Unmanned transport robot and management device

Abstract

An unmanned delivery robot (1) according to the present disclosure delivers a package to a user. The unmanned delivery robot (1) comprises an abnormality determination unit (12) that, on the basis of monitoring information indicating the occurrence of a security abnormality related to a package, determines the presence / absence of a security abnormality related to the package, and if determination was made that there is an abnormality, performs notification of the occurrence of the abnormality.

Description

[Technical Field]

[0001] The present disclosure relates to an unmanned transport robot that transports luggage, a management device, a transport system, a monitoring method, and a program. [Background technology]

[0002] A service that uses an unmanned transport robot to deliver luggage to users is attracting attention. Patent Document 1 discloses an autonomous land vehicle that retrieves luggage transported by truck and delivers the retrieved luggage to a user. The autonomous land vehicle described in Patent Document 1 is an example of an unmanned transport robot, and a locking mechanism is provided in a storage compartment where luggage is loaded. A user can unlock the locking mechanism and retrieve the luggage stored in the storage compartment by entering an access code using an input interface such as a keypad provided on the autonomous land vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6773885 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the storage compartment is locked to prevent anyone other than the user from taking out the luggage. However, there are cases where locking alone is not enough as a security measure.

[0005] The present disclosure has been made in view of the above, and aims to provide an unmanned transport robot that can enhance security. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, an unmanned transport robot according to the present disclosure is an unmanned transport robot that transports luggage to a user, and determines whether or not there is a security abnormality related to the luggage based on monitoring information indicating the occurrence state of a security abnormality related to the luggage, and notifies the user of the occurrence of the abnormality if it is determined that there is an abnormality. Department, Equipped with The abnormality determination unit determines that an unauthorized opening of a door of a holding unit that holds luggage is an abnormality, and determines that an abnormality exists if the door is opened at a time other than a predetermined time after it is determined that authentication is successful. do. [Effects of the Invention]

[0007] The unmanned transport robot according to the present disclosure has the effect of enhancing security. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a transport system according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing an example of a schematic external appearance of an unmanned transport robot according to a first embodiment; [Figure 3] 1 is a flowchart showing an example of a first abnormality determination process according to the first embodiment. [Figure 4] 10 is a flowchart showing an example of a second abnormality determination process according to the first embodiment. [Figure 5] 10 is a flowchart showing an example of a third abnormality determination process according to the first embodiment. [Figure 6] 10 is a flowchart showing an example of a fourth abnormality determination process according to the first embodiment. [Figure 7] FIG. 10 is a diagram showing a configuration example of a transport system according to a first embodiment in which an abnormality determination unit is provided in a management device; [Figure 8] FIG. 1 is a diagram showing an example of the configuration of a processing circuit that realizes the control device according to the first embodiment; [Figure 9] FIG. 10 is a diagram illustrating a configuration example of a transport system according to a second embodiment. [Figure 10] FIG. 10 is a sequence diagram illustrating an example of a process for providing sensor information according to the second embodiment. [Figure 11] FIG. 10 is a diagram illustrating a configuration example of a transport system according to a third embodiment. [Figure 12]10 is a flowchart showing an example of an abnormality determination process according to the third embodiment. [Figure 13] FIG. 10 is a diagram illustrating a configuration example of a transport system according to a fourth embodiment. [Figure 14] 10 is a flowchart showing an example of an abnormality determination process according to the fourth embodiment. [Figure 15] FIG. 10 is a diagram showing an example of a working mechanism according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An unmanned transport robot, a management device, a transport system, a monitoring method, and a program according to embodiments will be described in detail below with reference to the accompanying drawings.

[0010] Embodiment 1 FIG. 1 is a diagram illustrating a configuration example of a transport system according to a first embodiment. The transport system 100 of this embodiment includes an unmanned transport robot 1 and a management device 5 that manages the unmanned transport robot 1. The unmanned transport robot 1 is capable of transporting luggage to a user. The unmanned transport robot 1 may be a vehicle that travels on land, a drone (unmanned aerial vehicle), or the like. The unmanned transport robot 1 may be any robot capable of autonomous travel as long as it is capable of moving unmanned, or may be a robot that is capable of moving unmanned under the control of the management device 5 or another device (not shown). The transport system 100 delivers luggage to a user using the unmanned transport robot 1 based on a request from a sender who is the sender of the luggage. The sender may be a business operator that arranges for the luggage to be sent to the user to whom the luggage is addressed, or in response to a request from a user other than the user to whom the luggage is addressed. Note that while FIG. 1 illustrates one unmanned transport robot 1, the number of unmanned transport robots 1 is not limited to the example illustrated in FIG. 1 and may be one or more.

[0011] The user terminal 6 is a terminal device that can be operated by the user of the package destination, such as, but not limited to, a smartphone, tablet, smartwatch, personal computer, etc. The user terminal 6 includes a transmitter / receiver 61 that communicates with other devices, a display 62 that can display various information, images, etc., and an input receiver 63 that receives input from the user.

[0012] The sender device 7 is a device managed by the sender, and requests the transport system 100 to transport the package to the user who is the destination of the package. For example, the sender device 7 transmits transport request information to the management device 5, including the address of the user who is the destination of the package, the location where the package is to be loaded, and information indicating the contents of the package. The sender device 7 performs a process to arrange for the package to be sent to the user who is the destination of the package, for example, in response to a request from the user who is the destination of the package or a user other than the destination user, but this process may be performed in any manner, and therefore a detailed description will be omitted. Note that if the sender and the business operator who manages the transport system 100 are the same, the management device 5 may also have the function of the sender device 7.

[0013] In this embodiment, the automated guided robot 1 determines whether a security abnormality has occurred, and if a security abnormality has occurred, notifies the management device 5 of that fact. When the management device 5 is notified of the occurrence of an abnormality by the automated guided robot 1, it issues an alarm. This allows the automated guided robot 1 to strengthen its security. Details of security abnormalities will be described later, but examples of security abnormalities include unauthorized access to the automated guided robot 1 and removal of the automated guided robot 1. Furthermore, when the management device 5 is notified of the occurrence of an abnormality by the automated guided robot 1, it may notify at least one of the user terminal 6 and the sender device 7 of the abnormality. Alternatively, when a security abnormality has occurred, the automated guided robot 1 may also notify the user terminal 6 and the sender device 7 of the abnormality.

[0014] As shown in FIG. 1 , the management device 5 includes a transceiver unit 51, an alarm issuing unit 52, an operation management unit 53, and an information storage unit 54. The transceiver unit 51 communicates with other devices. For example, the transceiver unit 51 outputs transport request information received from the sender device 7 to the operation management unit 53. Furthermore, when the transceiver unit 51 receives information to be transmitted to the automated guided robot 1 from the operation management unit 53, it transmits the received information to the automated guided robot 1. Furthermore, when the transceiver unit 51 receives information from the automated guided robot 1, it outputs the received information to the operation management unit 53.

[0015] The operation management unit 53 manages the operation of the automated guided robot 1. For example, when the operation management unit 53 receives transport request information from the transmission / reception unit 51, it determines the automated guided robot 1 that will transport the cargo corresponding to the transport request information based on operation information indicating an operation plan for each automated guided robot 1. That is, it assigns the automated guided robot 1 to the transport request corresponding to the transport request information, and updates the operation information for the determined automated guided robot 1 based on the transport request information. As will be described later, the operation information is stored in the information storage unit 54 and includes, for example, an operation schedule and a current location for each automated guided robot 1. The operation schedule includes, for example, the scheduled start time of transport, the loading location of the cargo, the destination of the cargo, and the contents of the cargo, but the operation schedule may also include the contents of the cargo to be transported. The operation schedule may be any information that allows the user to determine from where to where and when the cargo will be transported, and the specific items that make up the operation schedule are not limited to the example described above.

[0016] Furthermore, the operation management unit 53 generates control information for instructing the movement of the unmanned transport robot 1 so that the unmanned transport robot 1 can arrive at the loading location of the luggage at the transport start time based on the operation information stored in the information storage unit 54, and transmits the generated control information to the unmanned transport robot 1 via the transmitting / receiving unit 51. Alternatively, operation information corresponding to the unmanned transport robot 1 may be transmitted to the unmanned transport robot 1, and the unmanned transport robot 1 may move based on the operation information. The method by which the management device 5 manages the operation of the unmanned transport robot 1 and the method by which the movement of the unmanned transport robot 1 is controlled are not limited to the examples described above.

[0017] Furthermore, based on the transport request information, the operation management unit 53 generates authentication information to be used when a user of the destination of the package corresponding to the transport request information retrieves the package transported by the automatic transport robot 1 from the automatic transport robot 1, and stores the generated authentication information in the information storage unit 54 and transmits it to the automatic transport robot 1 via the transmission / reception unit 51. The authentication information may be a combination of numbers, a combination of letters, a combination of numbers and letters, a combination of numbers, letters and symbols, or other combinations.

[0018] The operation management unit 53 also notifies the generated authentication information to the user of the destination of the package. For example, if the transport request information includes user information to be sent to the user terminal 6 corresponding to the user of the destination of the package, the operation management unit 53 transmits the generated authentication information to the user terminal 6. The operation management unit 53 may transmit the generated authentication information to the sender device 7, and the sender device 7 may transmit the authentication information to the user terminal 6. The user information may be a mobile phone number, an email address, or a user ID (IDentifier) ​​defined when the user registers to receive the package transport service, or may be other information. If the user information is a mobile phone number, the authentication information is transmitted as an SMS (Short Message Service) to the user terminal 6, which also functions as a mobile phone, such as a smartphone. If the user information is an email address, the authentication information is transmitted as an email to the user terminal 6. If the user information is a user ID defined when the user registers, the authentication information may be transmitted to the user terminal 6 by logging in to a website or application software (hereinafter abbreviated as an app) for receiving the service.

[0019] Furthermore, when the operation management unit 53 receives abnormality information indicating that an abnormality has occurred from the automated guided robot 1 via the transmission / reception unit 51, it instructs the alarm issuance unit 52 to issue an alarm. The abnormality information may include information indicating the content of the abnormality that has occurred, i.e., the type of abnormality that has occurred. In this embodiment, as will be described later, the abnormality determination unit 12 may perform multiple abnormality determination processes, and when the abnormality determination unit 12 performs multiple abnormality determination processes, the content of the abnormality may include, for example, information indicating which abnormality determination process determined the abnormality. In this case, when instructing the alarm issuance unit 52 to issue an alarm, the operation management unit 53 notifies the alarm issuance unit 52 of the content of the abnormality.

[0020] The information storage unit 54 stores operation information and authentication information. The alarm issuing unit 52 issues an alarm when the transceiver 11 receives abnormality information, i.e., when it receives an instruction to issue an alarm from the operation management unit 53. The alarm is issued by one or more of the following means: a display, a sound, an alarm sound, the emission of a lamp or the like, or notification of the occurrence of an abnormality to another device, such as a mobile terminal carried by an administrator who manages the conveyance system 100; however, other means may also be used. When the operation management unit 53 notifies the alarm issuing unit 52 of the details of the abnormality, the alarm issuing unit 52 also includes the details of the abnormality in the alarm. For example, when the alarm is issued by a display, the details of the abnormality are displayed; when the alarm is issued by a sound, the details of the abnormality are emitted as sound; and when the alarm is issued by notifying the occurrence of an abnormality to another device, the details of the abnormality are included in the notification. When the alarm is issued by the emission of light from a lamp or the like, the light color or blinking pattern may be changed depending on the details of the abnormality. Furthermore, when an alarm sound is used for the warning, the alarm sound may be varied depending on the type of abnormality.

[0021] Furthermore, when the operation management unit 53 receives location information indicating the location of the automated guided robot 1 from the automated guided robot 1 via the transmission / reception unit 51, the operation management unit 53 may also notify the alarm issuance unit 52 of the location information when instructing the alarm issuance unit 52 to issue an alarm. As a result, the alarm issuance unit 52 may, for example, display the location of the automated guided robot 1 on a map when displaying an alarm. Furthermore, the alarm issuance unit 52 may also transmit information indicating the location of the automated guided robot 1 when notifying other devices of the occurrence of an abnormality.

[0022] As shown in FIG. 1, the unmanned transport robot 1 includes a luggage compartment 2, a movement control unit 3, a movement mechanism 4, a transmitter / receiver 11, an abnormality determination unit 12, a photographing device 13, an authentication information storage unit 14, an authentication unit 15, a reception unit 16, and a self-position determination unit 17.

[0023] The luggage compartment 2 includes a door 21 and an opening / closing sensor 22 that detects whether the door 21 is open or closed. The door 21 has a key 221. The key 211 can be electronically locked and unlocked. The key 211 is locked when luggage is loaded into the luggage compartment 2 and is unlocked in response to an unlocking instruction from the authentication unit 15. The key 211 may be unlocked by the authentication unit 15 or by an unlocking unit (not shown) based on the authentication result from the authentication unit 15. While an example in which the luggage compartment 2 is provided is described here, the luggage compartment 2 is an example of a holding unit that holds luggage, and the holding unit is not limited to the luggage compartment 2. The holding unit may be any unit capable of mounting or holding luggage, and may be, for example, a platform on which luggage is loaded or not enclosed, a robot arm when the automated guided robot 1 carries luggage with a robotic arm, or a part corresponding to a hand when the automated guided robot 1 is a humanoid robot, or other parts.

[0024] The opening / closing sensor 22 is a sensor that detects whether the door 21 is open or closed, and when it detects that the door 21 is open, it notifies the abnormality determination unit 12 as a detection result that the door 21 is open. Alternatively, the opening / closing sensor 22 may notify the abnormality determination unit 12 of information indicating whether the door 21 is open or not at regular intervals as a detection result. The detection result by the opening / closing sensor 22 is opening / closing information that indicates the open / closed state of the door 21. The opening / closing sensor 22 is provided on the door 21, for example, but is not limited to this. The opening / closing sensor 22 may also be a sensor that is installed inside the luggage compartment 2 and detects that the door 21 is open by detecting a certain amount of light or more.

[0025] The transmitter / receiver 11 communicates with other devices. For example, when the transmitter / receiver 11 receives authentication information from the management device 5, it stores the received authentication information in the authentication information storage unit 14. The authentication information is used for authentication to unlock the key 211 of the door 21 of the luggage compartment 2. Furthermore, when the transmitter / receiver 11 receives control information from the management device 5, it outputs the received control information to the movement control unit 3. Furthermore, when the transmitter / receiver 11 receives abnormality information indicating that an abnormality has occurred from the abnormality determination unit 12, it transmits the abnormality information to the management device 5.

[0026] The self-localization unit 17 determines the location of the automated guided robot 1 and outputs location information indicating the determined location to the movement control unit 3. The self-localization unit 17 may determine the location by performing positioning using a satellite positioning system such as a global positioning system (GPS) or a global navigation satellite system (GNSS), or may acquire photographic data of the surrounding area as information indicating the location information, or may determine the location by other methods. That is, the location information may be the result of positioning using a satellite positioning system, photographic data indicating a captured image, or other information. The movement control unit 3 controls the movement mechanism 4 based on the location information received from the self-localization unit 17, control information received from the transceiver 11, and a sensor for controlling movement (not shown). The sensor for controlling movement may be, for example, a light detection and ranging (LiDAR) sensor or a millimeter-wave sensor, but is not limited to these. The movement mechanism 4 is a mechanism for moving the automated guided robot 1 and may be a wheeled movement mechanism or a crawler-type movement mechanism. Furthermore, if the unmanned transport robot 1 is an aircraft, it may have a movement mechanism using propellers. The movement control unit 3 may transmit the position information received from the self-position identification unit 17 to the management device 5 via the transceiver unit 11. Alternatively, the self-position identification unit 17 may output the position information to the transceiver unit 11, and the transceiver unit 11 may transmit the position information to the management device 5.

[0027] The authentication information storage unit 14 stores authentication information. The reception unit 16 receives input of authentication information and outputs the received authentication information to the authentication unit 15. The authentication unit 15 performs authentication based on the authentication information received by the reception unit 16, i.e., the authentication information received from the reception unit 16, and outputs the authentication result. Specifically, the authentication unit 15 performs authentication using the authentication information stored in the authentication information storage unit 14 and the authentication information received from the reception unit 16, and unlocks the lock 211 if it determines that the authentication is successful. The authentication unit 15 notifies the abnormality determination unit 12 of the authentication result, i.e., information indicating whether the authentication was successful or unsuccessful. Note that examples of the authentication method used by the authentication unit 15 include, but are not limited to, a method of determining whether the authentication information stored in the authentication information storage unit 14 and the authentication information received from the reception unit 16 have a predetermined relationship, a method of determining whether the authentication information stored in the authentication information storage unit 14 and the authentication information received from the reception unit 16 match, and the like. The authentication method in the authentication unit 15 may be, for example, a method of determining whether a value obtained by adding a predetermined numerical value to a numerical value indicated by the authentication information accepted by the acceptance unit 16 matches the numerical value indicated by the authentication information stored in the authentication information storage unit 14. Furthermore, the authentication in the authentication unit 15 may be biometric authentication such as face authentication, fingerprint authentication, or iris authentication.

[0028] The imaging device 13 captures images of the surroundings of the automated guided robot 1 and outputs the captured image data to the abnormality determination unit 12. The imaging device 13 is, for example, a camera, and may be a camera used for movement control in the movement control unit 3, or may be provided separately from the camera used for movement control. There may be multiple imaging devices 13, and some of the multiple imaging devices 13 may be cameras used for movement control.

[0029] The abnormality determination unit 12 determines whether or not there is a security abnormality related to the package based on monitoring information, which is information indicating the occurrence of a security abnormality related to the package, and notifies the occurrence of the abnormality if it determines that there is an abnormality. The abnormality determination unit 12, for example, generates abnormality information indicating the occurrence of an abnormality and notifies the occurrence of the abnormality by outputting the generated abnormality information to the transmission / reception unit 11. The transmission / reception unit 11 transmits the abnormality information to, for example, the management device 5. The monitoring information includes, for example, at least one of the authentication result by the authentication unit 15 (notification from the authentication unit 15), the detection result by the opening / closing sensor 22 (open / close information indicating the open / close state of the door 21), and the photographed data received from the photographing device 13, but may also include information other than these.

[0030] The abnormality determination unit 12 may determine the presence or absence of an abnormality using, for example, the number of times authentication by the authentication unit 15 has failed, or may determine the presence or absence of an abnormality by combining the authentication result by the authentication unit 15 and the detection result by the open / close sensor 22, or may determine the presence or absence of an abnormality using a result obtained by analyzing the photographed data. Details of the abnormality determination by the abnormality determination unit 12 will be described later.

[0031] FIG. 2 is a diagram showing an example of a schematic external appearance of the automated guided robot 1 according to the present embodiment. In the example shown in FIG. 2, the automated guided robot 1 includes wheels 31 that are part of the movement mechanism 4. In the example shown in FIG. 2, the automated guided robot 1 includes a housing 32. A control device (not shown in FIG. 2) is provided within the housing 32. The control device includes the abnormality determination unit 12, the authentication information storage unit 14, the authentication unit 15, and the movement control unit 3 shown in FIG. 1. The control device including the movement control unit 3 and the control device including the abnormality determination unit 12, the authentication information storage unit 14, and the authentication unit 15 may be provided separately. Alternatively, at least a portion of the control device may be provided outside the housing 32. The transmission / reception unit 11 and the self-localization unit 17 are also provided within the housing 32, but some or all of these devices may be provided outside the housing 32. At least a portion of the transmission / reception unit 11 and the self-localization unit 17 may be provided within the above-described control device.

[0032] In the example shown in FIG. 2, a reception unit 16 is provided next to the door 21. The reception unit 16 may be, for example, an input device that accepts input of numbers such as a numeric keypad, or may be an input device such as a keyboard, touch panel, or button, and may be any input device that can accept input of authentication information. Behind the door 21, there is a space for placing luggage in the luggage compartment 2. When loading luggage, the door 21 is opened, the luggage is placed in the luggage compartment 2, and a lock 211 (not shown in FIG. 2) is locked. When receiving luggage, the user inputs authentication information by operating the reception unit 16, and if the authentication is successful, the lock 211 (not shown in FIG. 2) of the door 21 is unlocked, allowing the user to receive the luggage.

[0033] 2, the image capturing devices 13 are provided in two locations: on the top of the housing 32 and on the bottom surface of the housing 32. The number and locations of the image capturing devices 13 are not limited to the example shown in Fig. 2. Fig. 2 is just an example, and the shape of the automated guided robot 1, the type of the movement mechanism 4, the position, size and shape of the door 21, and the position, size and shape of the reception unit 16 are not limited to the example shown in Fig. 2.

[0034] Next, a specific example of the monitoring method, i.e., the abnormality determination method, of this embodiment will be described. A security problem may occur between the time when a package is loaded onto the automated guided robot 1 and the time when the user receives the package. In this embodiment, the abnormality determination unit 12 determines that an abnormality has occurred when there is a possibility that a security problem has occurred, and notifies the management device 5 via the transmission / reception unit 11 that an abnormality has occurred.

[0035] Examples of security abnormalities include a third party who is neither the user to whom the package is addressed nor the administrator who manages the package opening the door 21 and stealing the package, taking away the unmanned transport robot 1, or destroying the unmanned transport robot 1.

[0036] As an abnormality determination process for determining that such a problem may have occurred as an abnormality, the automatic guided robot 1 of this embodiment can perform an abnormality determination process using the number of authentication failures. The abnormality determination process using the number of authentication failures will hereinafter be referred to as a first abnormality determination process. Because a third party does not know the correct authentication information, there is a possibility that they will operate the reception unit 16 and repeatedly enter the code to try to open the door 21. For this reason, the abnormality determination unit 12 of the automatic guided robot 1 can determine that an abnormality has occurred when the number of authentication failures exceeds a threshold value.

[0037] Fig. 3 is a flowchart showing an example of the first abnormality determination process according to the present embodiment. The process shown in Fig. 3 is started, for example, between when a package is loaded onto the automated guided robot 1 and when the automated guided robot 1 is locked and when the automated guided robot 1 departs for the package's destination, but the timing at which the process shown in Fig. 3 is started is not limited to this.

[0038] 3, the automatic guided robot 1 initializes the number of authentication failures, which is the number of times authentication has failed (step S1). In detail, the abnormality determination unit 12 sets the number of authentication failures to an initial value of 0.

[0039] The unmanned transport robot 1 determines whether or not the authentication information has been received (step S2). More specifically, the authentication unit 15 determines whether or not the authentication information has been received from the reception unit 16. If the authentication information has not been received (step S2 No), step S2 is repeated. If the authentication information has been received (step S2 Yes), the unmanned transport robot 1 determines whether or not the authentication has been successful (step S3). More specifically, the authentication unit 15 performs authentication using the authentication information received from the reception unit 16 and the authentication information stored in the authentication information storage unit 14, and notifies the abnormality determination unit 12 of the authentication result.

[0040] If it is determined that the authentication is successful (Yes in step S3), the automatic guided robot 1 unlocks the lock 211 of the door 21 (step S4) and ends the process. In step S4, more specifically, the authentication unit 15 outputs an unlocking instruction to the key 211, and the key 211 is thereby unlocked.

[0041] If it is determined that the authentication has failed (No in step S3), the automatic guided robot 1 increments the number of authentication failures (step S5). In detail, in step S5, the authentication unit 15 notifies the abnormality determination unit 12 of the authentication failure as the authentication result, and the abnormality determination unit 12 adds 1 to the number of authentication failures, thereby incrementing the number of authentication failures.

[0042] Next, the automated guided robot 1 determines whether the number of authentication failures is equal to or greater than a threshold value (step S6). Specifically, the abnormality determination unit 12 determines whether the number of authentication failures is equal to or greater than a threshold value. The threshold value may be any integer equal to or greater than 1, and is set in advance by, for example, an administrator, but may be changed after being set.

[0043] If the number of authentication failures is less than the threshold value (No in Step S6), the automated guided robot 1 repeats the process from Step S2. If the number of authentication failures is equal to or greater than the threshold value (Yes in Step S6), the automated guided robot 1 notifies the automated guided robot 1 of an abnormality (Step S7) and terminates the process. In Step S7, specifically, the abnormality determination unit 12 determines that an abnormality exists because the number of authentication failures is equal to or greater than the threshold value, generates abnormality information indicating that an abnormality has occurred, and transmits the generated abnormality information to the management device 5 via the transceiver 11. That is, the transceiver 11 functions as a transmitter that transmits the abnormality information to the management device 5. As described above, the abnormality information may also be transmitted to at least one of the user terminal 6 and the sender device 7. In the management device 5, the transceiver 51, which functions as a receiver that receives abnormality information, receives the abnormality information. When the transceiver 51 receives the abnormality information, the alarm issuing unit 52 issues an alarm in response to an instruction from the operation management unit 53. The manager, recognizing the issuance of the alarm, takes appropriate measures. For example, a worker may be arranged to check the status of the unmanned transport robot 1, or the user of the package destination may be contacted to check whether the authentication information was entered incorrectly, or other measures may be taken.

[0044] As described above, in the first abnormality determination process, the monitoring information includes the authentication result by the authentication unit 15, and the abnormality determination unit 12 determines whether or not there is an abnormality based on the authentication result by the authentication unit 15. For example, the abnormality determination unit 12 determines that there is an abnormality when the number of times that the authentication unit 15 determines that authentication has failed is equal to or exceeds a threshold value.

[0045] Furthermore, instead of transmitting the abnormality information to the management device 5, or in addition to transmitting the abnormality information to the management device 5, an alarm device (not shown) provided in the automatic guided robot 1 may be activated. When activated, the alarm device notifies the surrounding area of ​​the abnormality by, for example, emitting a warning sound.

[0046] Next, the second abnormality determination process will be described. When the door 21 is forced open, the door 21 is in an open state without successful authentication. Therefore, the abnormality determination unit 12 of the automated guided robot 1 may determine that the unauthorized opening of the door is an abnormality. For example, the abnormality determination unit 12 can determine whether an abnormality has occurred based on the authentication result and the detection result by the open / close sensor 22.

[0047] Fig. 4 is a flowchart showing an example of the second abnormality determination process of this embodiment. The process shown in Fig. 4 is started, for example, between when a package is loaded onto the automated guided robot 1 and when the automated guided robot 1 is locked and when the automated guided robot 1 departs for the package's destination, but the timing at which the process shown in Fig. 4 is started is not limited to this.

[0048] 4, the automatic guided robot 1 determines whether the door 21 is open or not (step S11). In detail, the abnormality determination unit 12 determines whether the door 21 is open or not based on the detection result received from the open / close sensor 22.

[0049] If it is determined that the door 21 is not open (step S11 No), the automatic guided robot 1 repeats the process of step S11. If it is determined that the door 21 is open (step S11 Yes), the automatic guided robot 1 determines whether or not a certain period of time has passed since the authentication was successful (step S12). In detail, the abnormality determination unit 12 determines, based on the authentication result notified by the authentication unit 15, whether or not the elapsed time from the time when the authentication was successful is within a certain period of time.

[0050] If it is within a certain time since successful authentication (Yes in step S12), the automated guided robot 1 ends the process. If it is not within a certain time since successful authentication (No in step S12), that is, for example, if the time elapsed since it was determined that authentication was successful exceeds a certain time, or if authentication has never been performed, the automated guided robot 1 notifies of an abnormality (step S13). For example, the automated guided robot 1 also determines that an abnormality has occurred and notifies of the abnormality if, after a sender places a package in the baggage compartment of the automated guided robot 1 and locks it, and performs processing to start shipping, the door 21 is opened fraudulently before authentication is performed. The method of notifying of the abnormality is the same as in step S7.

[0051] In this way, in the second abnormality determination process, the monitoring information includes the authentication result by the authentication unit 15 and open / close information indicating the open / close state of the door 21, and if the door 21 is opened at a time other than a predetermined time (a certain time) after it is determined that the authentication is successful, it is determined that an abnormality has occurred, and the processing in the abnormality determination unit 12 is not limited to the example described above.

[0052] Next, the third abnormality determination process will be described. If the automated guided robot 1 is involved in an action that destroys the automated guided robot 1 and steals luggage, steals the automated guided robot 1, or damages the automated guided robot 1 or affects luggage, a person approaching the automated guided robot 1 may be observed behaving suspiciously that is different from normal. For this reason, the abnormality determination unit 12 of the automated guided robot 1 can determine whether or not an abnormality has occurred by determining whether or not there is a person behaving suspiciously, for example, based on the photographed data.

[0053] Fig. 5 is a flowchart showing an example of the third abnormality determination process of this embodiment. The process shown in Fig. 5 is started, for example, between when a package is loaded onto the automated guided robot 1 and when the automated guided robot 1 is locked and when the automated guided robot 1 departs for the package's destination, but the timing at which the process shown in Fig. 5 is started is not limited to this.

[0054] 5, the automated guided robot 1 acquires photographed data (step S21). In detail, the photographing device 13 acquires photographed data (first photographed data) by photographing the surroundings of the automated guided robot 1, and outputs the acquired photographed data to the abnormality determination unit 12. There may be one or more photographing devices 13. However, in order to detect people approaching the automated guided robot 1 from various directions, the photographing device 13 may be configured to be able to photograph in all directions around the automated guided robot 1, or certain directions that people are likely to approach may be determined and the device may be arranged to photograph only those determined directions. When photographing in all directions around the automated guided robot 1, an omnidirectional camera may be used as the photographing device 13, or multiple photographing devices 13 with different photographing directions may be used.

[0055] The automated guided robot 1 determines whether or not a person is present within a predetermined distance (step S22). In detail, the abnormality determination unit 12 detects a person from the video image shown by the image capture data received from the image capture device 13 using image recognition technology, and estimates the distance between the automated guided robot 1 and the person based on the size of the area corresponding to the detected person, the position of the area in the video image, and the angle of view of the image capture device 13. The abnormality determination unit 12 then determines whether or not a person is present within a range from the automated guided robot 1 that is within the predetermined distance. Any method may be used to detect a person from a video image, and may be, for example, a method using image recognition technology based on machine learning, or another method. For example, skeleton detection may be used to detect a person's skeleton using machine learning.

[0056] If there is no person within the predetermined distance (step S22 No), the processing from step S21 is repeated. If there is a person within the predetermined distance (step S22 Yes), the automated guided robot 1 determines whether or not there is any suspicious behavior (step S23). In detail, the behavior of the person determined in step S22 to be within the predetermined distance from the automated guided robot 1 is analyzed, and it is determined whether or not the analyzed behavior corresponds to the predetermined suspicious behavior. For example, using the detection result of skeleton detection by machine learning, it is determined whether or not the behavior of the person corresponds to the predefined suspicious behavior. Predefined suspicious behaviors include, for example, behaviors such as trying to force open the door 21 of the luggage compartment 2 of the unmanned transport robot 1 (behavior of trying to open the door 21 for a long period of time), behaviors of hitting the unmanned transport robot 1 with an object, behaviors of approaching the unmanned transport robot 1 with an object of a certain size or larger such as a crowbar, behaviors of trying to lift the unmanned transport robot 1, behaviors of kicking the unmanned transport robot 1, behaviors of trying to throw an object at the unmanned transport robot 1, etc., but are not limited to these.

[0057] If there is no suspicious behavior (step S23: No), the process from step S21 is repeated. If there is suspicious behavior (step S23: Yes), the automatic guided robot 1 notifies the abnormality (step S24), and the process from step S21 is repeated. The method of notifying the abnormality in step S24 is the same as in step S7.

[0058] Thus, in the third abnormality determination process, the monitoring information includes first photographing data obtained by photographing the surroundings of the unmanned transport robot 1, and the abnormality determination unit 12 uses the first photographing data to determine whether or not there is a person behaving suspiciously within a range that is within a predetermined distance from the unmanned transport robot 1, and if it determines that there is a person behaving suspiciously within the range, it determines that there is an abnormality.

[0059] Next, the fourth abnormality determination process will be described. If the entire unmanned transport robot 1 is stolen, the state of the unmanned transport robot 1 will be different from normal. For example, when the unmanned transport robot 1 moves on land, in the configuration example of FIG. 2, the wheels 31 of the unmanned transport robot 1 are in a state of being on the ground. When the unmanned transport robot 1 is lifted, the wheels 31 leave the ground. Therefore, the abnormality determination unit 12 of the unmanned transport robot 1 can determine whether or not an abnormality has occurred by, for example, monitoring the distance between the wheels 31 and the ground based on photographic data. Note that, as shown in FIG. 2, the photographing device 13 is provided on the bottom surface of the housing 32 to detect the distance between the wheels 31 and the ground. However, a sensor that detects the distance between the bottom surface and the ground may be used instead of the photographing device 13. Furthermore, if the unmanned transport robot 1 is a drone or the like, after landing, the abnormality determination unit 12 can similarly determine whether or not an abnormality has occurred by detecting the distance between the ground and the lowest part of the unmanned transport robot 1 that normally comes into contact with the ground.

[0060] When the automated guided robot 1 moves within a building, it may move on the floor, and in such a case, the abnormality determination unit 12 can determine whether or not an abnormality has occurred by monitoring the distance between the wheels 31 and the floor. That is, the abnormality determination unit 12 only needs to monitor the distance between a reference plane and the bottom of the automated guided robot 1, and the reference plane is a plane perpendicular to the vertical direction, and may be the ground, a floor, or any other plane with which the bottom of the automated guided robot 1 comes into contact under normal conditions.

[0061] Fig. 6 is a flowchart showing an example of the fourth abnormality determination process of this embodiment. The process shown in Fig. 6 is started, for example, between when a load is loaded onto the automated guided robot 1 and when the automated guided robot 1 is locked and when the automated guided robot 1 departs for the destination of the load, but the timing at which the process shown in Fig. 6 is started is not limited to this. As described above, if the automated guided robot 1 is a drone or the like, the process may be started after it lands.

[0062] 6, the automated guided robot 1 acquires photographed data (step S31). In detail, the photographing device 13 acquires photographed data (second photographed data) by photographing an area below the automated guided robot 1. For example, the photographing device 13 is installed so as to be able to detect the distance between the ground and the part of the automated guided robot 1 that comes into contact with the ground, or the distance between the bottom surface of the automated guided robot 1 and the ground, and acquires photographed data (second photographed data) by photographing an area including the ground, and outputs the acquired photographed data to the abnormality determination unit 12. The part of the automated guided robot 1 that comes into contact with the ground is, for example, the wheel 31, but is not limited to this.

[0063] The automated guided robot 1 determines whether the automated guided robot 1 is at a certain distance or more from the ground (step S32). Specifically, the abnormality determination unit 12 uses the photographic data received from the photographing device 13 to detect the distance between the ground and the part of the automated guided robot 1 that is in contact with the ground, or the distance between the bottom of the automated guided robot 1 and the ground. When the distance between the part of the automated guided robot 1 that is in contact with the ground and the ground is detected, the certain distance serves as a threshold value for determining that the automated guided robot 1 has been lifted up and the part that is in contact with the ground has been separated from the ground. When the distance between the bottom of the automated guided robot 1 and the ground is detected, the distance between the bottom and the ground under normal conditions is determined in advance as a standard distance by measurement or the like, and the certain distance is set to be longer than the standard distance.

[0064] If the automated guided robot 1 is not at a certain distance from the ground (No in step S32), the process from step S31 is repeated. If the automated guided robot 1 is at a certain distance from the ground (Yes in step S32), the automated guided robot 1 notifies the automated guided robot 1 of an abnormality (step S33), and the process from step S31 is repeated. The method of notifying the abnormality in step S33 is the same as in step S7.

[0065] Thus, in the fourth abnormality determination process, the monitoring information includes second photographic data obtained by photographing the area below the unmanned transport robot 1, and the abnormality determination unit 12 uses the second photographic data to determine that an abnormality has occurred when the distance between the unmanned transport robot 1 and a reference plane perpendicular to the vertical direction is greater than a certain distance.

[0066] Although the first, second, third, and fourth abnormality determination processes have been exemplified above, the abnormality determination processes performed by the abnormality determination unit 12 are not limited to these examples. For example, the abnormality determination unit 12 may acquire position information from the self-position identification unit 17 and use the position information to determine that an abnormality has occurred when the automated guided robot 1 is away from the route instructed by the control information from the management device 5 by a predetermined distance or more.

[0067] In the above example, the abnormality determination unit 12 performed the first abnormality determination process, the second abnormality determination process, the third abnormality determination process, and the fourth abnormality determination process. However, this is not limiting, and the abnormality determination unit 12 may perform at least one of the first abnormality determination process, the second abnormality determination process, the third abnormality determination process, the fourth abnormality determination process, and other abnormality determination processes. For example, the abnormality determination unit 12 may perform only the first abnormality determination process, in which case the image capture device 13 and the open / close sensor 22 may not be provided. In this case, the authentication unit 15 and the abnormality determination unit 12 may be integrated, and the authentication unit 15 may also have the function of the abnormality determination unit 12.

[0068] Furthermore, when the abnormality determination unit 12 performs multiple abnormality determination processes, the abnormality determination unit 12 may also notify the content of the abnormality, including information indicating which abnormality determination process determined the abnormality. For example, if an abnormality is determined in the first abnormality determination process, the content of the abnormality includes information indicating that the number of authentication failures is equal to or greater than a threshold. If an abnormality is determined in the second abnormality determination process, the content of the abnormality includes information indicating that the door 21 is open without successful authentication. If an abnormality is determined in the third abnormality determination process, the content of the abnormality includes information indicating that a person behaving suspiciously is present near the automated guided robot 1. If an abnormality is determined in the fourth abnormality determination process, the content of the abnormality includes information indicating that the automated guided robot 1 has left the ground. If an abnormality is determined in the third abnormality determination process, if the type of suspicious behavior is also determined, the type of suspicious behavior may be included in the content of the abnormality. By checking the content of the abnormality, the administrator can take measures according to the type of abnormality.

[0069] In the above example, the abnormality determination unit 12 is provided in the unmanned transport robot 1, but this is not limiting and the abnormality determination unit 12 may be provided in a management device. FIG. 7 is a diagram showing a configuration example of a transport system according to this embodiment when the abnormality determination unit 12 is provided in a management device. The transport system 100a shown in FIG. 7 includes an unmanned transport robot 1a and a management device 5a. The management device 5a is configured by adding an authentication unit 15 and an abnormality determination unit 12 to the management device 5 shown in FIG. 1. The unmanned transport robot 1a shown in FIG. 7 is configured by removing the authentication information storage unit 14, the authentication unit 15, and the abnormality determination unit 12 from the unmanned transport robot 1 shown in FIG. 1. Components having the same functions as those in FIG. 1 are designated by the same reference numerals as those in FIG. 1, and redundant explanations will be omitted.

[0070] In the configuration example shown in FIG. 7, the authentication information accepted by the acceptance unit 16 is transmitted to the management device 5a by the transmission / reception unit 11. In the management device 5a, the authentication unit 15 receives the authentication information from the automated guided robot 1a via the transmission / reception unit 51, performs authentication processing by comparing the received authentication information with authentication information stored in the information storage unit 54, and outputs the authentication result to the abnormality determination unit 12. In the configuration example shown in FIG. 7, the imaging data acquired by the imaging device 13 and the detection result by the open / close sensor 22 are also transmitted to the management device 5a via the transmission / reception unit 11. The abnormality determination unit 12 receives the imaging data acquired by the imaging device 13 and the detection result by the open / close sensor 22 via the transmission / reception unit 51. The abnormality determination unit 12 acquires information used for abnormality determination from the automated guided robot 1a, and performs abnormality determination processing in the same manner as in the configuration example shown in FIG. 1. If the abnormality determination unit 12 determines that an abnormality has occurred, the abnormality determination unit 12 notifies the alarm issuance unit 52 of the abnormality. If the alarm issuance unit 52 is notified of the abnormality by the abnormality determination unit 12, the alarm issuance unit 52 issues an alarm.

[0071] The division of functions between the automated guided robot and the management device is not limited to the examples shown in Fig. 1 and Fig. 7. For example, in the example shown in Fig. 7, the authentication unit 15 may be added to the automated guided robot 1a, and the authentication unit 15 may be deleted from the management device 5a. Also, for example, in the example shown in Fig. 7, the abnormality determination unit 12 may be added to the automated guided robot 1a, and the abnormality determination unit 12 may be deleted from the management device 5a. In these cases, the authentication result of the authentication unit 15 is transmitted to the abnormality determination unit 12 via the transmission / reception units 11 and 51.

[0072] Next, the hardware configuration of the control device in the unmanned transport robot 1 of this embodiment will be described. The control device in the unmanned transport robot 1 includes an abnormality determination unit 12, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. As described above, the abnormality determination unit 12, the authentication information storage unit 14, the authentication unit 15, and the movement control unit 3 may be separated into two or more control devices. In the control device of this embodiment, a computer system functions as a control device by executing a program (computer program) that describes the processing in the control device. The computer system includes, for example, a processing circuit. FIG. 8 is a diagram showing an example configuration of a processing circuit that realizes the control device of this embodiment. As shown in FIG. 8, the processing circuit includes a processor 101 and a memory 102. The processing circuit may be a single circuit or multiple circuits. These circuits are connected via a system bus.

[0073] 8, processor 101 is a control unit such as a CPU (Central Processing Unit) and executes a program describing the processing in the control device of this embodiment. Memory 102 includes various types of memory such as RAM (Random Access Memory) and ROM (Read Only Memory) and a storage device such as a hard disk, and stores the program to be executed by processor 101, necessary data obtained in the course of processing, etc. Memory 102 is also used as a temporary storage area for the program.

[0074] Here, an example of the operation of the computer system until the program of this embodiment is ready to be executed will be described. In the computer system having the above configuration, the program is installed in memory 102 from, for example, a CD-ROM or DVD-ROM inserted in a CD (Compact Disc)-ROM drive or DVD (Digital Versatile Disc)-ROM drive (not shown). Then, when the program is executed, the program read from memory 102 is stored in the main storage area of ​​memory 102. In this state, processor 101 executes processing as the control device of this embodiment in accordance with the program stored in memory 102.

[0075] In the above description, a program describing the processing in the control device is provided using a CD-ROM or DVD-ROM as a recording medium, but this is not limited to this. Depending on the configuration of the computer system and the capacity of the program to be provided, for example, a program provided via a transmission medium such as the Internet via a communication unit not shown in the figure may be used.

[0076] The program of this embodiment causes, for example, a computer system that controls the automated guided robot 1 that transports packages to users to execute the steps of determining whether or not there is a security abnormality related to the package based on monitoring information, and notifying the user of the occurrence of the abnormality if it is determined that there is an abnormality. This computer system may be a control device in the automated guided robot 1 or may be the management device 5.

[0077] The abnormality determination unit 12, authentication unit 15, and movement control unit 3 shown in Fig. 1 are realized by executing a program stored in memory 102 shown in Fig. 8 by processor 101 shown in Fig. 8. The abnormality determination unit 12, authentication unit 15, and movement control unit 3 shown in Fig. 1 are also realized by memory 102 shown in Fig. 8. The authentication information storage unit 14 shown in Fig. 1 is a part of memory 102 shown in Fig. 8.

[0078] The management device 5 shown in Fig. 1 is also realized by a computer system including the processing circuit shown in Fig. 8. Note that the computer system realizing the management device 5 includes, in addition to the processing circuit, a communication unit including a transmitter and a receiver (not shown). The computer system realizing the management device 5 may further include at least one of an input unit and a display unit.

[0079] The transmitting / receiving unit 51 shown in Fig. 1 is realized by a communication unit. The operation management unit 53 is realized by the processor 101 shown in Fig. 8 executing a program stored in the memory 102 shown in Fig. 8. The memory 102 shown in Fig. 8 is also used to realize the operation management unit 53 shown in Fig. 1. The information storage unit 54 shown in Fig. 1 is part of the memory 102 shown in Fig. 8. The alarm issuing unit 52 shown in Fig. 1 may be realized by a display unit (not shown) included in the computer system that realizes the management device 5, or by a speaker included in the computer system that realizes the management device 5, or by a display device, speaker, lamp, etc. connected to the computer system that realizes the management device 5.

[0080] Like the management device 5, the management device 5a in the configuration example shown in Fig. 7 is realized by, for example, a computer system including the processing circuit shown in Fig. 8. A control device (not shown) in the unmanned transport robot 1a shown in Fig. 7 is also realized by a computer system including the processing circuit shown in Fig. 8. The control device in the unmanned transport robot 1a shown in Fig. 7 includes a movement control unit 3.

[0081] As described above, in this embodiment, the abnormality determination unit 12 determines whether or not there is an abnormality in terms of security of the unmanned transport robot 1, and if it determines that there is an abnormality, notifies the user of the abnormality. This allows the unmanned transport robot 1 of this embodiment to enhance security.

[0082] Embodiment 2 9 is a diagram showing a configuration example of a transport system according to a second embodiment. A transport system 100b of this embodiment includes an unmanned transport robot 1b and a management device 5b. Components having the same functions as those of the first embodiment will be described with the same reference numerals as those of the first embodiment. Differences from the first embodiment will be mainly described below.

[0083] The unmanned transport robot 1b of this embodiment transports luggage to a user, similar to the first embodiment. Because the luggage is transported unmanned, it is expected that the user may feel uneasy about the status of the luggage during transport. The status of the luggage includes, for example, at least one of the status of the luggage itself and the environment around the luggage, i.e., the environment inside the luggage compartment 2b. In this embodiment, the user's anxiety is alleviated by providing the user with information indicating the status of the luggage during transport.

[0084] The automated guided robot 1b of this embodiment includes a luggage room 2b instead of the luggage room 2 of the automated guided robot 1 of the first embodiment. The luggage room 2b is configured by adding a sensor 23 to the luggage room 2 of the first embodiment. The sensor 23 detects at least one of the state of the luggage in the luggage room 2b and the environment around the luggage, and outputs the detection result as sensor information to the transceiver 11. The environment around the luggage is, for example, the environment of the luggage room 2b, but is not limited to this. The sensor information is an example of information indicating the status of the luggage, and is information indicating at least one of the state of the luggage in the luggage room 2b and the environment inside the luggage room 2b. The transceiver 11 transmits the sensor information received from the sensor 23 to the management device 5b. The sensor 23 may be an imaging device that captures images of the interior of the luggage room 2b, a sensor that detects vibrations of the luggage, or a sensor that detects at least one of the temperature, humidity, pressure, and odor of the luggage room 2b. When a photographing device that photographs the inside of the luggage compartment 2b is used as the sensor 23, a night vision camera may be used as the photographing device, or a visible light camera may be used as the photographing device by providing a lighting device in the luggage compartment 2b. When the luggage compartment 2b is not provided, the sensor 23 may be a sensor that detects at least one of the temperature, humidity, pressure, and odor of the holding section, or may be a photographing device that photographs the holding section or the surroundings of the luggage. While one sensor 23 is illustrated in FIG. 9, one or more sensors 23 may be used, and the number of sensors 23 is not limited to the example shown in FIG. 9.

[0085] The management device 5b of this embodiment is obtained by adding an information provision management unit 55 to the management device 5 of the first embodiment. When the information provision management unit 55 receives an information provision request from the user terminal 6 via the transmission / reception unit 51, indicating a request for provision of sensor information, the information provision management unit 55 instructs the unmanned guided robot 1b to provide the sensor information via the transmission / reception unit 51. As a result, the sensor 23 of the unmanned guided robot 1b transmits the sensor information to the management device 5b via the transmission / reception unit 11. When the information provision management unit 55 of the management device 5b receives the sensor information via the transmission / reception unit 51, it transmits the received sensor information to the user terminal 6 via the transmission / reception unit 51. Alternatively, when the information provision management unit 55 receives an information provision request from the user terminal 6 via the transmission / reception unit 51, it may instruct the unmanned guided robot 1b to transmit the sensor information to the user terminal 6 via the transmission / reception unit 51. In this case, the information provision management unit 55 notifies the unmanned guided robot 1b of information for transmitting the sensor information to the user terminal 6, and the transmission / reception unit 11 of the unmanned guided robot 1b transmits the sensor information to the user terminal 6.

[0086] 10 is a sequence diagram showing an example of the process of providing sensor information according to the present embodiment. As shown in FIG. 10, the user terminal 6 transmits an information provision request to the management device 5b (step S41). In detail, the input receiving unit 63 receives an input of an information provision request indicating a request for provision of sensor information from the user, outputs the received information provision request to the transmission / reception unit 61, and the transmission / reception unit 61 transmits the information provision request to the management device 5b.

[0087] The management device 5b that has received the information provision request transmits an information provision instruction to the unmanned guided robot 1b (step S42). In detail, when the information provision management unit 55 of the management device 5b receives the information provision request from the transmitting / receiving unit 51, it generates an information provision instruction indicating an instruction to provide sensor information, and transmits the generated information provision instruction to the unmanned guided robot 1b via the transmitting / receiving unit 51.

[0088] The automatic guided robot 1b that has received the information provision instruction transmits the sensor information to the management device 5b (step S43). In detail, when the transmitting / receiving unit 11 receives the information provision instruction, it outputs the received information provision instruction to the sensor 23, and when the sensor 23 receives the information provision instruction, it outputs the sensor information to the transmitting / receiving unit 11, and the transmitting / receiving unit 11 transmits the sensor information received from the sensor 23 to the management device 5b.

[0089] The management device 5b that has received the sensor information transmits the received sensor information to the user terminal 6 (step S44). In detail, the transmitting and receiving unit 51 receives the sensor information and outputs the received sensor information to the information provision management unit 55, and the information provision management unit 55 transmits the sensor information received from the transmitting and receiving unit 51 to the user terminal 6 via the transmitting and receiving unit 51. Note that this is not limiting, and the information provision management unit 55 may instruct the transmitting and receiving unit 51 to transfer the sensor information to the user terminal 6 when it is received from the automatic guided robot 1b, and the transmitting and receiving unit 51 may transfer the sensor information received from the automatic guided robot 1b to the user terminal 6 in accordance with this instruction. In this way, the sensor information is transmitted from the transmitting and receiving unit 11 to the user terminal 6 via the management device 5b or directly from the transmitting and receiving unit 11. Therefore, the transmitting and receiving unit 11 is a provider that provides sensor information to a user corresponding to a package.

[0090] The user terminal 6 that has received the sensor information displays the sensor information (step S45). Specifically, the transmitter / receiver 61 receives the sensor information, outputs the received sensor information to the display unit 62, and the display unit 62 displays the sensor information. By visually checking the sensor information displayed on the user terminal 6, the user can grasp at least one of the state of the luggage and the environment inside the luggage compartment 2b. This can alleviate the user's anxiety.

[0091] For example, by displaying photographic data as sensor information, the user can check whether the package has fallen over, whether the package is vibrating too violently, whether the package is dirty, etc. Furthermore, by displaying data indicating temperature as sensor information, the user can check whether the package is being transported in a normal temperature environment. If the user checks the sensor information and determines that the condition of the package or the environment in the package compartment 2b is abnormal, the user may contact the sender or the administrator of the transport system 100b and request an improvement.

[0092] In the above example, the management device 5b acquires sensor information from the automatic guided robot 1b when an information provision request is received. However, the management device 5b may receive sensor information, for example, periodically, regardless of whether an information provision request is received, and store the sensor information in the information storage unit 54. In this case, when the information provision management unit 55 of the management device 5b receives an information provision request from the transmission / reception unit 51, the information provision management unit 55 stores the information in the information storage unit 54 and transmits the sensor information received from the automatic guided robot 1b to the user terminal 6 via the transmission / reception unit 51. In this case, when the user terminal 6 requests the provision of past sensor information, the information provision management unit 55 of the management device 5b may read corresponding sensor information from the information storage unit 54 and transmit the read sensor information to the user terminal 6 via the transmission / reception unit 51.

[0093] Furthermore, in the above-described example, the management device 5b transmits the sensor information to the user terminal 6, but the management device 5b may process the sensor information and transmit the processed information to the user terminal 6. For example, if the sensor information is image data, the information provision management unit 55 may generate information by reducing the resolution of the image data received from the automatic guided robot 1b and transmit the generated information to the user terminal 6 via the transmission / reception unit 51. Furthermore, if a plurality of sensors 23 are provided, the information provision management unit 55 may generate display information for displaying the sensor information of the plurality of sensors 23 on one screen and transmit the generated display information to the user terminal 6 via the transmission / reception unit 51.

[0094] Furthermore, the division of functions between the management device and the unmanned transport robot is not limited to the example shown in Fig. 9. For example, in the configuration example shown in Fig. 7 of the first embodiment, a sensor 23 may be added to the unmanned transport robot 1a of the first embodiment, and an information provision management unit 55 may be added to the management device 5a, so that the operations described in this embodiment can be performed.

[0095] In the above example, the operation of this embodiment is performed after the abnormality determination process described in embodiment 1 is performed, but this is not limiting, and the operation of this embodiment may be performed without performing the abnormality determination process described in embodiment 1. In this case, the unmanned transport robot 1b may not include the abnormality determination unit 12, the open / close sensor 22, and the image capture device 13, and the management device 5b may not include the alarm issuance unit 52.

[0096] Like the management device 5 of the first embodiment, the management device 5b of this embodiment is realized by, for example, a computer system including the processing circuit shown in Fig. 8. A control device (not shown) in the unmanned transport robot 1b is also realized by a computer system including the processing circuit shown in Fig. 8. The information provision management unit 55 is realized by the processor 101 shown in Fig. 8 executing a program stored in the memory 102 shown in Fig. 8. The memory 102 shown in Fig. 8 is also used to realize the information provision management unit 55.

[0097] As described above, in this embodiment, the transport system 100b transmits sensor information indicating at least one of the state of the luggage in the luggage compartment 2b of the unmanned transport robot 1b and the environment inside the luggage compartment 2b to the user terminal 6. This allows the user to understand the status of the luggage, thereby reducing the user's anxiety.

[0098] Embodiment 3 11 is a diagram showing a configuration example of a transport system according to the third embodiment. A transport system 100c of this embodiment includes an unmanned transport robot 1c and a management device 5b similar to that of the second embodiment. Components having the same functions as those of the second embodiment will be described with the same reference numerals as those of the second embodiment. Differences from the second embodiment will be mainly described below.

[0099] The unmanned transport robot 1c of this embodiment is similar to the unmanned transport robot 1b of embodiment 2, except that it includes an abnormality determination unit 12a instead of the abnormality determination unit 12. In this embodiment, the sensor 23 also outputs sensor information to the abnormality determination unit 12a. The abnormality determination unit 12a performs the process of determining whether or not there is a security abnormality as described in embodiment 1, and analyzes the sensor information acquired by the sensor 23 to determine whether or not there is an abnormality (situational abnormality) in the luggage compartment 2b. An abnormality in the luggage compartment 2b is an example of an abnormality in the environment around the luggage.

[0100] Fig. 12 is a flowchart showing an example of the abnormality determination process according to the present embodiment. The process shown in Fig. 12 is started, for example, between the time when the unmanned transport robot 1c is loaded with a load, locked, and the time when the unmanned transport robot 1c departs for the destination of the load, but the timing at which the process shown in Fig. 12 is started is not limited to this.

[0101] 12, the automated guided robot 1c acquires sensor information (step S51). Specifically, the sensor 23 detects at least one of the state of the luggage in the luggage compartment 2b and the environment in the luggage compartment 2b, as in the second embodiment. The sensor 23 outputs the detection result as sensor information to the abnormality determination unit 12a.

[0102] Next, the automatic guided robot 1c determines whether or not there is an abnormality in the luggage compartment 2b (step S52). In detail, the abnormality determination unit 12a determines whether or not there is an abnormality in the luggage compartment 2b using the sensor information received from the sensor 23.

[0103] For example, if the sensor information is image data of a piece of luggage in the luggage compartment 2b, the abnormality determination unit 12a extracts an area corresponding to the luggage from the image represented by the image data, and determines that an abnormality exists in the luggage compartment 2b if the extracted area has changed by a certain amount or more since the luggage was loaded. For example, if the luggage falls over or is deformed due to an impact, the area corresponding to the luggage in the image will change. The abnormality determination unit 12a can detect an abnormality such as a fall or deformation of the luggage by detecting a change in the area corresponding to the luggage in the image. Furthermore, if the sensor information is image data of a piece of luggage in the luggage compartment 2b, the abnormality determination unit 12a may determine that an abnormality exists in the luggage compartment 2b if the luggage in the image is dirty. Whether or not the luggage is dirty may be determined based on, for example, a change in color of the area corresponding to the luggage. Furthermore, if the sensor information is image data of the interior of the luggage compartment 2b, the abnormality determination unit 12a may determine that an abnormality exists in the luggage compartment 2b if the luggage is dirty.

[0104] Furthermore, when the sensor information is the detection result of the temperature inside the luggage compartment 2b, the abnormality determination unit 12a may determine that there is an abnormality inside the luggage compartment 2b if the temperature deviates from a predetermined normal range. Similarly, when the sensor information is the detection result of the pressure, humidity, or vibration, the abnormality determination unit 12a may determine that there is an abnormality inside the luggage compartment 2b if the value indicated by the sensor information deviates from a predetermined normal range.

[0105] If no abnormality is found in the luggage compartment 2b (step S52: No), the process from step S51 is repeated. If an abnormality is found in the luggage compartment 2b (step S52: Yes), the automated guided robot 1c notifies the abnormality (step S53), and the process from step S51 is repeated. The method of notifying the abnormality is the same as step S7 in the first embodiment, and the destination of the abnormality notification may be the management device 5b, or may further include at least one of the user terminal 6 and the sender device 7. The user terminal 6 and the sender device 7 may also be notified of the abnormality from the management device 5b. As described in the first embodiment, when notifying the abnormality, the details of the abnormality may also be notified. In step S53, the user may be notified that an abnormality has occurred in the luggage compartment 2b, or the details of the abnormality may be notified in more detail, such as that dirt has been detected in the luggage compartment 2b or that the temperature has risen above the normal range.

[0106] Furthermore, the division of functions between the management device and the unmanned transport robot is not limited to the example shown in FIG. 11. For example, in the configuration example shown in FIG. 7 of the first embodiment, the sensor 23 may be added to the unmanned transport robot 1a of the first embodiment, the information provision management unit 55 may be added to the management device 5a, and the management device 5a may be provided with an abnormality determination unit 12a instead of the abnormality determination unit 12, thereby performing the operations described in this embodiment. Furthermore, an abnormality determination unit that determines an abnormality in the luggage compartment 2b of this embodiment may be provided separately from the abnormality determination unit 12 described in the first embodiment. For example, when the abnormality determination unit 12 described in the first embodiment is defined as the first abnormality determination unit and the abnormality determination unit that determines an abnormality in the luggage compartment 2b of this embodiment is defined as the second abnormality determination unit, both the first abnormality determination unit and the second abnormality determination unit may be provided in the unmanned transport robot 1c or in the management device 5b. Alternatively, the first abnormality judgment unit may be provided within the unmanned transport robot 1c and the second abnormality judgment unit may be provided within the management device 5b, or the second abnormality judgment unit may be provided within the unmanned transport robot 1c and the first abnormality judgment unit may be provided within the management device 5b.

[0107] Furthermore, in the above example, the operation of this embodiment is performed after the abnormality determination process described in the first embodiment is performed, but this is not limiting. The operation of this embodiment may be performed without performing the abnormality determination process described in the first embodiment. In this case, the unmanned transport robot 1c may be equipped with the second abnormality determination unit described above instead of the abnormality determination unit 12a, and may not be equipped with the opening / closing sensor 22 and the imaging device 13, and the management device 5b may not be equipped with the alarm issuance unit 52. Furthermore, the operation of providing the sensor information to the user terminal 6 described in the second embodiment may not be performed, and an abnormality in the luggage compartment 2b may be determined using the sensor information of this embodiment. In this case, the sensor information does not need to be transmitted to the management device 5b.

[0108] A control device (not shown) in the unmanned transport robot 1c of this embodiment is also realized by a computer system including the processing circuit shown in Fig. 8. The control device includes, for example, an abnormality determination unit 12a, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. The abnormality determination unit 12a in the control device is realized by the processor 101 shown in Fig. 8 executing a program stored in the memory 102 shown in Fig. 8. The memory 102 shown in Fig. 8 is also used to realize the abnormality determination unit 12a.

[0109] As described above, in this embodiment, the transport system 100c is configured to determine an abnormality in the luggage compartment 2b of the unmanned transport robot 1c. If the luggage compartment 2b is not monitored, the occurrence of an abnormality is not known until after the unmanned transport robot 1c arrives at the user's location. However, in this embodiment, it is possible to know that an abnormality has occurred in the luggage compartment 2b during transport, and therefore, measures can be taken promptly.

[0110] Embodiment 4 13 is a diagram showing an example of the configuration of a transport system according to the fourth embodiment. A transport system 100d of this embodiment includes an unmanned transport robot 1d and a management device 5b similar to that of the third embodiment. Components having the same functions as those of the third embodiment will be described with the same reference numerals as those of the third embodiment. Differences from the third embodiment will be mainly described below.

[0111] The unmanned transport robot 1d of this embodiment is the same as the unmanned transport robot 1c of embodiment 3, except that a working mechanism 9 is added to the unmanned transport robot 1c of embodiment 3, and that instead of the abnormality determination unit 12a, the luggage compartment 2b, and the movement control unit 3, the unmanned transport robot 1d is equipped with an abnormality determination unit 12b, a luggage compartment 2c, and a control unit 8.

[0112] The luggage compartment 2c is similar to the luggage compartment 2b of the third embodiment except for the addition of an environmental control device 24. The environmental control device 24 controls the environment within the luggage compartment 2c. The environment within the luggage compartment 2c is an example of the environment surrounding the luggage. The environmental control device 24 controls, for example, at least one of the temperature, humidity, and pressure within the luggage compartment 2c. For example, when the temperature detection result is used as the sensor information, a device capable of adjusting the temperature within the luggage compartment 2c is used as the environmental control device 24. When the humidity detection result is used as the sensor information, a device capable of adjusting the humidity within the luggage compartment 2c is used as the environmental control device 24. When the pressure detection result is used as the sensor information, a device capable of adjusting the pressure within the luggage compartment 2c is used as the environmental control device 24. The temperature and humidity within the luggage compartment 2c are examples of the temperature and humidity surrounding the luggage, respectively.

[0113] The abnormality determination unit 12b determines whether there is an abnormality in the luggage compartment 2c using the sensor information, similar to the abnormality determination unit 12a in the third embodiment. When the abnormality determination unit 12b determines that there is an abnormality in the luggage compartment 2c, it transmits instruction information indicating an instruction to resolve the abnormality to an abnormality response device, which is at least one of the control unit 8 and the environmental control device 24, thereby causing the abnormality response device to execute control to resolve the abnormality.

[0114] The control unit 8 controls the movement mechanism 4 in the same way as the movement control unit 3 in the first embodiment, and also controls the working mechanism 9 that performs work. The working mechanism 9 is, for example, a robot arm, but is not limited to this as long as it is a mechanism that can adjust the load, such as moving the position of the load or changing the orientation of the load.

[0115] Fig. 14 is a flowchart showing an example of the abnormality determination process according to the present embodiment. The process shown in Fig. 14 is started, for example, between when a package is loaded onto the automated guided robot 1d and the automated guided robot 1d is locked and when the automated guided robot 1d departs for the package's destination, but the timing at which the process shown in Fig. 14 is started is not limited to this.

[0116] The process shown in Fig. 14 is the same as the process shown in Fig. 12 of the third embodiment, except that step S54 is performed instead of step S53. If the answer to step S52 is Yes, the automatic guided robot 1d performs abnormality response control (step S54). In detail, the abnormality determination unit 12b transmits instruction information indicating an instruction to resolve the abnormality to an abnormality response device, which is at least one of the control unit 8 and the environmental control device 24. Then, the abnormality response device executes abnormality response control, which is control to resolve the abnormality, based on the instruction information.

[0117] For example, if the sensor information includes temperature information that is the detection result of the temperature inside the luggage compartment 2c, the abnormality determination unit 12b determines in step S52 that the temperature inside the luggage compartment 2c deviates from the normal range using the temperature information and determines that an abnormality has occurred, and controls the environmental control device 24 to bring the temperature inside the luggage compartment 2c within the normal range. In this case, the environmental control device 24 can control the temperature inside the luggage compartment 2c. For example, the abnormality determination unit 12b generates instruction information indicating an instruction to adjust the temperature so that the temperature falls within the normal range, and transmits the generated instruction information to the environmental control device 24. The environmental control device 24 adjusts the temperature inside the luggage compartment 2c based on the instruction information. For example, if the temperature exceeds the normal range, the abnormality determination unit 12b generates instruction information indicating an instruction to lower the temperature, and if the temperature falls below the normal range, the abnormality determination unit 12b generates instruction information indicating an instruction to increase the temperature.

[0118] Similarly, if the sensor information includes humidity information that is the detection result of the humidity in the luggage compartment 2c, the abnormality determination unit 12b uses the humidity information to determine that an abnormality exists when it is determined that the humidity deviates from the normal range, and controls the environmental control device 24 to bring the humidity in the luggage compartment 2c within the normal range. In this case, the environmental control device 24 can control the humidity in the luggage compartment 2c. For example, the abnormality determination unit 12b generates instruction information that instructs the environmental control device 24 to adjust the humidity to bring the humidity within the normal range, and transmits the generated instruction information to the environmental control device 24.

[0119] Similarly, when the sensor information includes pressure information that is the detection result of the pressure in the luggage compartment 2c, the abnormality determination unit 12b uses the pressure information to determine that an abnormality exists when the pressure deviates from the normal range and controls the environmental control device 24 to bring the pressure in the luggage compartment 2c within the normal range. In this case, the environmental control device 24 can control the pressure in the luggage compartment 2c. For example, the abnormality determination unit 12b generates instruction information that instructs the environmental control device 24 to adjust the pressure to bring the pressure within the normal range and transmits the generated instruction information to the environmental control device 24. Note that although FIG. 13 shows the environmental control device 24 included in the luggage compartment 2c, the environmental control device 24 may be provided outside the luggage compartment 2c.

[0120] Furthermore, for example, if the sensor information includes imaging data of an image of a package in the luggage compartment 2c, and if it is determined in step S52 that an abnormality exists due to the detection of the package tipping over, the abnormality determination unit 12b generates instruction information instructing the control unit 8 to correct the orientation of the package, and transmits the generated instruction information to the control unit 8. The control unit 8 eliminates the abnormality by controlling the working mechanism 9 based on the instruction information. In this case, the sensor information includes imaging data (third imaging data) obtained by imaging the package, and the abnormality determination unit 12b uses the imaging data to determine whether the orientation of the package is abnormal. If it determines that the orientation of the package is abnormal, it determines that an abnormality exists in the luggage compartment 2c, and instructs the control unit 8 to cause the working mechanism 9 to return the orientation of the package to the correct orientation. When the control unit 8 is instructed by the abnormality determination unit 12b to return the orientation of the package to the correct orientation, it controls the working mechanism 9 so that the working mechanism 9 returns the orientation of the package to the correct orientation. The abnormality determination unit 12b may instruct the control unit 8 on a specific direction and amount of rotation to return the luggage to the correct orientation, or may output information indicating the correct orientation to the working mechanism 9. The control unit 8 may control the working mechanism 9 using third photographic data that is sensor information acquired by the sensor 23, or may control the working mechanism 9 based on information acquired by a sensor other than the sensor 23 that is provided for controlling the working mechanism 9.

[0121] FIG. 15 is a diagram showing an example of a working mechanism 9 according to this embodiment. In the example shown in FIG. 15, a robot arm is used as the working mechanism 9. As shown in FIG. 15, for example, the working mechanism 9 is provided in the luggage compartment 2c, and is capable of correcting the orientation of luggage and moving the position of luggage. Note that FIG. 15 is just an example, and the shape, size, and placement position of the working mechanism 9 are not limited to the example shown in FIG. 15.

[0122] 14, step S54 is performed instead of step S53, but this is not a limitation, and both step S53 and step S54 may be performed. Also, in the example shown in Fig. 13, both the environmental control device 24 and the control unit 8 are provided as anomaly response devices, but this is not a limitation, and the anomaly response device may be either the environmental control device 24 or the control unit 8.

[0123] Furthermore, the division of functions between the management device and the unmanned transport robot is not limited to the example shown in FIG. 13 . For example, in the configuration example shown in FIG. 7 of the first embodiment, the sensor 23 may be added to the unmanned transport robot 1a of the first embodiment, the information provision management unit 55 may be added to the management device 5a, and the management device 5a may be provided with an abnormality determination unit 12b instead of the abnormality determination unit 12, thereby implementing the operations described in this embodiment. Furthermore, an abnormality determination unit that determines an abnormality in the luggage compartment 2c of this embodiment and takes appropriate action against the abnormality may be provided separately from the abnormality determination unit 12 described in the first embodiment. For example, when the abnormality determination unit 12 described in the first embodiment is defined as a first abnormality determination unit and the abnormality determination unit that determines an abnormality in the luggage compartment 2c of this embodiment and takes appropriate action against the abnormality is defined as a third abnormality determination unit, both the first abnormality determination unit and the third abnormality determination unit may be provided in the unmanned transport robot 1d or in the management device 5b. Alternatively, the first abnormality judgment unit may be provided within the unmanned transport robot 1d and the third abnormality judgment unit may be provided within the management device 5b, or the third abnormality judgment unit may be provided within the unmanned transport robot 1d and the first abnormality judgment unit may be provided within the management device 5b.

[0124] Furthermore, in the above example, the operation of this embodiment is performed after the abnormality determination process described in the first embodiment is performed. However, this is not limiting, and the operation of this embodiment may be performed without performing the abnormality determination process described in the first embodiment. In this case, the unmanned transport robot 1d may be equipped with the third abnormality determination unit described above instead of the abnormality determination unit 12b, and may not be equipped with the opening / closing sensor 22 and the imaging device 13, and the management device 5b may not be equipped with the alarm issuance unit 52. Furthermore, the operation of providing the sensor information to the user terminal 6 described in the second embodiment may not be performed, and an abnormality in the luggage compartment 2c may be determined and an abnormality response may be performed using the sensor information of this embodiment. In this case, the sensor information does not need to be transmitted to the management device 5b.

[0125] A control device (not shown) in the unmanned transport robot 1d of this embodiment is also realized by a computer system including the processing circuit shown in Fig. 8. The control device includes, for example, an abnormality determination unit 12b, an authentication information storage unit 14, an authentication unit 15, and a movement control unit 3. The abnormality determination unit 12b in the control device is realized by the processor 101 shown in Fig. 8 executing a program stored in the memory 102 shown in Fig. 8. The memory 102 shown in Fig. 8 is also used to realize the abnormality determination unit 12b.

[0126] As described above, in this embodiment, the transport system 100d determines whether there is an abnormality in the luggage compartment 2c of the unmanned transport robot 1d, and if it determines that there is an abnormality, performs abnormality response control. Therefore, if an abnormality occurs in the luggage compartment 2c during transport, the abnormality can be quickly corrected.

[0127] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention. [Explanation of symbols]

[0128] 1, 1a, 1b, 1c, 1d unmanned transport robot, 2, 2b, 2c luggage compartment, 3 movement control unit, 4 movement mechanism, 5, 5a, 5b management device, 6 user terminal, 7 sender device, 8 control unit, 9 working mechanism, 11, 51, 61 transmission / reception unit, 12, 12a, 12b abnormality determination unit, 13 imaging device, 14 authentication information storage unit, 15 authentication unit, 16 reception unit, 17 self-location determination unit, 21 door, 22 opening / closing sensor, 23 sensor, 24 environmental control device, 31 wheels, 32 housing, 52 alarm generation unit, 53 operation management unit, 54 information storage unit, 55 information provision management unit, 62 display unit, 63 input reception unit, 100, 100b, 100c, 100d transport system, 211 key.

Claims

1. An unmanned transport robot that transports luggage to a user, an abnormality determination unit that determines whether or not there is a security abnormality regarding the package based on monitoring information indicating the occurrence state of a security abnormality regarding the package, and notifies the user of the occurrence of the abnormality when it is determined that there is an abnormality; Equipped with the abnormality determination unit determines that unauthorized opening of a door of a holding unit that holds luggage is the abnormality; The automatic guided robot is characterized in that the abnormality determination unit determines that the abnormality exists when the door is opened at a time other than a predetermined time after it is determined that the authentication is successful.

2. An unmanned transport robot that transports luggage to a user, an abnormality determination unit that determines whether or not there is a security abnormality regarding the package based on monitoring information indicating the occurrence state of a security abnormality regarding the package, and notifies the user of the occurrence of the abnormality when it is determined that there is an abnormality; Equipped with the monitoring information includes first photographed data obtained by photographing the surroundings of the automatic guided robot, The abnormality determination unit uses the first photographic data to determine whether there is a person behaving in a predetermined suspicious manner within a range that is within a predetermined distance from the unmanned transport robot, and if it determines that there is a person behaving in a suspicious manner within the range, it determines that there is an abnormality.

3. An unmanned transport robot that transports luggage to a user, an abnormality determination unit that determines whether or not there is a security abnormality regarding the package based on monitoring information indicating the occurrence state of a security abnormality regarding the package, and notifies the user of the occurrence of the abnormality when it is determined that there is an abnormality; Equipped with the monitoring information includes second photographic data obtained by photographing an area below the automatic guided robot, The unmanned transport robot is characterized in that the abnormality determination unit determines, using the second photographic data, that the abnormality exists when the distance between the unmanned transport robot and a reference plane perpendicular to the vertical direction becomes a certain distance or more.

4. A transmitter / receiver is provided, 4. The unmanned transport robot according to claim 1, wherein the abnormality determination unit generates abnormality information indicating that an abnormality has occurred when it determines that an abnormality has occurred, and notifies the unmanned transport robot of the abnormality by transmitting the generated abnormality information to a management device that manages the unmanned transport robot via the transceiver unit.

5. An unmanned transport robot that transports luggage to a user, an abnormality determination unit that determines whether or not there is a security abnormality regarding the package based on monitoring information indicating the occurrence state of a security abnormality regarding the package, and notifies the occurrence of the abnormality when it is determined that there is an abnormality; a sensor for detecting at least one of the state of the luggage and the environment surrounding the luggage; a providing unit that provides sensor information, which is a detection result by the sensor, to a user corresponding to the package; A working mechanism; a control unit that controls the working mechanism; Equipped with the abnormality determination unit determines whether or not there is a situation abnormality, which is an abnormality in the environment around the luggage, using the sensor information, and notifies the user of the situation abnormality when it is determined that there is a situation abnormality; the sensor information includes third image data obtained by photographing the package, the abnormality determination unit determines whether the orientation of the luggage is abnormal using the third photographed data, determines that the situation is abnormal when it is determined that the orientation of the luggage is abnormal, and instructs the control unit to return the orientation of the luggage to the correct orientation using the working mechanism; The control unit controls the working mechanism so that the orientation of the luggage is returned to the correct orientation when instructed by the abnormality determination unit to return the orientation of the luggage to the correct orientation.

6. an environmental control device for controlling the temperature around the luggage; the sensor information includes temperature information that is a result of detecting the temperature around the luggage, 6. The unmanned transport robot according to claim 5, wherein the abnormality determination unit uses the temperature information to determine whether the temperature around the package deviates from a normal range, determines that the abnormal situation exists when it is determined that the temperature around the package deviates from the normal range, and controls the environmental control device to bring the temperature around the package within the normal range.

7. an environmental control device for controlling the humidity around the luggage; the sensor information includes humidity information that is a result of detecting humidity around the luggage; 7. The unmanned transport robot according to claim 5, wherein the abnormality determination unit uses the humidity information to determine whether the humidity around the package deviates from a normal range, and when it determines that the humidity around the package deviates from the normal range, determines that the situation is abnormal and controls the environmental control device so that the humidity around the package is within the normal range.

8. an environmental control device for controlling the pressure of the holding section for holding the luggage; the sensor information includes pressure information that is a detection result of pressure inside the holding portion, 7. The unmanned transport robot according to claim 5, wherein the abnormality determination unit uses the pressure information to determine whether the pressure in the holding unit deviates from a normal range, and if it determines that the pressure in the holding unit deviates from the normal range, determines that the abnormal situation exists, and controls the environmental control device so that the pressure in the holding unit is within the normal range.

9. A management device that manages an unmanned transport robot that transports luggage to a user, a receiving unit that receives monitoring information indicating the occurrence of a security abnormality related to the package from the automatic guided robot; an abnormality determination unit that determines whether or not there is a security abnormality regarding the package based on the monitoring information, and notifies the user of the occurrence of the abnormality when it determines that there is an abnormality; A management device comprising:

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