Figure 8 The computer system implements the processing circuit shown. The information provision management unit 55 is implemented by... Figure 11 The processor 101 shown executes the stored... Figure 12 The program for the memory 102 shown is used to implement this. To implement the information provision management unit 55, it is also used... Figure 12 The memory 102 shown.

[0118] As described above, in this embodiment, the transport system 100b sends sensor information indicating at least one of the status of the goods in the cargo compartment 2b of the unmanned transport robot 1b and the environment within the cargo compartment 2b to the user terminal 6. This allows the user to monitor the status of the goods and alleviates user anxiety.

[0119] Implementation method 3.

[0120] Figure 12 This diagram illustrates a structural example of the conveying system in Embodiment 3. The conveying system 100c of this embodiment includes an unmanned conveying robot 1c and a management device 5b identical to that in Embodiment 2. Structural elements having the same functions as in Embodiment 2 are labeled with the same reference numerals as in Embodiment 2. Hereinafter, the differences from Embodiment 2 will be primarily explained.

[0121] The unmanned transport robot 1c of this embodiment is the same as the unmanned transport robot 1b of Embodiment 2, except that it has an anomaly determination unit 12a instead of an anomaly determination unit 12. In this embodiment, the sensor 23 also outputs sensor information to the anomaly determination unit 12a. The anomaly determination unit 12a performs the processing described in Embodiment 1 to determine whether there is a safety anomaly, and analyzes the sensor information obtained by the sensor 23 to determine whether there is an anomaly (conditional anomaly) in the cargo compartment 2b. An anomaly in the cargo compartment 2b is an example of an anomaly in the surrounding environment of the cargo.

[0122] Figure 12 This is a flowchart illustrating an example of the anomaly detection and handling in this embodiment. Figure 11 The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1c until the robot 1c departs for its destination, but Figure 7 The timing for starting the process shown is not limited to this.

[0123] like Figure 8 As shown, the unmanned transport robot 1c acquires sensor information (step S51). Specifically, sensor 23, similarly to in embodiment 2, detects at least one of the state of the goods in the cargo compartment 2b and the environment within the cargo compartment 2b. Sensor 23 outputs the detection result as sensor information to the anomaly determination unit 12a.

[0124] Next, the unmanned transport robot 1c determines whether there is an anomaly in the cargo compartment 2b (step S52). In detail, the anomaly determination unit 12a uses sensor information received from the sensor 23 to determine whether there is an anomaly in the cargo compartment 2b.

[0125] For example, when the sensor information is image data obtained by photographing goods inside the cargo compartment 2b, the anomaly determination unit 12a extracts the area corresponding to the goods from the image shown in the image data. If the extracted area has changed by a certain amount since the goods were stacked, it determines that there is an anomaly inside the cargo compartment 2b. For example, when goods are overturned or deformed due to impact, the area corresponding to the goods in the image changes. By detecting changes in the area corresponding to the goods in the image, the anomaly determination unit 12a can detect anomalies such as overturning or deformation of the goods. Alternatively, when the sensor information is image data obtained by photographing goods inside the cargo compartment 2b, the anomaly determination unit 12a determines that there is an anomaly inside the cargo compartment 2b if the goods in the image are dirty. For example, it can also determine whether the goods are dirty based on the color change of the area corresponding to the goods. Alternatively, when the sensor information is image data obtained by photographing inside the cargo compartment 2b, the anomaly determination unit 12a determines that there is an anomaly inside the cargo compartment 2b if there is dirt inside the cargo compartment 2b.

[0126] Alternatively, if the sensor information is the temperature detection result inside the cargo compartment 2b, the anomaly determination unit 12a may determine that an anomaly exists inside the cargo compartment 2b if the temperature deviates from the prescribed normal range. Alternatively, if the sensor information is the detection result of pressure, humidity, or vibration, the anomaly determination unit 12a may similarly determine that an anomaly exists inside the cargo compartment 2b if the values ​​shown by the sensor information deviate from the prescribed normal range.

[0127] If there is no abnormality in the cargo compartment 2b (step S52 is "No"), the process from step S51 is repeated. If there is an abnormality in the cargo compartment 2b (step S52 is "Yes"), the unmanned transport robot 1c notifies of the abnormality (step S53), and the process from step S51 is repeated. The method of notifying of the abnormality is the same as step S7 of Embodiment 1. The destination of the abnormality notification can be the management device 5b, or it can also include at least one of the user terminal 6 and the sender device 7. Alternatively, the abnormality can be notified from the management device 5b to both the user terminal 6 and the sender device 7. Furthermore, as described in Embodiment 1, when notifying of an abnormality, the content of the abnormality can also be notified. In step S53, it can also be notified that there is an abnormality in the cargo compartment 2b, or the content of the abnormality can be notified in more detail, such as detecting dirt or the temperature being higher than normal in the cargo compartment 2b.

[0128] Furthermore, the functional division between management devices and unmanned transport robots is not limited to... Figure 8 The example shown. For example, in implementation 1... Figure 8In the structural example shown, a sensor 23 can be added to the unmanned transport robot 1a of Embodiment 1, and an information providing management unit 55 can be added to the management device 5a. The management device 5a can then replace the abnormality determination unit 12 with an abnormality determination unit 12a, thereby implementing the operations described in this embodiment. Alternatively, the abnormality determination unit for determining abnormalities in the cargo compartment 2b of this embodiment can be provided separately from the abnormality determination unit 12 described in Embodiment 1. For example, when the abnormality determination unit 12 described in Embodiment 1 is designated as the first abnormality determination unit, and the abnormality determination unit for determining abnormalities in the cargo compartment 2b of this embodiment is designated as the second abnormality determination unit, both the first and second abnormality determination units can be located either within the unmanned transport robot 1c or within the management device 5b. Alternatively, the first abnormality determination unit can be located within the unmanned transport robot 1c, and the second abnormality determination unit within the management device 5b, or vice versa.

[0129] Furthermore, in the above example, the actions of this embodiment were performed based on the anomaly detection processing described in Embodiment 1, but it is not limited to this; the actions of this embodiment may also be performed without performing the anomaly detection processing described in Embodiment 1. In this case, the unmanned transport robot 1c may replace the anomaly detection unit 12a and have the second anomaly detection unit described above, but may not have the opening / closing sensor 22 and the imaging device 13, and the management device 5b may not have the alarm issuing unit 52. In addition, the action of providing sensor information to the user terminal 6 described in Embodiment 2 may be omitted, and anomaly detection in the cargo compartment 2b using the sensor information of this embodiment may be performed instead. In this case, the sensor information may not be sent to the management device 5b.

[0130] The control device (not shown) in the unmanned transport robot 1c of this embodiment also includes... Figure 8 The processing circuit shown is implemented in a computer system. The control device includes, for example, an anomaly detection unit 12a, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. The anomaly detection unit 12a in the control device is implemented by… Figure 13 The processor 101 shown executes the stored... Figure 14 The program for the memory 102 shown is used for implementation. To implement the exception detection unit 12a, the program also uses... Figure 14 The memory 102 shown.

[0131] As described above, in this embodiment, the transport system 100c detects an anomaly within the cargo compartment 2b of the unmanned transport robot 1c. Without monitoring the cargo compartment 2b, an anomaly would not be known until the unmanned transport robot 1c reaches the user. However, in this embodiment, it is possible to detect an anomaly within the cargo compartment 2b during transport, thus enabling rapid countermeasures.

[0132] Implementation method 4.

[0133] Figure 14 This diagram illustrates a structural example of the conveying system in Embodiment 4. The conveying system 100d of this embodiment includes an unmanned conveying robot 1d and a management device 5b identical to that in Embodiment 3. Structural elements having the same functions as in Embodiment 3 are labeled with the same reference numerals as in Embodiment 3. The differences from Embodiment 3 will be primarily explained below.

[0134] The unmanned transport robot 1d of this embodiment adds a working mechanism 9 to the unmanned transport robot 1c of embodiment 3. Instead of the abnormality determination unit 12a, cargo compartment 2b and movement control unit 3, it has an abnormality determination unit 12b, cargo compartment 2c and control unit 8. Otherwise, it is the same as the unmanned transport robot 1c of embodiment 3.

[0135] Except for the addition of the environmental control device 24, cargo compartment 2c is the same as cargo compartment 2b in embodiment 3. The environmental control device 24 controls the environment within cargo compartment 2c. The environment within cargo compartment 2c is an example of the surrounding environment of the cargo. For example, the environmental control device 24 controls at least one of the temperature, humidity, and pressure within cargo compartment 2c. For example, when using temperature detection results as sensor information, the environmental control device 24 uses a device capable of adjusting the temperature within cargo compartment 2c. When using humidity detection results as sensor information, the environmental control device 24 uses a device capable of adjusting the humidity within cargo compartment 2c. When using pressure detection results as sensor information, the environmental control device 24 uses a device capable of adjusting the pressure within cargo compartment 2c. The temperature and humidity in cargo compartment 2c are examples of the ambient temperature and humidity of the cargo, respectively.

[0136] The anomaly determination unit 12b, like the anomaly determination unit 12a in Embodiment 3, uses sensor information to determine anomalies within the cargo compartment 2c. When the anomaly determination unit 12b determines that an anomaly exists within the cargo compartment 2c, it sends instruction information indicating an instruction to eliminate the anomaly to an anomaly response device, which is at least one of the control unit 8 and the environmental control device 24, thereby causing the anomaly response device to perform control to eliminate the anomaly.

[0137] The control unit 8 controls the movement mechanism 4 in the same way as the movement control unit 3 in Embodiment 1, and also controls the work mechanism 9 that performs the operation. The work mechanism 9 is, for example, a robotic arm, but it is not limited to any mechanism that can adjust the goods by moving their position or changing their orientation.

[0138] Figure 14 This is a flowchart illustrating an example of the anomaly detection and handling in this embodiment. Figure 12 The process shown, for example, begins from the time the goods are stacked and locked onto the unmanned transport robot 1d until the robot 1d departs for its destination, but... Figure 13 The timing for starting the process shown is not limited to this.

[0139] Figure 15 The process shown, except that step S54 is performed instead of step S53, is the same as in embodiment 3. Figure 15 The process shown is the same. If "Yes" is true in step S52, the unmanned transport robot 1d implements anomaly response control (step S54). Specifically, the anomaly determination unit 12b sends instruction information indicating an instruction to eliminate the anomaly to an anomaly response device, which is at least one of the control unit 8 and the environmental control device 24. Then, the anomaly response device performs control to eliminate the anomaly, i.e., anomaly response control, based on the instruction information.

[0140] For example, if the sensor information includes temperature information as the detection result of the temperature inside the cargo compartment 2c, the anomaly determination unit 12b determines in step S52 that if the temperature inside the cargo compartment 2c deviates from the normal range using the temperature information, it determines that an anomaly exists and controls the environmental control device 24 to bring the temperature of the cargo compartment 2c back to the normal range. In this case, the environmental control device 24 can control the temperature of the cargo compartment 2c. For example, the anomaly determination unit 12b generates instruction information indicating that the temperature should be adjusted in order to bring the temperature back to the normal range and sends the generated instruction information to the environmental control device 24. The environmental control device 24 adjusts the temperature inside the cargo compartment 2c based on the instruction information. For example, if the temperature is higher than the normal range, the anomaly determination unit 12b generates instruction information indicating that the temperature should be lowered; if the temperature is lower than the normal range, the anomaly determination unit 12b generates instruction information indicating that the temperature should be raised.

[0141] Similarly, when the sensor information includes humidity information as the detection result of humidity in the cargo compartment 2c, the anomaly determination unit 12b determines that an anomaly exists because the humidity deviates from the normal range, and controls the environmental control device 24 to bring the humidity in the cargo compartment 2c back to the normal range. In this case, the environmental control device 24 can control the humidity of the cargo compartment 2c. For example, the anomaly determination unit 12b generates instruction information to the environmental control device 24 indicating that the humidity should be adjusted in order to bring the humidity back to the normal range, and sends the generated instruction information to the environmental control device 24.

[0142] Similarly, when the sensor information includes pressure information as the detection result of the pressure inside the cargo compartment 2c, the anomaly determination unit 12b determines that an anomaly exists because the pressure deviates from the normal range, and controls the environmental control device 24 to bring the pressure inside the cargo compartment 2c back to the normal range. In this case, the environmental control device 24 can control the pressure in the cargo compartment 2c. For example, the anomaly determination unit 12b generates instruction information to the environmental control device 24 indicating that the pressure should be adjusted to bring the pressure back to the normal range, and sends the generated instruction information to the environmental control device 24. Furthermore, in Figure 15 The environmental control device 24 is included in the cargo compartment 2c, but the environmental control device 24 may also be located outside the cargo compartment 2c.

[0143] Additionally, for example, if the sensor information includes photographic data obtained from photographing goods within the cargo compartment 2c, and an anomaly is determined in step S52 due to the detection of goods tipping over, the anomaly determination unit 12b instructs the control unit 8 to generate instruction information indicating a correction of the goods' orientation, and sends the generated instruction information to the control unit 8. The control unit 8 eliminates the anomaly by controlling the operating mechanism 9 based on the instruction information. In this case, the sensor information includes photographic data obtained by photographing the goods (third photographic data). The anomaly determination unit 12b uses the photographic data to determine whether the goods' orientation is abnormal. If the goods' orientation is determined to be abnormal, an anomaly is determined to exist within the cargo compartment 2c, and the control unit 8 is instructed to restore the goods' orientation to the correct orientation via the operating mechanism 9. When instructed by the anomaly determination unit 12b to restore the goods' orientation to the correct orientation, the control unit 8 controls the operating mechanism 9 to restore the goods' orientation to the correct orientation. The anomaly determination unit 12b may instruct the control unit 8 on the specific rotation direction and amount of rotation for restoring the goods to the correct orientation, or it may output information indicating the correct orientation to the operating mechanism 9. The control unit 8 can control the working mechanism 9 using sensor information obtained by the sensor 23, i.e., the third image data, or it can control the working mechanism 9 based on information obtained by a sensor different from the sensor 23 that is installed to control the working mechanism 9.

[0144] Figure 15 This diagram illustrates an example of the operating mechanism 9 in this embodiment. Figure 15 In the example shown, a robotic arm is used as the working mechanism 9. (As shown...) Figure 14 As shown, for example, the operating mechanism 9 is installed inside the cargo compartment 2c, and can correct the orientation of the cargo or move its position. Additionally, Figure 13 This is just one example; the shape, size, and configuration of the working mechanism 9 are not limited to... Figure 13 The example shown.

[0145] In addition, Figure 7 In the example shown, step S54 is performed instead of step S53, but this is not a limitation; both steps S53 and S54 can be implemented. Additionally, in Figure 8 In the example shown, both the environmental control device 24 and the control unit 8 are provided as an abnormal response device, but it is not limited to this. The abnormal response device may also be either the environmental control device 24 or the control unit 8.

[0146] Furthermore, the functional division between management devices and unmanned transport robots is not limited to... Figure 8 The example shown. For example, in implementation 1... Figure 8In the structural example shown, a sensor 23 can be added to the unmanned transport robot 1a of Embodiment 1, and an information providing management unit 55 can be added to the management device 5a. The management device 5a can then replace the abnormality determination unit 12 with an abnormality determination unit 12b, thereby implementing the operations described in this embodiment. Alternatively, an abnormality determination unit that performs abnormality determination and response within the cargo compartment 2c of this embodiment can be provided separately from the abnormality determination unit 12 described in Embodiment 1. For example, when the abnormality determination unit 12 described in Embodiment 1 is designated as the first abnormality determination unit, and the abnormality determination unit that performs abnormality determination and response within the cargo compartment 2c of this embodiment is designated as the third abnormality determination unit, both the first and third abnormality determination units can be located either within the unmanned transport robot 1d or within the management device 5b. Alternatively, the first abnormality determination unit can be located within the unmanned transport robot 1d, and the third abnormality determination unit within the management device 5b, or vice versa.

[0147] Furthermore, in the above example, the actions of this embodiment were performed based on the anomaly detection processing described in Embodiment 1, but it is not limited to this; the actions of this embodiment may also be performed without performing the anomaly detection processing described in Embodiment 1. In this case, the unmanned transport robot 1d may replace the anomaly detection unit 12b and have the aforementioned third anomaly detection unit, but may not have the opening / closing sensor 22 and the imaging device 13, and the management device 5b may not have the alarm issuing unit 52. In addition, the action of providing sensor information to the user terminal 6 described in Embodiment 2 may be omitted, and anomaly detection and anomaly response in the cargo compartment 2c using the sensor information of this embodiment may be performed instead. In this case, the sensor information may not be sent to the management device 5b.

[0148] The control device (not shown) in the unmanned transport robot 1d of this embodiment also includes... Figure 8 The processing circuit shown is implemented in a computer system. The control device includes, for example, an error determination unit 12b, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. The error determination unit 12b in the control device is implemented by... ​ The processor 101 shown executes the stored... ​ The program for the memory 102 shown is used for implementation. To implement the exception detection unit 12b, the program also uses... ​ The memory 102 shown.

[0149] As described above, in this embodiment, the conveying system 100d determines an anomaly within the cargo compartment 2c of the unmanned conveying robot 1d, and performs anomaly response control if an anomaly is detected. Therefore, if an anomaly occurs within the cargo compartment 2c during conveying, the anomaly can be quickly corrected.

[0150] The structure shown in the above embodiments is an example, which can be combined with other known technologies, and the embodiments can be combined with each other. Furthermore, a part of the structure can be omitted or changed without departing from the main idea.

[0151] Label Explanation

[0152] 1, 1a, 1b, 1c, 1d: Unmanned transport robot; 2, 2b, 2c: Cargo compartment; 3: Motion control unit; 4: Motion mechanism; 5, 5a, 5b: Management device; 6: User terminal; 7: Sender device; 8: Control unit; 9: Operating mechanism; 11, 51, 61: Receiving and dispatching unit; 12, 12a, 12b: Anomaly detection unit; 13: Camera; 14: Authentication information storage unit; 15: Authentication unit; 16: Receiving unit; 17: Self-positioning unit; 21: Door; 22: Opening and closing sensor; 23: Sensor; 24: Environmental control device; 31: Wheel; 32: Housing; 52: Alarm issuing unit; 53: Operation management unit; 54: Information storage unit; 55: Information provision management unit; 62: Display unit; 63: Input receiving unit; 100, 100b, 100c, 100d: Transport system; 211: Lock.

Claims

1. An unmanned carrying robot that carries a cargo to a user, characterized by the unmanned carrying robot including an abnormality determination section that determines presence or absence of a safety abnormality related to the cargo based on monitoring information that indicates a state of occurrence of a safety abnormality related to the cargo, and that notifies of occurrence of the abnormality in a case where it is determined that the abnormality is present.

2. The unmanned carrying robot according to claim 1, characterized in that the abnormality determination section determines an improper opening of a door of a holding section that holds the cargo as the abnormality.

3. The unmanned carrying robot according to claim 2, characterized in that the abnormality determination section determines that the abnormality is present in a case where the door is opened at a time other than a predetermined time from when it is determined that authentication is successful.

4. The unmanned carrying robot according to claim 2, characterized in that the unmanned carrying robot includes an accepting section that accepts input of authentication information used in authentication for unlocking a lock of a door of a holding section that holds the cargo, and an authenticating section that performs authentication based on the authentication information accepted by the accepting section and outputs an authentication result, the abnormality determination section determines that the abnormality is present in a case where a number of times of determination of failure of authentication by the authenticating section is equal to or more than a threshold value.

5. The unmanned carrying robot according to any one of claims 1 to 4, characterized in that the monitoring information includes first captured data obtained by capturing a periphery of the unmanned carrying robot, the abnormality determination section determines whether or not a person who takes a predetermined suspicious action is present within a range of a distance of a predetermined distance or less from the unmanned carrying robot using the first captured data, and determines that the abnormality is present in a case where it is determined that the person who takes the suspicious action is present within the range.

6. The unmanned carrying robot according to any one of claims 1 to 5, characterized in that the monitoring information includes second captured data obtained by capturing a lower side of the unmanned carrying robot, the abnormality determination section determines that the abnormality is present in a case where a distance between the unmanned carrying robot and a reference surface that is perpendicular to a vertical direction becomes a distance or more.

7. The unmanned carrying robot according to any one of claims 1 to 6, characterized in that the unmanned carrying robot includes a transceiving section, the abnormality determination section generates abnormality information indicating that the abnormality has occurred in a case where it is determined that the abnormality is present, and transmits the generated abnormality information to a management device that manages the unmanned carrying robot via the transceiving section, thereby notifying of the abnormality.

8. The unmanned carrying robot according to any one of claims 1 to 7, characterized in that the unmanned carrying robot includes a sensor that detects at least one of a state of the cargo and a surrounding environment of the cargo, and a providing section that provides sensor information that is a detection result of the sensor to a user who corresponds to the cargo.

9. The unmanned carrying robot according to claim 8, wherein the abnormality determination section determines whether or not there is a situation abnormality as an abnormality in the environment around the cargo using the sensor information, and notifies of the situation abnormality in a case where it is determined that there is the situation abnormality.

10. The unmanned carrying robot according to claim 9, wherein the unmanned carrying robot is provided with a work mechanism and a control section that controls the work mechanism, the sensor information includes third captured data obtained by capturing the cargo, the abnormality determination section determines whether or not the orientation of the cargo is abnormal using the third captured data, determines that there is the situation abnormality in a case where it is determined that the orientation of the cargo is abnormal, and instructs the control section to restore the orientation of the cargo to a correct orientation by the work mechanism, the control section controls the work mechanism so as to restore the orientation of the cargo to the correct orientation by the work mechanism when it is instructed by the abnormality determination section to restore the orientation of the cargo to the correct orientation.

11. The unmanned carrying robot according to claim 9 or 10, wherein the unmanned carrying robot is provided with an environmental control device that controls the temperature of the environment around the cargo, the sensor information includes temperature information as a detection result of the temperature of the environment around the cargo, the abnormality determination section determines whether or not the temperature of the environment around the cargo deviates from a normal range using the temperature information, determines that there is the situation abnormality in a case where it is determined that the temperature of the environment around the cargo deviates from the normal range, and controls the environmental control device so as to bring the temperature of the environment around the cargo within the normal range.

12. The unmanned carrying robot according to any one of claims 9 to 11, wherein the unmanned carrying robot is provided with an environmental control device that controls the humidity of the environment around the cargo, the sensor information includes humidity information as a detection result of the humidity of the environment around the cargo, the abnormality determination section determines whether or not the humidity of the environment around the cargo deviates from a normal range using the humidity information, determines that there is the situation abnormality in a case where it is determined that the humidity of the environment around the cargo deviates from the normal range, and controls the environmental control device so as to bring the humidity of the environment around the cargo within the normal range.

13. The unmanned carrying robot according to any one of claims 9 to 12, wherein the unmanned carrying robot is provided with an environmental control device that controls the pressure of a holding section that holds the cargo, the sensor information includes pressure information as a detection result of the pressure within the holding section, the abnormality determination section determines whether or not the pressure within the holding section deviates from a normal range using the pressure information, determines that there is the situation abnormality in a case where it is determined that the pressure within the holding section deviates from the normal range, and controls the environmental control device so as to bring the pressure of the holding section within the normal range. the management device is provided with: ​ ​ ​ ​ 14. A management device that manages a transport robot that transports a cargo to a user, characterized by, ​ a reception unit that receives monitoring information from the unmanned transport robot, wherein the monitoring information indicates a state of occurrence of a safety abnormality related to the cargo; and an abnormality determination unit that determines whether or not there is a safety abnormality related to the cargo based on the monitoring information, and notifies of the occurrence of the abnormality in a case where it is determined that there is the abnormality.

15. A handling system, characterized by The transport system includes: an unmanned transport robot that transports cargo to a user; and a management device that manages the unmanned transport robot, The unmanned transport robot includes: an abnormality determination unit that determines whether or not there is a safety abnormality related to the cargo based on monitoring information, and generates abnormality information indicating that an abnormality has occurred in a case where it is determined that there is the abnormality, wherein the monitoring information indicates a state of occurrence of a safety abnormality related to the cargo; and a transmission unit that transmits the abnormality information to the management device, The management device includes: a reception unit that receives the abnormality information from the unmanned transport robot; and an alarm unit that issues an alarm when the reception unit receives the abnormality information.

16. A monitoring method in a transport robot that transports a cargo to a user, the monitoring method characterized by, The monitoring method includes the steps of: determining whether or not there is a safety abnormality related to the cargo based on monitoring information, wherein the monitoring information indicates a state of occurrence of a safety abnormality related to the cargo; and notifying of the occurrence of the abnormality in a case where it is determined that there is the abnormality.

17. A program, characterized by A computer system that controls an unmanned transport robot that transports cargo to a user is caused to execute the steps of: determining whether or not there is a safety abnormality related to the cargo based on monitoring information, wherein the monitoring information indicates a state of occurrence of a safety abnormality related to the cargo; and notifying of the occurrence of the abnormality in a case where it is determined that there is the abnormality.

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