Autonomous mobile transport robot and package transport system

Abstract

To provide an autonomous mobile transport robot capable of automatically performing both unloading and loading in package handling operations.SOLUTION: An autonomous mobile transport robot of the present invention comprises a package enclosure 41 which moves back and forth between a standard position (4A) in which a package N can be accommodated within a package rack 31 and a position (4B) which it protrudes from the package rack 31, a lifting unit 5 which raises and lowers the package rack 31 and the package enclosure 41, and a control unit. The control unit is configured to be able to perform: an unloading process which includes a process of moving the package enclosure 41 from the standard position (4A) to the protruding position (4B) to push the package N in the package rack 31 out of the package rack 31; and a loading process which includes a process of moving the package enclosure 41 from the protruding position (4B) to the standard position (4A) to pull the package N in the package enclosure 41 into the package rack 31.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous mobile robot (AMR), and more particularly to an autonomous mobile transport robot and a transport system that can automatically load and unload luggage at a destination. [Background technology]

[0002] The number of parcels has increased sharply in recent years due to the spread and expansion of electronic commerce (EC) and the special demand for EC caused by the COVID-19 pandemic, and the parcel delivery market is booming. However, the increase in parcels has increased the burden on parcel delivery drivers, and labor shortages have become a problem in the logistics industry.

[0003] As one response to the increase in parcels delivered, the growing burden on delivery drivers, and labor shortages, domestic trials are underway to reduce the workload of delivery drivers by entrusting part of the work to autonomous mobile robots (AMRs) for automatic delivery, and practical application overseas is progressing (see non-patent document 1 below).

[0004] In addition, as one of the responses to the increasing burden on delivery drivers, labor shortages, and even the demand for non-contact delivery, a demonstration experiment is being conducted in which the task of leaving parcels at a designated location (a delivery method in which the delivery person does not hand the parcel directly to the recipient but leaves it at the designated location) of delivery drivers is entrusted to an autonomous robot, and the robot automatically leaves the parcel at the destination (see Non-Patent Document 2 below). In the case of leaving parcels at a designated location, the delivery person does not hand the parcel over, but leaves it at the designated location whether the recipient is at home or not, so there is also an aspect that it contributes greatly to improving work efficiency (delivery efficiency) by effectively reducing the effort and time required for redelivery. In order to solve the above-mentioned problems, the present applicant has also devised an autonomous delivery robot capable of leaving parcels at a designated location and has already filed a patent application (Patent Document 1 below). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2023-000779 A [Non-patent literature]

[0006] [Non-Patent Document 1] “Delivery robot DeliRo”, [online], [searched June 15, 2023], Internet,<URL:https: / / www.zmp.co.jp / products / lrb / deliro> [Non-Patent Document 2] “Amoeba Energy, Japan Post / Succeeds in Continuous Delivery Using Robots”, [online], [Retrieved June 15, 2023], Internet,<URL:https: / / www.lnews.jp / 2020 / 01 / m0130401.html> Summary of the Invention [Problem to be solved by the invention]

[0007] When using the delivery robot described in Non-Patent Document 1, the recipient of the package can collect the package by removing it from the delivery robot's box. However, if the recipient is not at the delivery address, the robot must either wait at the delivery address for a certain period of time or return to the base and then redelive the package.

[0008] Furthermore, the delivery robot described in Non-Patent Document 2 and the autonomous delivery robot described in Patent Document 1 can automatically leave and deliver the parcel by themselves, so even if the recipient is absent, it is possible to avoid situations where the robot continues to wait at the delivery destination for a certain period of time or has to return to the base and then redeliver the parcel. However, even with these delivery robots, manual labor is required when loading the parcel onto the robot, and if the sender is busy and unable to respond, the operational efficiency of the robot decreases.

[0009] The present invention has been made with an eye on such problems, and its main objective is to provide an autonomous transport robot and luggage transport system that can automatically unload and load luggage. [Means for solving the problem]

[0010] That is, the autonomous transport robot according to the present invention comprises a traveling means capable of autonomous traveling, a robot body having an internal space set as a luggage compartment, a loading device mounted on the robot body, and a control unit for executing at least a loading process, and the loading device comprises a luggage rack advance / retract moving unit having a luggage rack section capable of mounting luggage and moving the luggage rack section back and forth between a storage position where the luggage rack section is stored in the luggage compartment and a take-out position where the luggage rack section is taken out to the outside of the luggage compartment, a luggage enclosure advance / retract moving unit having a luggage enclosure section capable of placing luggage in at least an internal space open downwards and moving the luggage enclosure section back and forth between a standard position where the luggage enclosure section can be stored within the luggage mounting space of the luggage rack section and a protruding position where the luggage enclosure section is outside the luggage mounting space, and a lifting unit for lifting and lowering the luggage enclosure advance / retract moving unit and the luggage rack advance / retract moving unit together, and the loading process by the control unit comprises operating the lifting unit while maintaining the luggage enclosure section in the standard position to load the luggage rack. The system is characterized in that it is configured to be capable of executing a luggage placement height adjustment process for adjusting the height position of the storage section in accordance with the height position of a destination such as a delivery destination or a collection destination, an unloading process including a luggage push-out process for pushing luggage loaded on the luggage placement section from the luggage placement section to a destination such as a delivery destination or a collection destination by moving the luggage placement section to a take-out position and activating the luggage enclosure advance / retract moving section to move the luggage enclosure from the standard position to a protruding position, a luggage placement height adjustment process for adjusting the height position of the luggage placement section in accordance with the height position of a destination such as a collection destination by activating the lifting section in a state where the luggage placement section is moved to the take-out position, and a loading process for pulling luggage at a destination such as a collection destination into the luggage placement section by enclosing the luggage at the destination such as a collection destination with the luggage enclosure positioned at the protruding position and activating the luggage enclosure advance / retract moving section to move the luggage enclosure from the protruding position to the standard position. Note that the loading process and the unloading process are specific processes of loading and unloading processes by the control section.

[0011] Here, the "luggage enclosure" of the present invention may be any that can accommodate luggage in an internal space that is open downward. One example is a frame that is rectangular in plan view and can surround the outer circumferential surface (outer surface) of the luggage. Other examples of the luggage enclosure of the present invention include frames with partially discontinuous cutouts, frames composed of multiple divided frame elements, and frames composed of multiple pins arranged to surround the outer circumferential surface (outer surface) of the luggage. It is also possible to apply a luggage enclosure that has a ceiling surface set at a height that does not interfere with the luggage. In other words, the luggage enclosure of the present invention can be said to be capable of at least partially surrounding the luggage.

[0012] Such an autonomous transport robot of the present invention can perform not only unloading but also loading as loading operations, by performing a luggage placement advance / retract movement function that uses the luggage placement advance / retract movement unit to move the luggage placement unit advance / retract between a storage position and an unloading position, a luggage enclosure advance / retract movement function that uses the luggage enclosure advance / retract movement unit to move the luggage enclosure unit advance / retract between a standard position and a protruding position, and a height adjustment function that uses the lifting unit to simultaneously lift and lower the luggage placement advance / retract movement unit and the luggage enclosure advance / retract movement unit to adjust the height positions of the luggage placement unit and the luggage enclosure unit. In other words, the luggage can be taken out of the luggage compartment by moving the luggage placement section carrying the luggage from the storage position to the take-out position while maintaining the luggage enclosure in the standard position, and by adjusting the height position of the luggage placement section in this state according to the height position of the destination such as the delivery destination or collection destination, the height position of the luggage enclosure can be adjusted at the same time, and by moving the luggage enclosure from the standard position to the protruding position, the luggage placed in the luggage placement section can be pushed out of the luggage placement section, and the luggage (luggage to be transported) stored in the luggage compartment can be moved to the destination such as the delivery destination or collection destination. Also, by adjusting the height position of the luggage placement section in a state where the luggage placement section is moved to the take-out position according to the height position of the destination such as the collection destination, the height position of the luggage enclosure can be adjusted at the same time, and by moving the luggage enclosure from the protruding position to the standard position while the luggage at the destination such as the collection destination is surrounded by the luggage enclosure positioned in the protruding position, the luggage can be pulled into the luggage placement section, and the luggage to be collected can be moved into the luggage placement section.

[0013] In particular, in the autonomous transport robot according to the present invention, the lifting unit lifts and lowers the baggage rack advance / retract movement unit and the baggage enclosure advance / retract movement unit simultaneously, which simplifies the structure, simplifies the processing procedure, and speeds up the processing compared to an embodiment in which the baggage rack advance / retract movement unit and the baggage enclosure advance / retract movement unit are lifted and lowered separately. Also, in the autonomous transport robot according to the present invention, any baggage that is a size that can be accommodated in the internal space of the baggage enclosure and is smaller than the height dimension of the baggage storage space can be handled, and baggage of various sizes can be collected and delivered. By positioning the baggage enclosure at a standard position, even if the baggage stored in the baggage rack moves unexpectedly due to vibration or the like, the movement range can be limited by the baggage enclosure, which can prevent or suppress the baggage from suddenly falling from the baggage rack, and the baggage can be maintained in a stable loading state in the baggage rack.

[0014] In the autonomous transport robot according to the present invention, if the unloading process by the control unit includes a luggage enclosure lifting process in which the luggage enclosure is moved to the protruding position and the lifting unit is operated to raise the luggage enclosure advance / retract moving unit to lift the luggage enclosure above the luggage, the luggage enclosure can be removed from around the luggage at the destination such as the destination or collection destination by moving the luggage enclosure from the standard position to the protruding position and performing the luggage enclosure lifting process, and the luggage enclosure can be prevented from interfering with the luggage in various subsequent operations of the autonomous transport robot (for example, moving the luggage enclosure from the protruding position to the standard position, moving the entire transport robot by the traveling means, etc.). Note that the autonomous transport robot according to the present invention also includes an aspect configured to be capable of releasing the state of enclosing the luggage by deforming the luggage enclosure when the luggage enclosure is moved from the standard position to the protruding position and moving the luggage from the luggage placement unit to the destination such as the destination or collection destination.

[0015] In the autonomous transport robot according to the present invention, if the loading process by the control unit includes a luggage enclosure setting process in which the luggage enclosure is moved to a protruding position above the luggage at the destination such as the collection destination, and the lifting unit is operated to lower the luggage enclosure advance / retract moving unit to place the luggage at the destination such as the collection destination in the internal space of the luggage enclosure, the luggage at the destination such as the collection destination can be enclosed by the luggage enclosure with a relatively simple operation, and the structure of the luggage enclosure can be simplified compared to an embodiment in which the luggage enclosure can be transformed to enclose the luggage. Note that the autonomous transport robot of the present invention also includes a configuration in which a luggage enclosure that can be transformed to switch between a state in which the luggage is enclosed and a state in which the luggage is not enclosed is used as the luggage enclosure.

[0016] A suitable example of the cargo enclosure in the present invention is a frame (enclosure) that can go around the outer periphery of the cargo. By applying such an enclosure, the cargo can be pushed out when unloading and pulled in when loading while being enclosed with a simple structure, thereby contributing to improving the work efficiency of cargo handling.

[0017] In addition, the luggage transport system of the present invention is characterized in that it is equipped with an autonomously mobile transport robot having the above-mentioned configuration, and is configured so that a control unit of the autonomously mobile transport robot can execute a loading process of storing luggage loaded on the luggage rack in a luggage compartment, and an unloading process of transporting the luggage loaded on the luggage rack from the luggage compartment to a destination such as a transport destination or collection destination.

[0018] Such a luggage transport system according to the present invention can achieve the same effects as those achieved by the autonomous transport robot described above, and can deliver luggage loaded on a luggage rack to a destination such as a delivery destination or collection destination, or load the luggage at the collection destination. Effect of the Invention

[0019] According to the present invention, a luggage rack on which luggage can be mounted and a luggage enclosure that can be arranged around the luggage are configured to be movable forward and backward and vertically movable, and the luggage enclosure can be moved between a storage position where the luggage enclosure is positioned in the luggage mounting space of the luggage rack and a protruding position where the luggage rack is protruding further forward than the luggage enclosure, thereby performing an unloading process of pushing luggage on the luggage rack to a destination such as a delivery destination or a collection destination and transferring it, and a loading process of pulling luggage at a destination such as a collection destination into the luggage rack and transferring it to the luggage compartment, thereby making it possible to provide an autonomous transport robot that can automate the unloading process and the loading process. The autonomous transport robot according to the present invention is not limited to the home delivery field, but can also be used in fields such as factories, warehouses, logistics centers, retail (stores), hospitals, and hotels. [Brief description of the drawings]

[0020] [Figure 1] 1 is an overall schematic diagram of an autonomous transport robot according to an embodiment of the present invention; [Diagram 2] 1. FIG. 4 is a diagram illustrating the autonomous transport robot at the time of completing the take-out process in the embodiment, corresponding to FIG. [Diagram 3] 3 is a diagram illustrating the autonomous transport robot in the embodiment at the time when the luggage rack height adjustment process is completed (when raised), corresponding to FIG. 2. FIG. [Figure 4] 4 is a diagram showing the autonomous transport robot in the embodiment at the time of completing the baggage enclosure lifting process, corresponding to FIG. 3. [Diagram 5] 3 is a diagram illustrating the autonomous transport robot in the embodiment at the time when the luggage rack height adjustment process is completed (when lowered), corresponding to FIG. 2. FIG. [Figure 6] 6 is a diagram showing the autonomous transport robot in the embodiment at the time of completing the baggage enclosure lifting process, corresponding to FIG. 5. [Figure 7] 13 is a flowchart showing an unloading process in the embodiment. [Figure 8] FIG. 3 is a side view of the autonomous transport robot shown in FIG. 2. [Figure 9] FIG. 4 is a side view of the autonomous transport robot shown in FIG. [Figure 10] 10 is a diagram illustrating the autonomous transport robot at the time of completing a baggage push-out process in the embodiment, corresponding to FIG. 9. [Figure 11] FIG. 5 is a side view of the autonomous transport robot shown in FIG. [Figure 12] FIG. 6 is a side view of the autonomous transport robot shown in FIG. 5. [Figure 13] FIG. 7 is a side view of the autonomous transport robot shown in FIG. 6. [Figure 14] 4 is a flowchart showing a loading process in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] As shown in Figs. 1 and 2, the autonomous transport robot R according to this embodiment includes a traveling means T capable of autonomous travel, a robot body 1 with a part of its internal space set as a luggage compartment 1S, a loading device 2 mounted on the robot body 1, and a control unit C for controlling the operation of the autonomous transport robot R. Fig. 1 shows an overall external view of the autonomous transport robot R in a state in which no loading process is being performed (normal state) when the robot arrives at a destination such as a transport destination (delivery destination, delivery destination, collection destination, removal destination, drop-off destination, etc.) or a collection destination or collection and delivery destination, and Fig. 2 shows an overall external view of the autonomous transport robot R in a state in which the loading device 2 carrying luggage N is brought out to the front of the luggage compartment 1S. The luggage N shown in Fig. 2 etc. is an example of luggage that can be handled (collected and delivered) by the autonomous transport robot R according to this embodiment, and illustrates luggage N close to the maximum planar size and maximum height dimension among the luggage sizes that can be handled.

[0023] In this embodiment, the running means T is provided with drive wheels T1 and auxiliary wheels (casters, etc., not shown), and the running direction is determined by the rotation direction of the drive wheels T1, and the auxiliary wheels roll in response to the rotation. In the autonomous transport robot R, the part on which such running means T is provided and which supports the robot body 1 can be regarded as the dolly B. The dolly B in this embodiment is set to a size approximately the same as the planar size of the robot body 1, and two drive wheels T1 are arranged at a predetermined pitch apart in the width direction d2 of the robot body 1 at the center in the front-rear direction d1, and auxiliary wheels that can freely rotate around a vertical axis are arranged near each of the four corners of the dolly B. Note that it is also possible to adopt a configuration in which the planar size of the dolly B and the robot body 1 are not the same or approximately the same, or a configuration in which the positions and numbers of the drive wheels T1 and the auxiliary wheels are appropriately changed. The running means T, which has drive wheels T1 and auxiliary wheels, can move forward and backward in the front-to-back direction d1 of the robot body 1, and can also turn left and right and move forward and backward in the width direction d2 by changing the direction, rotation speed, and turning angle of the drive wheels T1 (swivel).

[0024] The robot body 1 is an autonomous mobile robot (AMR) that can autonomously move to a destination by means of a travel means T and has a function of recognizing the surrounding situation. The robot body 1 of this embodiment is box-shaped and has a door D that can open and close the internal space. A part of the internal space of the robot body 1 is set as a luggage compartment 1S, and the luggage compartment 1S is configured to be able to store luggage N. In this embodiment, a robot body 1 having a substantially rectangular parallelepiped shape with a predetermined height dimension is applied, and an opening K formed on the front of the robot body 1 is configured to be able to be opened and closed by the door D. Specifically, a pair of left and right doors D are configured to be able to be opened and closed in a double door manner. In this embodiment, the door D is set up to be locked and unlocked using, for example, a solenoid, and the door D is pushed open when the luggage placement section 31 of the luggage placement advance / retract movement section 3 described later moves (when moving forward) from the storage position to the take-out position (3B), and the door D is closed by the restoring force of a spring (not shown) when the luggage placement section 31 moves (when moving backward) from the take-out position (3B) to the storage position.

[0025] A sensor S1 capable of detecting, for example, images, colors, distances, etc. can be provided on the front (front face) of the upper end of the robot body 1, and the robot can be configured to determine the cargo to be loaded and the location for unloading based on the detection information of the sensor S1.

[0026] In this embodiment, a touch panel W is provided at an appropriate position on the upper end of the robot body 1, and an operator can give, for example, delivery instructions to the robot R based on operations performed on the touch panel W.

[0027] Furthermore, in this embodiment, a free space FS that is continuously open to the front and both sides is formed between the robot main body 1 and the cart B, and a sensor capable of detecting the distance, position, shape, etc. to an object (for example, an obstacle on the travel route or a wall of the road) (as a specific example, LiDAR; Light Detection and Ranging, not shown, which is capable of detecting and measuring distance using light) is arranged in the free space FS.

[0028] The loading / unloading device 2 mounted on the robot main body 1, as shown in Figures 2 to 4, has a luggage placement section 31 having a space (luggage placement space 3S) in which luggage N can be placed, and is equipped with a luggage placement advance / retract moving section 3 which moves the luggage placement section 31 forward and backward in the fore-and-aft direction d1 of the robot main body 1 between a storage position in which the luggage placement section 31 is stored in the luggage room 1S and an unloading position (3B) in which the luggage placement section 31 is unloaded to the outside of the luggage room 1S, a luggage enclosure advance / retract moving section 4 which has a luggage enclosure section 41 capable of surrounding the periphery of the luggage N and moves the luggage enclosure section 41 forward and backward in the fore-and-aft direction d1 between a standard position (4A) in which the luggage enclosure section 41 fits into the luggage placement space 3S of the luggage placement section 31 and a protruding position (4B) in which the luggage enclosure section 41 is outside the luggage placement space 3S, and a lifting section 5 which lifts and lowers the luggage enclosure advance / retract moving section 4 and the luggage placement advance / retract moving section 3 simultaneously. 1 to 4 are perspective views showing in time series the operation of the autonomous transport robot R during unloading processing (when the height of the luggage platform at the delivery destination is relatively high), and Fig. 5 and Fig. 6 are perspective views showing the operation of the autonomous transport robot R when the height of the luggage platform at the delivery destination is close to the floor surface, corresponding to Fig. 3 and Fig. 4. The luggage platform at the delivery destination is omitted in these figures.

[0029] The luggage placement advance / retract movement unit 3 advances and retreats the luggage placement unit 31 for storing luggage N in the luggage compartment 1S of the robot body 1 in the forward / rearward direction d1 of the robot body 1. The luggage placement unit 31 has a mounting surface (luggage placement surface 3F) on which luggage N is placed, and the space above the luggage placement surface 3F is set as the luggage placement space 3S (see Figs. 4 and 6). In this embodiment, a luggage placement unit 31 having a roughly box-like shape and a luggage placement space 3S whose entire front surface (front face) is open forward is applied, and such luggage placement unit 31 is configured to be able to advance and retreat in the forward / rearward direction d1 between a storage position where the luggage placement unit 31 is stored in the luggage compartment 1S and a take-out position (3B) where the luggage placement unit 31 is taken out to the outside of the luggage compartment 1S. The take-out position (3B) is as shown in Fig. 2, while the luggage placement unit 31 positioned at the storage position is stored behind the door D in the closed door state (DA) shown in Fig. 1 (luggage compartment 1S), and is not shown in the figure. The forward and backward movement of the luggage placement section 31 between the storage position and the take-out position (3B) is a horizontal movement along the front-rear direction d1 of the robot body 1. In this embodiment, the luggage placement forward and backward movement section 3 (see FIG. 2) is configured using a linear guide mechanism (not shown) provided inside the robot body 1, a scissors link mechanism 32, and a guide rail mechanism 33, and the luggage placement section 31 is set to be forward and backward movable in the front-rear direction d1 of the robot body 1 by rotating a belt based on the driving force of a motor.

[0030] The scissors link mechanism 32 can expand and contract in the front-rear direction d1 between the support base 6 supporting the luggage rack 31 and the robot body 1, and the expansion and contraction of the entire scissors link mechanism 32 can move the luggage rack 31 between a storage position in which the luggage rack 31 is stored in the luggage compartment 1S and a take-out position (3B) in which the luggage rack 31 is moved to a space forward of the luggage compartment 1S. The guide rail mechanism 33 has a configuration in which two or more slide members slide relative to each other in the longitudinal direction, thereby changing (expanding and contracting) the longitudinal dimension of the entire guide rail mechanism 33. In this embodiment, the guide rail mechanism 33 has a drawer-type slide rail structure including a member (slide member) having one end (front end) fixed to the support base 6 supporting the luggage rack 31 and a rail body fixed to the inner surface of the robot body 1 and supporting the slide member so that the slide member can slide, and the slide member slides relative to the rail body in the front-rear direction d1 to guide the linear forward and backward movement of the support base 6 and the luggage rack 31 supported by the support base 6 along the front-rear direction d1.

[0031] In this embodiment, the scissor link mechanism 32 and the guide rail mechanism 33 constituting the luggage rack advancing / retreating movement section 3 are provided in pairs near both the left and right side surfaces in the internal space (luggage compartment 1N) of the robot main body 1. Also, in this embodiment, in conjunction with the advancing / retreating movement of the luggage rack advancing / retreating movement section 3, in other words, the advancing / retreating movement of the luggage rack section 31, the luggage enclosure advancing / retreating movement section 4 and the lifting section 5 are also configured to move advancing / retreating in the same direction.

[0032] The luggage enclosure advance / retract movement section 4 advances and retreats the luggage enclosure 41 in the front-rear direction d1 between a standard position (4A) shown in FIG. 2, FIG. 3, and FIG. 5 and a protruding position (4B) shown in FIG. 4 and FIG. 6. In this embodiment, the luggage enclosure advance / retract movement section 4 is configured using a linear guide mechanism (not shown) provided between the luggage rack advance / retract movement section 3 and the luggage enclosure 41, a scissors link mechanism 42, and a guide rail mechanism 43, and the luggage enclosure 41 is set to be able to advance and retreat in the front-rear direction d1 by rotating a belt based on the driving force of a motor 44. In particular, the scissors link mechanism 42 and the guide rail mechanism 43 have structures and functions equivalent to the scissors link mechanism 32 and the guide rail mechanism 33 of the luggage rack advance / retract movement section 3, although their locations are different. In this embodiment, the scissors link mechanism 42 and the guide rail mechanism 43 constituting the luggage enclosure advance / retract movement section 4 are provided in pairs on both the left and right sides of the luggage enclosure 41.

[0033] As shown in Fig. 4 and Fig. 6, the luggage enclosure 41 is capable of enclosing luggage N in an internal space 4S that is open in the height direction d3 of the robot body 1. The luggage enclosure 41 includes a frame body 411 that is rectangular in plan view and has a planar size smaller than the planar size of the luggage placement section 31 (specifically, the luggage mounting surface 3F), and support arms 412 that extend upward from both side surfaces of the frame body 411, and moves forward and backward between a standard position (4A) and a protruding position (4B) in conjunction with the folding and extending operation of a pair of left and right support arms 412 and the luggage placement section 31. In addition, a guide rail mechanism 43 provided between the luggage enclosure 41 and the luggage placement section 31 allows the luggage enclosure 41 to move forward and backward smoothly. The luggage enclosure 41 positioned in the standard position (4A) fits within the luggage loading space 3S of the luggage rack 31 and is positioned at a predetermined distance above the luggage loading surface 3F of the luggage rack 31. Meanwhile, the luggage enclosure 41 positioned in the protruding position (4B) is positioned in a position forward of the luggage loading space 3S of the luggage rack 31 (see Figures 2, 3 and 5).

[0034] The lifting section 5 is composed of a linear guide mechanism 51 and a pulley mechanism arranged between the luggage rack advance / retract movement section 3 and the luggage enclosure advance / retract movement section 4, and is configured so that the height dimension of the entire linear guide mechanism 51, consisting of multiple link members arranged in the fore-and-aft direction d1, can be changed (expanded / contracted) by rotating the belt in the forward or reverse direction using a motor to adjust the amount of wire wound by the reel 53 of the pulley mechanism, and the luggage rack advance / retract movement section 3 and the luggage enclosure advance / retract movement section 4 are simultaneously raised and lowered in the vertical direction d3 in accordance with the change in the height dimension of the entire linear guide mechanism 51.

[0035] In this embodiment, when the luggage rack 31 is moved to the storage position by the luggage rack advance / retract movement unit 3 with the luggage enclosure 41 positioned at the standard position (4A), the luggage N loaded on the luggage rack 31 can be stored in the luggage compartment 1S (see FIG. 1). When the luggage rack 31 is moved from the storage position to the take-out position (3B) by the luggage rack advance / retract movement unit 3, the luggage N loaded on the luggage rack 31 can also be taken out to the space in front of the luggage compartment 1S (see FIG. 2). Here, the "take-out position (3B)" in this embodiment means a position where the luggage rack 31 is taken out to a space in front of the luggage compartment 1S in the front-rear direction d1. In this embodiment, the luggage rack 31 and the luggage enclosure 41 can be simultaneously moved up and down by the lifting unit 5 while maintaining the position of the luggage rack 31 in the front-rear direction d1 at the same position as the take-out position (3B) (see FIGS. 3 and 5). Therefore, when the lifting unit 5 raises the luggage placement section 31 and the luggage enclosure 41 to the position shown in FIG. 3, the luggage N loaded on the luggage placement section 31 can be moved to a position near the ceiling surface of the luggage compartment 1S, for example, and when the lifting unit 5 lowers the luggage placement section 31 and the luggage enclosure 41 to the position shown in FIG. 5, the luggage N loaded on the luggage placement section 31 can be moved to a position near the floor surface. The height positions of the lower limit position and the upper limit position of the luggage placement section 31 can be appropriately selected and changed. In this embodiment, since the reel 53 of the lifting unit 5 is arranged below the luggage placement section 31, the lower limit position of the luggage placement section 31 is set at a position at least the diameter of the reel 53 higher than the floor surface. Therefore, by changing the arrangement location of the reel 53, the lower limit position of the luggage placement section 31 can be brought even closer to the floor surface. In addition, a sensor for detecting the height position of the luggage placement section 31 or the luggage enclosure 41 can be provided at an appropriate location.

[0036] In this embodiment, the control unit C is configured to be able to control the travel of the cart B (operation of the travel means T) and the operation of each unit (baggage storage advance / retract movement unit 3, luggage enclosure advance / retract movement unit 4, lift unit 5). The control unit C is mounted at an appropriate position in the autonomous transport robot R, and is shown diagrammatically in FIG. 1 etc.

[0037] The autonomous transport robot R of this embodiment is equipped with a loading device 2 and its control unit C equipped with assemblies having the above-mentioned functions (baggage storage advance / retract moving unit 3, luggage enclosure advance / retract moving unit 4, lifting unit 5) on a robot body 1 arranged in an area above the trolley B. Such loading device 2 exerts a function as a transfer device that delivers and transports luggage N between the luggage compartment 1S and a destination such as a delivery destination or collection destination.

[0038] The luggage transport system X according to this embodiment can be operated to collect and deliver luggage N using the above-mentioned autonomous transport robot R. Note that "luggage transport" in the present invention (this embodiment) is a concept that includes "transport, collection and delivery, transport, and collection of luggage." Therefore, it can be said that the luggage transport system X according to this embodiment is a system that performs automatic transport, automatic collection and delivery, automatic transport, and automatic collection of luggage N using the autonomous transport robot R having the above-mentioned configuration. Below, the luggage carrying-in and carrying-out process (unloading process, loading process) performed by the autonomous transport robot R in the luggage transport system X according to this embodiment will be described. First, the unloading process for transporting luggage N to a destination, which is the destination, will be described based on the flowchart shown in FIG. 7.

[0039] When operating the luggage transport system X using the autonomous transport robot R according to this embodiment, the luggage N to be transported needs to be placed on the luggage placement unit 31. A luggage enclosure unit 41 positioned at a standard position (4A) is disposed around this luggage N. In the following, it is assumed that the luggage N is a delivery item, and the luggage N to be transported is referred to as luggage N to be placed and delivered.

[0040] After the luggage N is stored (loaded) in the luggage compartment 1S, the autonomous transport robot R in the normal state shown in FIG. 1 moves the luggage placement section 31 from the storage position to the take-out position (3B) by operating the luggage placement advance / retract movement section 3 of the luggage placement device 2 based on a signal (including information specifying the luggage N to be placed and delivered) that activates the luggage handling device 2 (take-out process S1, see FIG. 2 and FIG. 8 (FIG. 8 is a side view of the transport robot R shown in FIG. 2)). In this embodiment, with the take-out process S1, the door D in the closed state (DA) is pushed out by the luggage placement advance / retract movement section 3 and switches to the open state (DB) (door opening process). In this state, a door open state detection sensor (not shown) may be configured to detect that the door D is in the open state (DB).

[0041] The take-out process S1 is a process for moving the luggage rack 31 from the storage position to the take-out position (3B) by driving (activating the advance / retract drive unit) the drive motor (not shown) of the luggage rack advance / retract movement unit 3, and the entire luggage enclosure advance / retract movement unit 4 also moves forward at the same time. Therefore, the relative position of the luggage enclosure 41 with respect to the luggage N mounted on the luggage rack 31 does not change before and after the take-out process S1. In this embodiment, the scissor link mechanism 32 of the luggage rack advance / retract movement unit 3 is changed from a folded position in the front-rear direction d1 to a position extended in the front-rear direction d1 based on the driving force of the drive motor (not shown) of the luggage rack advance / retract movement unit 3, so that the entire luggage enclosure advance / retract movement unit 4 and the entire lift unit 5 are moved (moved forward) together with the luggage rack 31 to the front space of the luggage compartment 1S, and the guide rail 33 of the luggage rack advance / retract movement unit 3 realizes smooth and appropriate sliding movement during the forward movement. Also, it may be configured to detect the arrival at the take-out position (3B) by an appropriate detection sensor (not shown). When the take-out process S1 is completed, the baggage N loaded on the baggage placement section 31 is also taken out from the luggage compartment 1S (see Figs. 2 and 8).

[0042] Following the take-out process S1, in the autonomous traveling transport robot R according to this embodiment, the control unit C drives the lifting unit 5 to perform a process (luggage placement height adjustment process S2) of lifting and lowering the luggage placement advance / retract movement unit 3 so that the height position of the luggage placement unit 31 is the same height position as the luggage placement area (luggage platform) at the delivery destination. The luggage placement height adjustment process S2 is a process of adjusting the height position of the luggage placement unit 31 by driving the drive motor (not shown) of the lifting unit 5 (activating the advance / retract drive unit) to rotate the reel 53 via the belt to change the amount of wire wound up, thereby changing (enlarging / reducing) the overall height dimension of the linear guide mechanism 51 of the lifting unit 5. If the height position of the luggage storage area (luggage platform) is higher than the height position of the luggage storage unit 31 at the time of completion of the take-out process S1, the luggage storage advance / retract moving unit 3 is moved upward (see, for example, Fig. 3 and Fig. 9 (Fig. 9 is a side view of the transport robot R shown in Fig. 3)), and if the height position is lower than the height position of the luggage storage unit 31 at the time of completion of the take-out process S1, the luggage storage advance / retract moving unit 3 is moved downward (see, for example, Fig. 5 and Fig. 12 (Fig. 12 is a side view of the transport robot R shown in Fig. 5)). By executing the luggage storage height adjustment process S2, the luggage enclosure advance / retract moving unit 4 also moves upward and downward at the same time. Therefore, the relative position of the luggage enclosure unit 41 with respect to the luggage N loaded on the luggage storage unit 31 does not change immediately before and after the luggage storage height adjustment process S2. Figs. 9 and 12 show the luggage platform Y of the delivery destination in a schematic manner.

[0043] Following the luggage placement height adjustment process S2, as shown in FIG. 10, in the autonomous transport robot R according to this embodiment, the control unit C drives the luggage enclosure advance / retract movement unit 4 to move the luggage enclosure 41 from the standard position (4A) to the protruding position (4B), thereby executing a process of pushing out the luggage N mounted on the luggage placement unit 31 from the luggage placement unit 31 (luggage push-out process S3). FIG. 10 is a side view of the autonomous transport robot R that has executed the luggage push-out process S3 from the state shown in FIG. 9. In this embodiment, the luggage enclosure 41 is configured to move forward (forward movement) from the luggage placement unit 31 by changing the scissor link mechanism 42 of the luggage enclosure advance / retract movement unit 4 from a folded position in the front-rear direction d1 to a position extended in the front-rear direction d1 based on the driving force of the drive motor 44 of the luggage enclosure advance / retract movement unit 4, and during the forward movement, a smooth and appropriate sliding movement is realized by the guide rail 43 of the luggage enclosure advance / retract movement unit 4. Also, it may be configured so that an appropriate detection sensor (not shown) detects that the baggage has reached the jump-out position (4B). By the baggage pushing process S3, the baggage placed on the baggage placement unit 31 is pushed forward by the baggage enclosure 41, and can be slid onto the baggage placement area (baggage platform Y).

[0044] Following the baggage push-out process S3, the control unit C drives the lifting unit 5 to perform a process of lifting the baggage enclosure 41 to a height position where it does not interfere with the baggage N (baggage enclosure lifting process S4) (see Fig. 4, Fig. 11 (Fig. 11 is a side view of the transport robot R shown in Fig. 4), Fig. 6, Fig. 13 (Fig. 13 is a side view of the transport robot R shown in Fig. 6)). In this embodiment, by lifting the baggage rack advance / retract movement unit 3 by the lifting unit 5, the entire baggage enclosure advance / retract movement unit 4 is also lifted, and the baggage enclosure 41 can be lifted to a height position where it does not interfere with the baggage N. In other words, by executing the baggage enclosure lifting process S4, the baggage rack advance / retract movement unit 3 and the baggage enclosure advance / retract movement unit 4 are lifted at the same time by the lifting unit 5. At the time when the baggage enclosure lifting process S4 is completed, the baggage N to be placed and delivered that has been transported to the baggage rack (baggage platform Y) is no longer surrounded by the baggage enclosure 41 (see Fig. 11 and Fig. 13).

[0045] Following the luggage enclosure lifting process S4, in the autonomous transport robot R according to this embodiment, the control unit C drives the luggage enclosure advance / retract moving unit 4 to execute a process (luggage enclosure standard position return process S5) of moving the luggage enclosure 41 from the protruding position (4B) to the standard position (4A). The luggage enclosure standard position return process S5 is a process of moving (retracting) the luggage enclosure 41 into the luggage placement unit 31 by driving the driving motor 44 of the luggage enclosure advance / retract moving unit 4 to change the scissor link mechanism 42 of the luggage enclosure advance / retract moving unit 4 from a position extended in the front / rear direction d1 to a position folded in the front / rear direction d1, and during the retracting movement, a smooth and appropriate sliding movement is realized by the guide rail 43 of the luggage enclosure advance / retract moving unit 4. In this embodiment, it is also possible to configure the system so that an appropriate detection sensor (not shown) detects that the luggage enclosure 41 has returned (reached) from the protruding position (4B) to the standard position (4A).

[0046] Following the luggage enclosure standard position return process S5, the control unit C drives the lifting unit 5 to move the luggage placement unit 31 from the height position at the end of the luggage enclosure standard position return process S5 to the take-out position (3B) (take-out position return process S6), and then the control unit C operates the luggage placement advance / retract movement unit 3 to move the luggage placement unit 31 from the take-out position (3B) to the storage position (storage position return process S7). Upon completion of the storage position return process S7, these mechanisms (luggage placement advance / retract movement unit 3, luggage enclosure advance / retract movement unit 4, lifting unit 5) are stored in the internal space (luggage compartment 1S) of the robot main body 1 (see FIG. 1). The return to carry-out position process S6 is a process for returning (moving upward or downward) the baggage placement unit 31 to the carry-out position (3B) by driving a drive motor (not shown) of the lifting / lowering unit 5 to rotate the reel 53 via the belt to change the amount of wire taken up and change (enlarge or reduce) the overall height dimension of the linear guide mechanism 51 of the lifting / lowering unit 5. In this embodiment, it is also possible to configure the device so that an appropriate detection sensor (not shown) detects that the baggage placement unit 31 has returned (reached) to the carry-out position (3B).

[0047] The storage position return process S7 is a process for moving (rearward movement) the luggage rack section 31 into the luggage compartment 1S by driving a drive motor (not shown) of the luggage rack advance / retract movement section 3 to change the scissor link mechanism 32 of the luggage rack advance / retract movement section 3 from an extended position in the front / rear direction d1 to a folded position in the front / rear direction d1, and during the rearward movement, a smooth and appropriate sliding movement is realized by the guide rail of the luggage rack advance / retract movement section 3. In this embodiment, it is also possible to configure the system to detect that the luggage rack section 31 has returned (reached) to the storage position by an appropriate detection sensor (not shown). By executing the take-out position return process S6 and the storage position return process S7, the luggage enclosure advance / retract movement section 4 also moves in the same direction as the luggage rack section 31 at the same time.

[0048] In addition, in this embodiment, as the luggage rack advance / retract movement section 3 moves backward during the storage position return process S7, the pushing force acting on the door D by the luggage rack advance / retract movement section 3 gradually decreases, and at the time when the storage position return process S7 is completed or shortly thereafter, the elastic return force of the spring switches the door D from the open state (DB) to the closed state (DA).

[0049] After the above process, the control unit C outputs a signal indicating that the unloading process is completed (a drop-off and delivery completion signal), and the unloading process is completed. The autonomous transport robot R of this embodiment starts autonomous driving toward a return point such as a base based on the drop-off and delivery completion signal.

[0050] In this way, the autonomous transport robot R according to this embodiment can realize a fully automated unloading process in which the luggage N is placed and distributed at a luggage storage area at the destination. This unloading process can be regarded as a luggage carrying-out process because it is a process in which the luggage N stored in the luggage compartment 1S of the robot main body 1 is carried out from the luggage compartment 1S to a specified destination. Note that in this embodiment, the loading device 2 can be configured to be capable of detecting the position of the luggage storage area (luggage platform Y) and the distance to the luggage storage area (luggage platform Y) by an appropriate sensor provided at an appropriate location (for example, the luggage storage section 31) of the loading device 2.

[0051] Furthermore, the autonomous transport robot R according to this embodiment can fully automatically execute a baggage carrying-in process (loading process) in which the baggage N is automatically loaded (placed) in the luggage compartment 1S at the collection location. The baggage carrying-in process (loading process) performed by the autonomous transport robot R in the baggage transport system X will be described below with reference to the flowchart shown in FIG. The baggage carrying-in process (loading process) is an example of a loading process.

[0052] When performing automatic loading processing by the autonomous transport robot R according to this embodiment, it is necessary that the luggage N to be collected is placed at the collection destination. The collection destination where the luggage N is placed may be a floor surface or an appropriate luggage platform. Hereinafter, the luggage N to be collected is referred to as the luggage N to be collected.

[0053] After the luggage N is placed at the collection destination, when the control unit C drives the travel means T (drive wheels T1) of the cart B to arrive at the collection destination (destination) where the luggage N is placed, the autonomous transport robot R according to this embodiment operates the luggage placement forward / backward moving unit 3 to execute the take-out process S11, similar to the unloading process, based on a signal (including information specifying the luggage N to be collected) that starts the loading device 2. Note that, at the time when the luggage carry-in process starts, the luggage N is not loaded on the luggage placement unit 31 in the luggage compartment 1S. Therefore, even when the luggage placement unit 31 is moved to the take-out position (3B) by the take-out process S11, the luggage placement unit 31 does not have the luggage N loaded on it. Furthermore, from the start of the loading process until the luggage enclosure upper setting process S13 described below is executed, the luggage enclosure 41 remains positioned in the standard position (4A), and the state in which the luggage enclosure 41 is accommodated in the mounting space 3S of the luggage placement section 31 (the state in which the luggage enclosure 41 is positioned directly above the luggage mounting surface 3F) is maintained. The take-out process S11 in the luggage loading process is the same process as the take-out process S1 in the luggage unloading process.

[0054] Then, following the take-out process S11, in the autonomous traveling transfer robot R according to this embodiment, the control unit C drives the lifting unit 5 to execute a process (luggage placement height adjustment process S12) of moving the luggage placement advance / retract movement unit 3 up and down so that the height position of the luggage placement unit 31 is higher than the top surface of the luggage N at the collection destination. Specifically, the luggage placement advance / retract movement unit 3 is moved up and down by the lifting unit 5 so that the frame body 411 of the luggage enclosure advance / retract movement unit 4 is higher than the top surface of the luggage N at the collection destination. By executing the luggage placement height adjustment process S12, the luggage enclosure advance / retract movement unit 4 is also moved up and down at the same time.

[0055] Following the luggage placement height adjustment process S12, in the autonomous transport robot R according to this embodiment, the control unit C drives the luggage enclosure advance / retract movement unit 4 to move the luggage enclosure 41 from the standard position (4A) to the protruding position (4B), thereby executing a process (luggage enclosure upper setting process S13) of setting the luggage enclosure 41 above (directly above) the luggage N to be collected. The state of the autonomous transport robot R at the time of completion of the luggage enclosure upper setting process S13 becomes, for example, the state shown in FIG. 11 or FIG. 13 depending on the height position of the luggage N.

[0056] Following the luggage enclosure upper setting process S13, the autonomous transport robot R according to this embodiment executes a process (luggage enclosure setting process S14) of lowering the luggage enclosure 41 to set the luggage enclosure 41 to a state in which the luggage enclosure 41 surrounds the luggage. The luggage enclosure setting process S14 in this embodiment is a process in which the control unit C drives the lifting unit 5 to lower the luggage placement advance / retract movement unit 3 together with the luggage enclosure advance / retract movement unit 4 so that the height position of the luggage enclosure 41 becomes a height position that surrounds the luggage N. Specifically, the drive motor (not shown) of the lifting unit 5 is driven (the advance / retract drive unit is started) to rotate the reel 53 via the belt to change the amount of wire wound, and the height dimension of the entire linear guide mechanism 51 of the lifting unit 5 is reduced, thereby changing the height position of the luggage placement unit 31 to a position lower than the position at the time of completion of the luggage enclosure upper setting process S13 and to a height position that surrounds the luggage N. The state of the autonomous transport robot R at the time of completing the luggage enclosure setting process S14 will be, for example, the state shown in FIG.

[0057] Following the luggage enclosure setting process S14, the autonomous transport robot R according to this embodiment drives the luggage enclosure forward / backward moving unit 4 to move the luggage enclosure 41 from the projecting position (4B) to the standard position (4A), thereby executing a process of drawing the luggage N at the collection destination into the luggage placement section 31 (luggage drawing process S15). By the luggage drawing process S15, the luggage N at the collection destination can be drawn into the luggage placement section 31 side by the luggage enclosure 41 and slid onto the luggage placement section 31. At the time of completing the luggage drawing process S15, the luggage N to be collected that has been drawn into the luggage placement section 31 is surrounded by the luggage enclosure 41. The state of the autonomous transport robot R at the time of completing the luggage drawing process S15 becomes, for example, the state shown in FIG. 9 or FIG. 12 depending on the height position of the collection destination (the height position of the upper surface of the luggage platform Y shown in FIG. 9, etc.).

[0058] Following the luggage retraction process S15, the control unit C drives the lifting unit 5 to move the luggage placement unit 31 from the height position at the end of the luggage retraction process S15 to the take-out position (3B) (take-out position return process S16), and then the control unit C operates the luggage placement advance / retract movement unit 3 to move the luggage placement unit 31 from the take-out position (3B) to the storage position (storage position return process S17). The take-out position return process S16 and the storage position return process S17 in the luggage carry-in process are the same processes as the take-out position return process S6 and the storage position return process S7 in the luggage removal process. At the time of completion of the storage position return process S17, the luggage placement advance / retract movement unit 3, the luggage enclosure advance / retract movement unit 4, and the lifting unit 5 are stored in the internal space (luggage compartment 1S) of the robot body 1, and the luggage N to be collected in the luggage placement unit 31 is also stored in the luggage compartment. In addition, in this embodiment, as the luggage rack advance / retract movement section 3 moves backward during the storage position return process S17, the pushing force acting on the door D by the luggage rack advance / retract movement section 3 gradually decreases, and at the time when the storage position return process S17 is completed or shortly thereafter, the elastic return force of the spring switches the door D from the open state (DB) to the closed state (DA).

[0059] After the above processing, the control unit C outputs a signal (collection completion signal) indicating that the baggage carrying-in processing (loading processing) has been completed, and the baggage carrying-in processing (loading processing) is completed.

[0060] In this way, the autonomous transport robot R according to this embodiment can realize full automation of the baggage carrying-in process (loading process). The autonomous transport robot R according to this embodiment starts autonomous travel toward the baggage storage area of ​​the baggage carrying-out destination (unloading destination) based on the collection completion signal, and can carry (deliver) the baggage N stored in the luggage compartment 1S to the baggage storage area of ​​the destination by the above-mentioned baggage carrying-out process (unloading process).

[0061] In particular, with the autonomous transport robot of this embodiment, a luggage rack advance / retract movement function is performed in which the luggage rack advance / retract movement unit 3 moves the luggage rack section 31 forward and backward between the storage position and the removal position (3B), a luggage enclosure advance / retract movement function is performed in which the luggage enclosure advance / retract movement unit 4 moves the luggage enclosure section 41 forward and backward between the standard position (4A) and the protruding position (4B), and a height adjustment function is performed in which the luggage rack advance / retract movement unit 3 and the luggage enclosure advance / retract movement unit 4 are simultaneously raised and lowered by the lifting unit 5 to adjust the height positions of the luggage rack section 31 and the luggage enclosure section 41, thereby enabling not only unloading processing but also loading processing to be performed. In other words, by moving the luggage rack 31 carrying the luggage N from the storage position to the removal position (3B) while maintaining the luggage enclosure 41 in the standard position (4A), the luggage N can be removed from the luggage compartment 1S. In this state, by adjusting the height position of the luggage rack 31 according to the height position of the destination such as the delivery destination or collection destination, the height position of the luggage enclosure 41 can be adjusted at the same time. By moving the luggage enclosure 41 from the standard position (4A) to the protruding position (4B), the luggage N loaded on the luggage rack 31 can be pushed out of the luggage rack 31, and the luggage N to be left for delivery that was stored in the luggage compartment 1S can be moved to the destination such as the delivery destination or collection destination. In addition, by adjusting the height position of the luggage placement section 31 according to the height position of the destination such as the collection destination while the luggage placement section 31 is moved to the take-out position (3B), the height position of the luggage enclosure section 41 can be adjusted at the same time, and by moving the luggage enclosure section 41 from the protruding position (4B) to the standard position (4A) while the luggage N at the destination such as the collection destination is surrounded by the luggage enclosure section 41 positioned at the protruding position (4B), the luggage N can be pulled into the luggage placement section 31, and the luggage N to be collected can be moved into the luggage placement section 31. By using the autonomous transport robot R capable of realizing automation of loading processing in addition to automation of unloading processing, loading processing can be performed even when workers are unable to perform loading processing, and compared to a mode in which loading processing is dependent on workers, the operational efficiency of the autonomous transport robot R itself and, ultimately, the efficiency of transporting luggage by the autonomous transport robot R are dramatically improved.

[0062] In addition, according to the autonomous transport robot R of this embodiment, the lifting unit 5 lifts and lowers the baggage rack advance / retract movement unit 3 and the baggage enclosure advance / retract movement unit 4 simultaneously, so that the structure and the processing procedure can be simplified compared to the embodiment in which the baggage rack advance / retract movement unit 3 and the baggage enclosure advance / retract movement unit 4 are lifted and lowered individually. Also, according to the autonomous transport robot R of this embodiment, if the baggage N is a size that can be accommodated in the internal space 4S of the baggage enclosure 41 and is lower than the surface (ceiling surface) that defines the height of the baggage mounting space 3S, it can be handled as a baggage to be left and delivered or a baggage to be collected, and it is possible to collect and deliver bags of various sizes, and by positioning the baggage enclosure 41 at the standard position (4A), even if the baggage N loaded on the baggage rack 31 moves unexpectedly due to vibration or the like, the movement range can be limited by the baggage enclosure 41, and it is possible to prevent and suppress the baggage N from suddenly falling from the baggage rack 31, and it is possible to maintain a stable loading state of the baggage N in the baggage rack 31.

[0063] Furthermore, according to the autonomous transport robot R of this embodiment, the unloading process by the control unit C includes a luggage enclosure lifting process S4 in which the luggage enclosure 41 is moved to the protruding position (4B) and the lifting unit 5 is operated to raise the luggage enclosure advance / retreat moving unit 4, thereby lifting the luggage enclosure 41 above the luggage N. Therefore, by moving the luggage enclosure 41 from the standard position (4A) to the protruding position (4B) and pushing the luggage N out of the luggage placement unit 31 and moving it to a destination such as a transport destination or collection destination, the luggage enclosure lifting process S4 can be performed to remove the luggage enclosure 41 from around the luggage N at the delivery destination. This makes it possible to avoid the luggage enclosure 41 interfering with the luggage N during various subsequent operations of the autonomous transport robot R (for example, moving the luggage enclosure 41 from the protruding position (4B) to the standard position (4A), or moving the entire transport robot R by the traveling means T), and prevents the luggage N from falling from the luggage placement area (luggage platform Y).

[0064] In addition, according to the autonomous transport robot R of this embodiment, the loading process by the control unit C includes a luggage enclosure process S14 in which the luggage enclosure unit 41 is moved to the protruding position (4B) above the luggage N at the destination such as a collection destination, and the lifting unit 5 is operated to lower the luggage enclosure advance / retreat moving unit 4, thereby placing the luggage N at the destination such as a collection destination in the internal space 4S of the luggage enclosure unit 41.Therefore, the luggage N at the collection destination can be enclosed by the luggage enclosure unit 41 with a relatively simple operation, and the structure of the luggage enclosure unit 41 can be simplified compared to, for example, a configuration in which the luggage enclosure unit 41 can be deformed to enclose the luggage N.

[0065] Furthermore, in the autonomous transport robot R of this embodiment, a frame (enclosing frame) capable of circumnavigating the outer periphery of the luggage N is used as the luggage enclosing section 41, so that while having a simple configuration, it can fully exert the luggage pushing function when unloading and the luggage pulling function when loading while enclosing the periphery of the luggage N, thereby contributing to improving the work efficiency of loading and unloading.

[0066] In addition, the autonomous transport robot R of this embodiment is equipped with a door D that can open and close the opening K of the cargo room 1S, so that the cargo room 1S can be made inaccessible from the outside by closing the opening K with the door D in a closed state (DA), and the opening K can be opened with the door D in an open state (DB) to allow the loading and unloading of luggage N into the cargo room 1S.

[0067] Furthermore, according to the autonomous traveling transport robot R of this embodiment, the luggage placement advance / retract movement unit 3 is provided with a link mechanism 32 that advances and retreats the luggage placement unit 31 by expanding and contracting, so that the link mechanism 31 as a whole can be housed in a compact state even in a limited, narrow space inside the robot body 1, and smooth and reliable advance / retract movement of the luggage placement unit 31 can be realized. Similarly, the luggage enclosure advance / retract movement unit 4 is provided with a link mechanism 42 that advances and retreats the luggage placement unit 41 by expanding and contracting, so that the link mechanism 42 as a whole can be housed in a compact state even in a limited, narrow space, and smooth and reliable advance / retract movement of the luggage placement unit 41 can be realized.

[0068] In addition, according to the autonomous traveling transport robot R of this embodiment, the luggage placement advance / retract movement section 3 is provided with a guide rail 33 having a slide rail structure that guides the advance / retract movement of the luggage placement section 31, so that the guide rail 33 can realize smooth and appropriate sliding movement of the luggage placement section 31. Similarly, the luggage enclosure advance / retract movement section 4 is provided with a guide rail 43 having a slide rail structure that guides the advance / retract movement of the luggage enclosure 41, so that the guide rail 43 can realize smooth and appropriate sliding movement of the luggage enclosure 41.

[0069] In addition, according to the autonomous mobile transport robot R of this embodiment, the lifting section 5 is configured to raise and lower the luggage rack advance / retract movement section 3 and the luggage enclosure advance / retract movement section 4 by changing (enlarging / reducing) the overall height dimension of the linear guide mechanism 51 of the lifting section 5, so that the entire linear guide mechanism 51 can be stored in a compact state even in a limited, narrow space, and smooth and reliable raising and lowering movement of the luggage rack advance / retract movement section 3 and the luggage enclosure advance / retract movement section 4 can be achieved.

[0070] According to the autonomously traveling transport robot R of this embodiment, the loading device 2 is implemented along with sensors and traveling means T mounted on the cart B and the robot body 1, so that it is possible to reduce the number of parts and save space at low cost compared to a configuration in which the loading device 2 alone performs similar functions (sensing function, autonomous traveling function).

[0071] Furthermore, the autonomous transport robot R of this embodiment can handle luggage whose width and depth dimensions are within the inner dimensions of the luggage enclosure 41 and whose height dimensions are less than the height dimension of the luggage loading space 3S of the luggage placement section 31 (or the height dimension of the luggage compartment 1S), and can flexibly accommodate luggage of various sizes and shapes.

[0072] The present invention is not limited to the above-mentioned embodiment. For example, the "luggage enclosure" in the present invention may be any one that allows luggage to be placed in an internal space that is open downward. In addition to the circumferential frame exemplified in the above-mentioned embodiment, the luggage enclosure of the present invention also includes a frame having a partially discontinuous cutout portion, a frame composed of multiple divided frame elements (frame elements divided into two parts, left and right), or a frame composed of multiple pins arranged to surround the outer peripheral surface (outer surface) of the luggage. It is also possible to apply a luggage enclosure whose plan view shape is set to a shape other than a rectangle (circle, polygonal shape other than a square, ellipse, etc.) or a luggage enclosure whose ceiling surface is set at a height position that does not interfere with the luggage. It is also possible to apply a luggage enclosure having a shape in which multiple stages of frames are arranged in the height direction, or a luggage enclosure having a hollow cylindrical shape.

[0073] The autonomous transport robot of the present invention also includes a configuration in which a luggage enclosure that can be switched between a state in which the luggage is enclosed and a state in which the luggage is not enclosed by deformation is used. In this case, the process of lifting the luggage enclosure above the luggage in the unloading process can be omitted, and the process of lowering the luggage enclosure set above the luggage and positioning it around the luggage in the loading process (luggage enclosure upper setting process, luggage enclosure setting process) can be omitted.

[0074] The "luggage placement section" in the present invention may be any section capable of placing luggage, and may function as a luggage placement section if it has a luggage placement surface capable of supporting luggage contained within the luggage enclosure when the luggage enclosure is positioned in the standard position. Therefore, the luggage storage space on the luggage placement section may be a space that is fully or partially open in the front-rear, width, and top directions of the robot body.

[0075] In the present invention, the drive systems for the luggage rack advance / retract movement section, the luggage enclosure advance / retract movement section, and the lifting section may be linear motion systems such as ball screws, linear motors, or pneumatic or hydraulic systems. In addition, when these sections (the luggage rack advance / retract movement section, the luggage enclosure advance / retract movement section, and the lifting section) are equipped with a sliding movement mechanism, linear motion mechanisms such as linear guides, slide rails, linear bushes, and oil-free bushes may also be used as the sliding movement mechanism.

[0076] The size of the interior space of the robot body and the luggage compartment in the present invention can be changed as appropriate depending on the specifications, etc. Also, the size of the opening of the luggage compartment that opens in the direction of loading and unloading luggage can also be changed as appropriate. In particular, in the above-mentioned embodiment, an opening that fully opens the front of the robot body is set, and the opening is opened and closed by a door, but an opening may be set on each side of the robot body depending on the interior space of the robot body and the size of the luggage compartment, and each opening may be opened and closed by a door. In this case, if the loading and unloading process of luggage can be executed through each opening, the options for the loading and unloading direction of luggage will increase, which is expected to contribute to the efficiency of unloading and loading work. In other words, the loading and unloading direction of luggage is not limited to the front-rear direction of the robot body, but may be the left-right width direction or the rear direction. Also, an opening may be set on the rear side of the robot body, and the opening may be opened and closed by a door.

[0077] Moreover, the autonomous transport robot according to the present embodiment may be provided with a door opening / closing unit that performs the function of opening and closing a door. An example of a door opening / closing unit that can switch a door that can open and close an opening of a cargo compartment between a closed state and an open state can be a configuration in which a door is switched from a closed state to an open state by driving a door opening / closing motor. When an embodiment provided with a door opening / closing unit is adopted, in both the unloading process and the loading process, a door opening process in which the control unit operates the door opening / closing unit to switch the door from a closed state to an open state is required before the take-out process, and a door closing process in which the control unit operates the door opening / closing unit to switch the door from an open state to a closed state is required following the storage position return process.

[0078] In addition, the door capable of opening and closing the opening of the cargo compartment is not limited to a double-door type door, and may be a shutter type door, a foldable door, or a door that can be switched to an open state by rotating around an actuation rotation axis provided in a horizontal position at the upper end of the door when it is closed (upper type door). Furthermore, the present invention also includes a mode in which the robot body does not have a door. Furthermore, the robot body may not be box-shaped, but may have a configuration in which pillars are erected at the four corners and the space surrounded by these pillars (the internal space of the robot body) is open to the outside, or may have a configuration in which only the front and rear directions of the internal space of the robot body are open when the robot body is box-shaped.

[0079] Furthermore, in the above embodiment, the robot body 1 is equipped with the control unit C, the sensor S1, the touch panel W, etc., but a configuration in which all or part of these are mounted on the cart B may also be adopted.

[0080] A camera may be mounted on the robot body or the loading device, and a configuration may be made in which a photograph is taken as evidence that the unloading or loading process has been completed. If the photograph is configured to be delivered to the parcel recipient or the requester for collection, the parcel recipient or the requester for collection can also understand the state of completion of the delivery (unloading) or the collection (loading), and can use the parcel transport system using the autonomous transport robot according to the present invention with peace of mind. Furthermore, by setting an identification number code at the destination such as the delivery destination or collection destination, and reading the code with a camera or the like, unloading or loading can be performed with high positioning accuracy.

[0081] By mounting a camera on the robot body or on the loading device and configuring it to take pictures and record images of the cargo compartment and its surrounding areas while the robot is traveling autonomously, transporting luggage, and loading luggage, it will be possible for the delivery company to remotely monitor the condition of luggage and watch for theft.

[0082] Furthermore, the specific specifications (configurations) and locations of the various sensors in the above embodiments can be appropriately selected and changed, and some of the sensors can be omitted.

[0083] The autonomous transport robot according to the present invention includes a configuration in which a robot body is equipped with a plurality of loading devices, and a configuration in which a loading device is equipped on each of a plurality of robot bodies. With such a configuration, it is possible to increase the number of loading devices and handle an increase in the number of delivery destinations and collection destinations (an increase in the number of packages to be delivered and collected). In addition, the destination (unloading destination) when performing unloading processing in the present invention may be the delivery destination, the collection destination, or the collection and delivery destination. In addition, the point where loading of packages begins when performing loading processing in the present invention may be the collection destination, or a point other than the collection destination.

[0084] Furthermore, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0085] 1. Robot body 1S…Luggage compartment 2. Cargo handling equipment 3. Luggage storage area 31…Luggage storage area 4. Luggage enclosure moving section 41... Luggage enclosure 5…Lifting section R…Autonomous transport robot T…Travel means X: Baggage transport system

Claims

1. An autonomous transport robot including: a traveling means capable of autonomous traveling; a box-shaped robot body having an internal space partially set as a cargo compartment; a cargo handling device mounted on the robot body; and a control unit that executes at least a cargo handling process; The loading device includes: a luggage placement advance / retract movement unit that has a luggage placement unit capable of placing luggage thereon and that moves the luggage placement unit forward and backward between a storage position where the luggage placement unit is stored in the luggage compartment and a take-out position where the luggage placement unit is taken out to the outside of the luggage compartment; a luggage enclosure advance / retract movement unit which has a luggage enclosure in an internal space which is open at least downward and in which luggage can be placed, and which advances and retracts the luggage enclosure between a standard position in which the luggage enclosure can be accommodated within the luggage carrying space of the luggage rack and a protruding position out of the luggage carrying space; a lifting unit that lifts and lowers the luggage rack advance / retract movement unit and the luggage enclosure advance / retract movement unit together, The loading and unloading process by the control unit is an unloading process including a luggage placement height adjustment process in which the luggage placement unit is moved to the take-out position while maintaining the luggage enclosure in the standard position, and then the lifting unit is operated to adjust the height position of the luggage placement unit in accordance with the height position of the luggage delivery destination; and a luggage pushing process in which the luggage placement unit is pushed out of the luggage placement unit by operating the luggage enclosure advance / retract movement unit to move the luggage enclosure from the standard position to the protruding position; an autonomous transport robot configured to be capable of loading processes including a luggage placement height adjustment process in which the luggage placement unit is moved to the take-out position and the lifting unit is operated to adjust the height position of the luggage placement unit in accordance with the height position of the collection destination; and a luggage retraction process in which, with the luggage enclosure unit positioned at the protruding position, the luggage at the collection destination is enclosed by the luggage enclosure unit, and the luggage enclosure advance / retreat movement unit is operated to move the luggage enclosure unit from the protruding position to the standard position, thereby retracting the luggage at the collection destination into the luggage placement unit.

2. The unloading process by the control unit is The autonomous mobile transport robot of claim 1, further comprising a luggage enclosure lifting process in which the luggage enclosure is moved to the protruding position and the lifting section is actuated to raise the luggage enclosure advance / retreat moving section, thereby lifting the luggage enclosure above the luggage.

3. The loading process by the control unit is The autonomous transport robot of claim 1, further comprising a luggage enclosure setting process for moving the luggage enclosure to the protruding position above the luggage at the destination and then actuating the lifting unit to lower the luggage enclosure advance / retreat moving unit, thereby placing the luggage at the destination in the internal space of the luggage enclosure.

4. 2. The autonomous transport robot according to claim 1, wherein the baggage enclosing portion is a frame capable of going around an outer periphery of the baggage.

5. The autonomous transport robot according to any one of claims 1 to 4, A luggage transport system characterized in that the control unit of the autonomously mobile transport robot is configured to be able to execute a loading process in which the luggage loaded on the luggage rack is stored in a luggage compartment of the autonomously mobile transport robot, and an unloading process in which the luggage loaded on the luggage rack is transported from the luggage compartment to a destination.

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