Transport robot and baggage transport system

Abstract

In order to provide a transport robot 20 that can carry a package deposited in a home delivery box to a destination and place the package there, the transport robot 20 comprises: a travel unit that travels between the home delivery box and the destination of the package stored in the home delivery box; a loading unit for loading the package; and a drive unit that moves the loading unit to a first position to hold the package while the travel unit is traveling, a second position to receive the package from the home delivery box, and a third position to unload the package at the destination.

Description

[Technical field]

[0001] The present invention relates to a technique for transporting parcels stored in a parcel locker. [Background technology]

[0002] There is a technique for transporting deliveries using a transport robot (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-108219 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when a delivery box is installed in an apartment building, a delivery company may leave a package in the delivery box. When a package is left in the delivery box, the recipient must go to the delivery box to pick up the package and carry it to their home. However, if the package left in the delivery box is delivered to a destination such as the front door of the home, this time-consuming process can be eliminated, which is convenient.

[0005] An object of the present invention is to provide a transport robot that can transport parcels deposited in a delivery box to their destination. [Means for solving the problem]

[0006] One aspect of the present invention provides a transport robot comprising a loading section for placing a package, a running section for traveling to a destination of the package, and a drive section for moving the loading section to a first position for holding the package while the running section travels, a second position for receiving the package from a delivery box, and a third position for unloading the package at the destination.

[0007] The loading section may hold the luggage substantially horizontally in the first position.

[0008] The loading section may protrude toward the delivery box at the second position to receive the parcel.

[0009] The loading section may be configured to unload the cargo at an incline with respect to a surface on which the traveling section contacts the ground when in the third position.

[0010] The loading section may further include a belt conveyor, and may rotate the belt conveyor at the third position to unload the cargo.

[0011] The driving unit may have a rail extending in the fore-and-aft direction of the running unit, and a movable unit connected to the loading unit and moving along the rail, and may move the loading unit to the first position by moving the movable unit toward one end of the rail on the front side in the fore-and-aft direction, move the loading unit to the third position by moving the movable unit toward the other end of the rail on the rear side in the fore-and-aft direction, and move the loading unit to the second position by moving the movable unit between the one end and the other end.

[0012] The drive unit may have a support member that rotates around an axis as the drive unit moves, and the support member may support the loading unit so that, in the third position, the bottom surface of the loading unit is inclined with respect to the surface on which the running unit contacts the ground, and the rear end of the bottom surface is in a position in which it is in contact with the surface.

[0013] The support member may include a first support member that supports the front end of the loading section and moves along the rail, and a second support member that rotatably supports the rear side end of the loading section.

[0014] The rail may be inclined with respect to the surface on which the traveling portion contacts the ground so that the other end is closer to the surface than the one end.

[0015] The running unit may have front wheels and rear wheels, the rear wheels having a smaller outer diameter than the front wheels and being sized so as not to come into contact with the loading unit as it moves between the first position, the second position, and the third position.

[0016] The delivery box may further include a mechanism for removing the package from the delivery box.

[0017] Another aspect of the present invention provides a luggage transport system comprising a transport robot and a delivery box, the delivery box storing luggage, the transport robot having a loading section for placing the luggage received from the delivery box, a running section for running to the destination of the luggage, and a drive section for moving the loading section to a first position for holding the luggage while the running section runs, a second position for receiving the luggage from the delivery box, and a third position for unloading the luggage at the destination.

[0018] The delivery box has a mechanism for sending the parcel to the transport robot, and the loading unit may further have a belt conveyor, and may rotate the belt conveyor at the second position to receive the parcel sent out from the delivery box. Effect of the Invention

[0019] According to the present invention, a transport robot can be provided that can transport parcels left in a delivery box to their destination. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram illustrating an example of a luggage transport system according to an embodiment. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a diagram illustrating an example of a configuration of a transport robot. [Figure 4] FIG. 2 is a front perspective view showing an example of an internal configuration of a transport robot. [Diagram 5] FIG. 2 is a diagram showing an example of a first mode of a transport robot. [Figure 6]FIG. 13 is a diagram showing an example of a second mode of the transport robot. [Figure 7] FIG. 13 is a diagram showing an example of a third mode of the transport robot. [Figure 8] FIG. 1 is a diagram illustrating an example of the operation of the luggage transport system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that in the drawings, the actual dimensions, shapes, and ratios thereof may differ from those of the drawings in order to facilitate understanding of the invention.

[0022] FIG. 1 is a diagram showing an example of a luggage transport system 1 according to an embodiment. The luggage transport system 1 provides an automatic transport service in which a luggage deposited in a delivery box 10 is transported to a destination by a transport robot 20 and left there. "Leaving" here means that delivery is completed by transporting the luggage to a predetermined location such as a front door and leaving it there. The luggage transport system 1 includes the delivery box 10, the transport robot 20, a server device 30, and a user terminal 40. These devices are connected via a network 50. The network 50 includes, for example, a wireless LAN (Local Area Network) and the Internet.

[0023] The delivery box 10 is installed, for example, near the entrance of an apartment building. However, the installation location of the delivery box 10 is not limited to an apartment building, and it may be near the entrance of an office building, or may be an outdoor location in front of a store such as a convenience store or shopping center. The delivery box 10 has multiple storage sections for storing packages and a package removal opening 101. The removal opening 101 is an opening for delivering packages stored in the delivery box 10 to the transport robot 20.

[0024] The transport robot 20 is an autonomous robot that places and delivers packages stored in the delivery box 10 at their destination. The transport robot 20 has a first form in which it holds the package while traveling, a second form in which it receives the package from the delivery box 10, and a third form in which it drops the package off at its destination.

[0025] The server device 30 is operated and managed by, for example, a business operator that provides an automatic delivery service. The server device 30 remotely controls the operations of the delivery box 10 and the delivery robot 20.

[0026] The user terminal 40 is used by the recipient to input and output various information. The user terminal 40 includes, for example, a smartphone, a mobile phone, a tablet terminal, a wearable terminal, and a personal computer.

[0027] 2 is a rear perspective view of the transfer robot 20. In the following description, the Y-axis direction in the figure is defined as the front, the -Y-axis direction is defined as the rear, the X-axis direction is defined as the right, the -X-axis direction is defined as the left, the Z-axis direction is defined as the top, and the -Z-axis direction is defined as the bottom. The X-axis, Y-axis, and Z-axis directions are mutually orthogonal. The -X-axis, -Y-axis, and -Z-axis directions are opposite to the X-axis, Y-axis, and Z-axis directions, respectively.

[0028] The transfer robot 20 has a housing 201. The housing 201 covers the front, rear, left, right, and top of the transfer robot 20. The bottom of the housing 201 is open. An opening 202 is formed in the rear end surface of the housing 201. A shutter 203 that opens and closes the opening 202 is provided in the opening 202.

[0029] 3 is a diagram showing an example of the configuration of the transport robot 20. The transport robot 20 includes a control unit 21, a storage unit 22, a communication unit 23, a power supply unit 24, a sensor unit 25, a traveling unit 26, a loading unit 27, and a drive unit 28. The individual units of the transport robot 20 are connected via a bus and a power line.

[0030] The control unit 21 controls each part of the transport robot 20. The control unit 21 includes a processor such as a CPU. The functions of the control unit 21 are realized, for example, by the processor executing a program stored in the storage unit 22. The storage unit 22 stores a program for realizing the functions of the control unit 21 and various data including map data. The map data indicates a three-dimensional map of the apartment house created in advance using LiDAR (Light Detection and Ranging) technology. The storage unit 22 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The communication unit 23 wirelessly communicates with the server device 30 connected via the network 50 and receives various instructions from the server device 30. The communication unit 23 includes, for example, a wireless LAN adapter. The power supply unit 24 supplies power to each part of the transport robot 20. The power supply unit 24 includes, for example, a battery and a power supply circuit.

[0031] The sensor unit 25 includes various sensors used to control the transport robot 20. The sensor unit 25 includes, for example, a LiDAR sensor, a camera, and a luggage sensor. The LiDAR sensor is used, for example, to recognize the space around the transport robot 20 and to measure the current position of the transport robot 20. The camera is used, for example, to photograph the surroundings of the transport robot 20 and measure the distance to an object based on the photographed image. The luggage sensor detects the loading of luggage on the loading unit 27.

[0032] The traveling unit 26 moves from the current position to the destination under the control of the control unit 21. This current position is measured, for example, using a LiDAR sensor included in the sensor unit 25. The destination is instructed from the server device 30. The destination includes, for example, the delivery box 10 and the destination of the package. The loading unit 27 loads the package. Under the control of the control unit 21, the loading unit 27 moves to a first position where the package is held while the traveling unit 26 is traveling, a second position where the package is received from the delivery box 10, and a third position where the package is unloaded at the destination. The drive unit 28 moves the loading unit 27 to any one of the first position, the second position, and the third position.

[0033] FIG. 4 is a front perspective view showing an example of the internal configuration of the transport robot 20. FIG. 4 shows a state in which the housing 201 is removed. Note that in FIG. 4, the control unit 21, the storage unit 22, the communication unit 23, the power supply unit 24, and the sensor unit 25 are omitted from illustration. The traveling unit 26 is configured in an endless track system. The traveling unit 26 has a base 261, a pair of front wheels 262, a pair of rear wheels 263, a motor 264, and a belt 265. The pair of front wheels 262 are rotatably provided at both left and right ends in front of the base 261. The pair of rear wheels 263 are rotatably provided at both left and right ends in rear of the base 261. The rear wheels 263 have a size that does not contact the loading unit 27 that moves between the first position, the second position, and the third position. The outer diameter of the rear wheels 263 is smaller than the outer diameter of the front wheels 262. The motor 264 rotates the front wheels 262. The motor 264 may rotate both the front wheel 262 and the rear wheel 263. The belt 265 is an endless belt, and is stretched around the right front wheel 262 and the right rear wheel 263, and the left front wheel 262 and the left rear wheel 263. As described above, the outer diameter of the rear wheel 263 is smaller than that of the front wheel 262, so that the upper surface of the belt 265 is inclined with respect to the running surface G on which the front wheel 262 and the rear wheel 263 contact when viewed from the side. The running surface G is, for example, the road surface of a passage in an apartment building. When the front wheel 262 rotates, the belt 265 rotates in accordance with the rotation. The rear wheel 263 also rotates in accordance with the rotation of the belt 265.

[0034] The aforementioned front-rear direction is the arrangement direction of the front wheel 262 and the rear wheel 263 on the same side. The aforementioned left-right direction is the arrangement direction of the pair of front wheels 262 or rear wheels 263. The aforementioned height direction is the direction perpendicular to the front-rear direction and the left-right direction.

[0035] The loading section 27 has a frame 271 and a belt conveyor 272. The frame 271 has a generally rectangular parallelepiped shape that is open at the rear. The frame 271 is composed of a front surface, a top surface, a left side surface, a right side surface, and a bottom surface. An opening 273 is formed in the rear end surface of the frame 271. The belt conveyor 272 is provided on the bottom surface of the frame 271. The belt conveyor 272 rotates to move luggage placed on the belt conveyor 272 in the front-rear direction.

[0036] The driving unit 28 has a ball screw 281, a motor 282, a two-shaft guide rail 283, a movable unit 284, a connecting shaft 285, and a pair of arms 286. The ball screw 281 is provided in the center of the base 261 such that the screw axis direction is in the front-rear direction. The motor 282 rotates the ball screw 281. The guide rail 283 extends in the front-rear direction and guides the movable unit 284. The guide rail 283 is inclined with respect to the running surface G such that the other end on the rear side is closer to the running surface G than the one end on the front side. The movable unit 284 moves in the front-rear direction along the guide rail 283 as the ball screw 281 rotates.

[0037] The connecting shaft 285 supports the front end of the loading unit 27 and connects the movable unit 284 and the loading unit 27. The connecting shaft 285 has a rod shape. One end of the connecting shaft 285 is fixed to the upper center of the front surface of the loading unit 27. The other end of the connecting shaft 285 is supported by the movable unit 284 so as to be rotatable around the rotation shaft 287. The connecting shaft 285 moves in the front-rear direction with the movement of the movable unit 284. Also, the connecting shaft 285 rotates clockwise in the figure around the rotation shaft 287 with the movement of the loading unit 27 rearward. Due to the rotation of the connecting shaft 285, the loading unit 27 assumes a posture in which the bottom surface is inclined with respect to the running surface G. The connecting shaft 285 is an example of a "first support member" according to the present invention.

[0038] The pair of arms 286 rotatably support the left and right end portions on the rear side of the loading unit 27. The arms 286 have a rod shape. One end of the arm 286 is supported by the rear side end portion of the base 261 so as to be rotatable about a rotation shaft 288. The other end of the arm 286 supports the upper rear corner portions of the left and right side surfaces of the loading unit 27 so as to be rotatable about a rotation shaft 289. The arm 286 rotates about the rotation shaft 288 as the loading unit 27 moves. The arm 286 is an example of a "second support member" according to the present invention. The loading unit 27 has an upper end supported by the connecting shaft 285 and the arm 286, but a lower end is a free end.

[0039] FIG. 5 is a diagram showing an example of the first mode of the transport robot 20. Although only the configuration of the left side of the transport robot 20 is shown in FIGS. 5 to 8, the right side has the same configuration. In the first mode, the movable part 284 is located at one end on the front side of the guide rail 283. When the movable part 284 is located at one end of the guide rail 283, the loading part 27 is at a first position on the base 261. In the first mode, the movable part 284 does not necessarily have to be located at one end on the front side of the guide rail 283, but may be located in the direction of one end on the front side. When in the first position, the loading part 27 is supported so that its bottom surface is approximately parallel to the running surface G due to the length and angle of the connecting shaft 285 and the arm 286. As a result, in the first position, the loading part 27 can hold the load approximately horizontally. Note that "approximately parallel" here does not have to be completely parallel. For example, the loading part 27 may be inclined with respect to the running surface G to an extent that the loading part 27 can hold the load.

[0040] FIG. 6 is a diagram showing an example of the second form of the transport robot 20. When the transport robot 20 changes from the first form to the second form, the motor 282 rotates the ball screw 281 to move the movable part 284 along the guide rail 283 to a position spaced rearward from one end of the front side by a distance L1. Since the movable part 284 and the loading part 27 are connected by a connecting shaft 285, when the movable part 284 moves, the loading part 27 also moves rearward by the distance L1. As a result, the loading part 27 reaches a second position protruding rearward from the base 261. The term "protruding" here refers to being located rearward from the first position, for example, on the delivery box 10 side, and does not necessarily need to protrude rearward from the base 261. In other words, the "protruding" only needs to be located rearward from the first position, and may or may not protrude rearward from the base 261. As described above, the guide rail 283 is inclined with respect to the traveling surface G so that the other end on the rear side is closer to the traveling surface G than the one end on the front side, so that the second position is lower and rearward than the first position.

[0041] When the loading unit 27 moves to the second position, if the connecting shaft 285 when the loading unit 27 is in the first position is the reference axis R1, the arm 286 rotates around the rotation shaft 288 by an angle θ1 clockwise from the reference axis R1 in the figure. The rotation of the arm 286 causes the bottom surface of the loading unit 27 to protrude backward from the arm 286. Here, the outlet 101 of the delivery box 10 is provided at a position facing the opening 273 of the loading unit 27 when the transport robot 20 moves in front of the outlet 101 and assumes the second form. Therefore, when the transport robot 20 moves in front of the outlet 101 and assumes the second form, the loading unit 27 protrudes toward the outlet 101. At this time, the bottom surface of the loading unit 27 may contact the bottom surface of the outlet 101, or a part of the bottom surface of the loading unit 27 may be inserted onto the bottom surface of the outlet 101. Alternatively, the bottom surface of the loading unit 27 may approach the bottom surface of the outlet 101. Here, "approaching" refers to approaching a position where the baggage can be received. There may be a gap between the bottom surface of the loading section 27 and the bottom surface of the outlet 101.

[0042] Furthermore, when in the second position, the loading unit 27 is supported so that its bottom surface is approximately parallel to the traveling surface G due to the length and angle of the connecting shaft 285 and the arm 286. This allows the loading unit 27 to hold the load approximately horizontally in the second position. When the transport robot 20 changes from the second form to the first form, the drive unit 28 and the loading unit 27 move in the opposite direction to when the transport robot 20 changes from the first form to the second form.

[0043] FIG. 7 is a diagram showing an example of the third form of the transport robot 20. When the transport robot 20 changes from the first form to the third form, the motor 282 rotates the ball screw 281 to move the movable part 284 to the other end on the rear side along the guide rail 283. In the third form, the movable part 284 does not necessarily have to be located at the other end on the rear side of the guide rail 283, but may be located toward the other end on the rear side. Since the movable part 284 and the loading part 27 are connected by the connecting shaft 285, when the movable part 284 moves, the loading part 27 also moves rearward. As a result, the loading part 27 reaches a third position that protrudes further rearward from the base 261 than the second position. As described above, the guide rail 283 is inclined with respect to the running surface G so that the other end on the rear side approaches the running surface G from the one end on the front side, and therefore the third position is located rearward and lower than the first position and the second position.

[0044] When the loading unit 27 moves to the third position, the arm 286 rotates around the rotation axis 288 by an angle θ2 in the clockwise direction in the figure from the reference axis R1. This angle θ2 is greater than the angle θ1. With this rotation, the connecting shaft 285 rotates around the rotation axis 287 by an angle θ3 in the clockwise direction in the figure with respect to the reference axis R2, assuming that the arm 286 when the loading unit 27 is in the first position is the reference axis R2. When the loading unit 27 is in the third position, the bottom surface of the loading unit 27 is inclined with respect to the running surface G due to the length and angle of the connecting shaft 285 and the arm 286, and the loading unit 27 is supported so that the rear end of the bottom surface is in contact with the running surface G. As a result, in the third position, the loading unit 27 can incline to unload the load. When the transport robot 20 changes from the third form to the first form, the drive unit 28 and the loading unit 27 move in the opposite direction to when the transport robot 20 changes from the first form to the third form.

[0045] 8 is a diagram showing an example of the operation of the luggage transport system 1. Here, it is assumed that a luggage has been deposited in the delivery box 10 by a delivery company prior to this operation. In step S101, when a recipient of the luggage operates the user terminal 40 to request the transport robot 20 to transport the luggage, the user terminal 40 transmits a luggage transport request to the server device 30. In step S102, upon receiving this transport request, the server device 30 transmits an instruction to transport the luggage to the transport robot 20. This transport instruction includes position information of the take-out port 101 where the luggage is delivered and position information of the delivery destination of the luggage.

[0046] In step S103, the transport robot 20 moves to the front of the outlet 101 of the delivery box 10 in accordance with the transport instruction. Specifically, the control unit 21 controls the traveling unit 26 to travel from the current position to the outlet 101 of the delivery box 10 based on the map data stored in the memory unit 22 and the position information of the outlet 101. When the transport robot 20 moves to the front of the outlet 101, the transport robot 20 opens the shutter 203 in step S104. When the shutter 203 opens, the transport robot 20 changes to the second form in step S105. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, and moves the loading unit 27 to the second position. As shown in FIG. 6, in the second position, the loading unit 27 protrudes toward the outlet 101 side. At this time, the position of the transport robot 20 may be fine-tuned based on an image of the rear of the transport robot 20 captured by the camera of the sensor unit 25 so that the bottom surface of the loading unit 27 comes into contact with the bottom surface of the outlet 101.

[0047] In the second form, in step S106, the transport robot 20 drives the belt conveyor 272 to receive the parcel from the outlet 101. Here, the delivery box 10 is provided with a sending mechanism, which sends the parcel from the outlet 101 to the loading section 27. The sending mechanism may be, for example, a belt conveyor that moves the parcel from the back side of the outlet 101 to the front side, or a mechanism that uses a rod-shaped pushing member to push the parcel from the back side of the outlet 101 to the front side. Alternatively, the mechanism may be a mechanism that inclines the bottom surface of the storage section that communicates with the outlet 101 so that the back side is higher than the front side in order to slide the parcel from the back side of the outlet 101 to the front side. The control unit 21 rotates the belt conveyor 272 counterclockwise in FIG. 6. As a result, the parcel sent from the outlet 101 moves forward by the belt conveyor 272 and is stored in the loading section 27. When the luggage is accommodated in the loading section 27, the luggage sensor of the sensor unit 25 detects that the luggage has been loaded onto the loading section 27. This indicates that the luggage has been loaded onto the loading section 27.

[0048] When the loading of the packages is completed, the transport robot 20 changes to the first form in step S107. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, and moves the loading unit 27 to the first position. As shown in FIG. 5, at the first position, the loading unit 27 is located on the base 261. When the transport robot 20 is in the first form, in step S108, the transport robot 20 moves to the destination. Specifically, the control unit 21 controls the traveling unit 26 to travel from the current position to the destination based on the map data stored in the memory unit 22 and the position information of the delivery destination. This destination is, for example, in front of the entrance of the recipient's house in an apartment building.

[0049] When the transport robot 20 arrives at the destination, in step S109, the transport robot 20 changes to the third form. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, and moves the loading unit 27 to the third position. As shown in FIG. 7, in the third position, the loading unit 27 protrudes rearward from the base 261, and its bottom surface is inclined with respect to the running surface G, and the rear end of the bottom surface is in a position in contact with the running surface G. When the transport robot 20 reaches the third form, in step S110, the transport robot 20 drives the belt conveyor 272 to unload the luggage at the destination. Specifically, the control unit 21 rotates the belt conveyor 272 clockwise in FIG. 6. As a result, the luggage loaded on the loading unit 27 moves rearward and is unloaded onto the running surface G of the destination. When the luggage is unloaded onto the running surface G of the destination, the placement and delivery to the destination is completed.

[0050] According to the above-described embodiment, it is possible to provide a transport robot 20 that can transport and leave a package deposited in the delivery box 10 at a destination. The transport robot 20 can transport and leave a package deposited in the delivery box 10 at a destination without human intervention. This allows the recipient to receive the package without meeting the recipient in person, without having to go to the delivery box 10 to pick it up.

[0051] In particular, in large apartment complexes, if a delivery company visits each house to deliver packages, it takes a lot of time for delivery. For example, if a delivery company deposits all packages to be delivered to an apartment complex in the delivery box 10 and the transport robot 20 leaves and delivers these packages in front of each house, the time required for the delivery company to make deliveries can be reduced. Also, in mountainous areas, the location where the delivery company delivers packages may be far from a home. For example, if a delivery company deposits packages to be delivered in the delivery box 10 and the transport robot 20 leaves and delivers the packages deposited in the delivery box 10 in front of a home, the recipient can be saved from the trouble of carrying the packages from the location where the delivery company delivers them to the home.

[0052] Furthermore, since the loading section 27 holds the luggage substantially horizontally in the first position, it is possible to prevent the luggage from falling during travel. Furthermore, since the loading section 27 protrudes toward the delivery box 10 in the second position, it is easy to receive the luggage from the delivery box 10. Furthermore, since the loading section 27 is inclined with respect to the running surface G in the third position and the luggage moves rearward by the belt conveyor 272, it is easy to unload the luggage on the running surface G of the destination. Furthermore, since the outer diameter of the rear wheels 263 is smaller than the outer diameter of the front wheels 262, it is possible to prevent the loading section 27 from contacting the rear wheels 263 when the loading section 27 moves between the first position, the second position, and the third position.

[0053] Variations The above-described embodiment is an example of the present invention, and the present invention is not limited to this embodiment. The above-described embodiment may be modified as in the following modified examples. In addition, two or more of the following modified examples may be implemented in combination.

[0054] In the above-described embodiment, the mechanism for receiving packages from the delivery box 10 is not limited to the belt conveyor 272. The transport robot 20 may be equipped with a take-out mechanism for taking out packages from the take-out opening 101. For example, the transport robot 20 may have an arm for taking out packages from the take-out opening 101. Alternatively, the transport robot 20 may have a suction device for sucking in packages and take them out by sucking them up with the suction device. According to this modification, the transport robot 20 can receive packages from the delivery box 10 even if the delivery box 10 does not have a mechanism for sending out packages.

[0055] In the above-described embodiment, the outlet 101 of the delivery box 10 may be provided at a higher position than the transport robot 20. Therefore, the transport robot 20 may have a lifting mechanism. The transport robot 20 moves upward to the height of the outlet 101 by the lifting mechanism, and then picks up the package, and moves downward when the receipt of the package is completed. According to this modification, even if the outlet 101 of the delivery box 10 is provided at a higher position than the transport robot 20, the transport robot 20 can pick up the package from the outlet 101.

[0056] In the above-described embodiment, the recipient may receive the package directly from the transport robot 20 instead of leaving it at the delivery location. In this modification, the above-described transport request and transport instruction include a receiving method selected from leaving it at the delivery location and handing it over. For example, if the recipient wants to receive the package directly from the transport robot 20, the transport request and transport instruction include a receiving method indicating handing over. If the transport instruction includes a receiving method indicating handing over, when the transport robot 20 arrives at the delivery destination, it does not change to the third form and waits until the recipient removes the package from the loading section 27. When the recipient removes the package from the loading section 27, the transport of the package is completed. According to this modification, the recipient can receive the package directly from the transport robot 20.

[0057] In the above-mentioned embodiment, the structure of the transport robot 20 shown in Figs. 4 to 7 is an example, and is not limited thereto. For example, the traveling unit 26 does not necessarily have to be configured as a caterpillar type, and may travel on the front wheels 262 and the rear wheels 263 without providing the belt 265. The number of wheels is not limited, and may be, for example, six wheels. In short, the traveling unit 26 may have any structure as long as it has a function of traveling. Furthermore, the driving unit 28 may use a linear guideway, a linear actuator, or a linear motor instead of the ball screw 281. The driving unit 28 may have any structure as long as it moves the loading unit 27 to the first position, the second position, and the third position.

[0058] In the above-described embodiment, at least a part of the functions of the control unit 21 may be realized by a circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array).

[0059] In the above-described embodiment, the configuration of the luggage transport system 1 shown in FIG. 1 is an example, and is not limited thereto. The functions of one device may be distributed among a plurality of devices, or the functions of a plurality of devices may be collectively carried by one device. For example, the server device 30 does not necessarily have to be provided, and the transport robot 20 may have the functions of the server device 30.

[0060] In the above-described embodiment, the operation of the luggage transport system 1 is not limited to the above-described example. The order of the processing procedures of the luggage transport system 1 may be changed as long as there is no contradiction. In addition, some of the processing procedures of the luggage transport system 1 may be omitted.

[0061] Another embodiment of the present invention may provide a method having processing steps performed in the luggage transport system 1 or the transport robot 20. Furthermore, yet another embodiment of the present invention may provide a program executed in the transport robot 20. This program may be provided by being stored in a computer-readable recording medium, or may be provided by downloading via the Internet or the like. [Explanation of symbols]

[0062] 1: parcel transport system, 10: delivery box, 20: transport robot, 26: running unit, 27: loading unit, 28: drive unit, 30: server device, 40: user terminal, 261: base, 262: front wheel, 263: rear wheel, 264: motor, 265: belt, 271: frame, 272: belt conveyor, 281: ball screw, 282: motor, 283: guide rail, 284: movable unit, 285: connecting shaft, 286: arm

Claims

1. A loading section for loading luggage; A traveling section that travels to a destination of the luggage; a drive unit that moves the loading unit to a first position for holding the package while the traveling unit is traveling, a second position for receiving the package from a delivery box, and a third position for unloading the package at the destination; A transport robot equipped with the above components.

2. The loading section holds the luggage substantially horizontally in the first position. The transport robot according to claim 1 .

3. The loading section protrudes toward the delivery box at the second position to receive the package. The transport robot according to claim 1 or 2.

4. The loading section, in the third position, is inclined with respect to a surface on which the traveling section is grounded to unload the luggage. The transport robot according to claim 1 .

5. The loading section further includes a belt conveyor, and rotates the belt conveyor at the third position to unload the cargo. The transport robot according to claim 4.

6. The drive unit has a rail extending in the front-rear direction of the travel unit, and a movable unit connected to the loading unit and moving along the rail, and moves the loading unit to the first position by moving the movable unit toward one end of the rail located on the front side in the front-rear direction, moves the loading unit to the third position by moving the movable unit toward the other end of the rail located on the rear side in the front-rear direction, and moves the loading unit to the second position by moving the movable unit between the one end and the other end. The transport robot according to claim 1 .

7. the driving unit has a support member that rotates about an axis in association with the movement of the driving unit, The support member supports the loading section in the third position such that a bottom surface of the loading section is inclined with respect to a surface on which the traveling section contacts the ground and the rear end of the bottom surface is in contact with the surface. The transport robot according to claim 6.

8. The support members include a first support member that supports the front end of the loading section and moves along the rail, and a second support member that rotatably supports the rear end of the loading section. The transport robot according to claim 7.

9. The rail is inclined with respect to the surface on which the running part contacts the ground so that the other end is closer to the surface than the one end. The transport robot according to claim 6 .

10. The running unit has front wheels and rear wheels, The rear wheels have an outer diameter smaller than that of the front wheels and have a size such that they do not come into contact with the loading unit that moves between the first position, the second position, and the third position. The transport robot according to claim 1 .

11. The delivery box further includes a mechanism for removing the package from the delivery box. The transport robot according to claim 1 .

12. The system includes a transport robot and a delivery box. The delivery box stores packages, The transport robot includes: A loading unit for loading the parcel received from the delivery box; A traveling section that travels to a destination of the luggage; and a drive unit that moves the loading unit to a first position for holding the package while the traveling unit is traveling, a second position for receiving the package from the delivery box, and a third position for unloading the package at the destination. Luggage handling system.

13. The delivery box has a mechanism for sending the package to the transport robot, The loading unit further includes a belt conveyor, and rotates the belt conveyor at the second position to receive the parcel sent out from the delivery box.

13. The luggage transport system of claim 12.

Images