Delivery system, delivery method and automatic moving device

Abstract

A delivery system according to the present disclosure is designed to deliver goods and includes an automatic transfer device that automatically transfers goods within a specific space, said automatic transfer device being provided with a detection unit that detects the surroundings, a drive unit, and a control unit that controls the drive unit, wherein the specific space includes a waiting space where the automatic transfer device waits, and the delivery system is provided with a cleaning device that is provided in the waiting space and that cleans the automatic transfer device when the automatic transfer device is waiting.

Description

[Technical Field]

[0001] This specification discloses a delivery system, a delivery method, and an automated transport device. [Background technology]

[0002] Conventionally, a mobile robot system has been proposed that includes a base station and a mobile robot for mowing or cleaning. The base station is equipped with environmental sensors for temperature, precipitation, etc., and the mobile robot's entry is restricted depending on weather conditions (see, for example, Patent Document 1). This system is said to improve the work results of the mobile robot by reducing unnecessary work. Another mobile robot system has been proposed that detects the presence or absence of an abnormality in the drive system of the travel motor, including the battery, based on the battery current waveform when the mobile robot travels along a predetermined travel path (see, for example, Patent Document 2). This system is said to be able to appropriately detect an abnormality in the drive system, including the electrical energy source. Another mobile robot system has been proposed that uses ultrasonic measurement and an odometer to detect its approximate position, and a docking device transmits a slot-shaped light beam perpendicular to the travel surface, which is then detected by a detector to determine the mobile robot's exact rotation angle (see, for example, Patent Document 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2019-501650 [Patent Document 2] Japanese Patent Application Publication No. 2016-33816 [Patent Document 3] Special Publication No. 2001-508572 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, automatic moving devices are sometimes used, for example, in delivery systems that deliver goods. In delivery systems, the automatic moving devices not only perform delivery tasks of delivering goods, but also wait between tasks, charge the devices, and perform maintenance and inspection work, and therefore efficient operation is desirable. Although Patent Documents 1 to 3 are systems that use automatic moving devices, they do not take into consideration efficient maintenance and operation of the automatic moving devices.

[0005] The present disclosure has been made to solve such problems, and its main purpose is to provide a delivery system, a delivery method, and an automated moving device that can utilize waiting time to perform maintenance work more efficiently.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The delivery system disclosed herein comprises: A delivery system that delivers an item, the delivery system having an automatic moving device that includes a detection unit that detects the surroundings, a drive unit, and a control unit that controls the drive unit, and that automatically moves an item within a specific space by the drive unit, a waiting space in which the automatic moving device waits is provided in the specific space, and a cleaning device disposed in the waiting space for cleaning the automatic moving device while the automatic moving device is waiting.

[0008] In this delivery system, a cleaning device for cleaning the automatic moving device is provided in the waiting space where the automatic moving device waits, so that the automatic moving device can be cleaned while waiting. In this delivery system, the waiting time can be utilized to carry out maintenance work more efficiently. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic explanatory diagram showing an example of a delivery system 10. FIG. [Figure 2] FIG. 2 is an explanatory diagram showing an example of a logistics center 20. [Figure 3] FIG. 2 is an explanatory diagram showing an example of a waiting space 30 and an automatic moving device 40. [Figure 4] 3A and 3B are three-view diagrams of an automatic moving device 40 connected to a carriage 12. FIG. [Figure 5] FIG. 4 is an explanatory diagram showing an example of a detection range of a detection unit 47. [Figure 6] FIG. 2 is an explanatory diagram showing an example of maintenance information 25 stored in a storage unit 23. [Figure 7] 10 is a flowchart illustrating an example of an automated moving device maintenance processing routine. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of a delivery system 10. FIG. 2 is a diagram illustrating an example of a logistics center 20. FIG. 3 is a diagram illustrating an example of a waiting space 30 and an automatic moving device 40. FIG. 4 is a three-sided view of the automatic moving device 40 connected to a cart 12, with FIG. 4A being a plan view, FIG. 4B being a front view, and FIG. 4C being a side view. FIG. 5 is a diagram illustrating an example of the detection range of a detection unit 47. FIG. 6 is a diagram illustrating an example of maintenance information 25 stored in a memory unit 23. The delivery system 10 has an automatic moving device 40 that automatically moves items within a specific space and is a system that performs a process to deliver the items. This delivery system 10 will be described as an example in which items are transported using a cart 12, but is not limited to this, and the cart 12 may be omitted or other components may be used. Here, the term "goods" is not particularly limited as long as they are delivered, and examples thereof include industrial products such as machinery, equipment, equipment units, and parts, as well as commonly used daily commodities, food, and fresh produce. Examples of the "origin" and "destination" include a logistics center that collects and delivers goods, a warehouse that stores goods, and a store that sells goods. Examples of the "specific space" include the origin and destination, as well as the cargo compartment and work elevator of a mobile vehicle that delivers goods. Examples of mobile vehicles include vehicles such as delivery vans 18 and trains, ships, and aircraft. For ease of explanation, the following description will focus on a delivery system 10 that delivers goods such as daily necessities and fresh produce from a logistics center 20 as a source of delivery to a store 60 as a destination by delivery vans 18.

[0011] 1, the delivery system 10 includes a logistics PC 21, a store PC 61, an automatic moving device 40, and a control device 70. The delivery system 10 is also used in a cart 12, a delivery vehicle 18, a logistics center 20, a store 60, and the like.

[0012] The dolly 12 is a transport object used to transport goods, and as shown in Figures 1 and 4, it has a mounting portion 13 and casters 14. The mounting portion 13 is a flat plate-shaped member on which goods are loaded. The casters 14 have wheels that allow the dolly 12 to travel, and are disposed on the underside of the mounting portion 13. The dolly 12 may be a cage dolly.

[0013] A delivery vehicle 18 is a vehicle that delivers goods by loading one or more dollies 12 onto it. The delivery vehicle 18 delivers goods between delivery bases. Here, "delivery bases" include logistics centers 20 and stores 60 that collect goods. The delivery vehicle 18 loads the dollies 12 into its cargo compartment 61 at the logistics center 20, delivers the goods to the delivery destination, and returns the empty dolly 12 to the logistics center 20.

[0014] The logistics center 20 is a place where goods are collected and delivered to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 2, the logistics center 20 has one or more automatic moving devices 40, which can automatically move the carts 12. This logistics center 20 has, for example, a waiting space 30 in a specific area on the floor, and the automatic moving device 40 waits in this waiting space 30 when not performing work such as moving goods. In this logistics center 20, workers or arm robots (not shown) perform the work of loading goods onto carts 12 corresponding to delivery destinations. The automatic moving device 40 collects, loads in, and loads out carts 12 with specified delivery destinations.

[0015] The logistics PC 21 is installed in the logistics center 20 and is configured as a management device for managing products at the logistics center 20. The logistics PC 21 includes a control unit 22, a memory unit 23, and a communication unit 28. The control unit 22 has a CPU and controls the entire device. The memory unit 23 stores various application programs and various data files. The memory unit 23 stores delivery management information 24, maintenance information 25, map information 26, and the like. The delivery management information 24 is information used to manage the delivery of goods. The maintenance information 25 includes information related to the maintenance of the automated moving device 40 installed in the logistics center 20. As shown in FIG. 6, the maintenance information 25 is associated with the identifier (ID) of the automated moving device 40 and includes the operating time of the device, the time of the last automatic inspection, the inspection results of the detection unit 47, the time elapsed since the last cleaning, and the state of charge (SOC) of the storage battery. The map information 26 is map information of the logistics center 20. The communication unit 28 communicates wirelessly with external devices such as the automatic moving device 40. The communication unit 28 exchanges information with the control device 70 and the store PC 61 via the network 15. The logistics PC 21 outputs a command to the cleaning device 34 to perform a cleaning process for the automatic moving device 40, based on information about the automatic moving device 40 waiting in the waiting space 30.

[0016] The waiting space 30 is configured as a garage with a floor, ceiling, and walls where the automatic mobile device waits. A door 31 and a wall 32 are arranged in the waiting space 30. The door 31 opens and closes access from outside when the automatic mobile device 40 enters or exits the waiting space 30. An opening and closing device (not shown) is arranged on this door 31, and the door opens and closes in response to an opening and closing signal from the automatic mobile device 40. The wall 32 is a member that divides the waiting space 30 into spaces for each automatic mobile device 40, and faces the side and rear of the automatic mobile device 40.

[0017] Additionally, the waiting space 30 is provided with a charging device 33, a cleaning device 34, and an inspection unit 36 ​​as working devices related to the automatic moving device 40. The charging device 33 is provided in the waiting space 30 and charges a storage battery for driving the automatic moving device 40 while the automatic moving device 40 is waiting. The charging device 33 charges the storage battery using a wireless charging method, such as electromagnetic induction, magnetic resonance, or electric field coupling. Alternatively, the charging device 33 may be configured to charge the storage battery via a wired connection using a plug method. The charging device 33 may start charging, for example, when it receives a signal from the automatic moving device 40, or when it detects the automatic moving device 40 using a sensor (not shown).

[0018] The cleaning device 34 is disposed in the standby space 30 and cleans the automatic moving device 40 while it is waiting. The cleaning device 34 is configured as an air blower that uses air to remove foreign matter adhering to the automatic moving device 40. As shown in FIGS. 2 and 3 , the cleaning device 34 includes a pipe for supplying air, a cleaning hole 35 facing the cleaning portion of the automatic moving device 40, a solenoid valve for opening and closing the cleaning hole 35, and a compression pump 38 for supplying high-pressure air to the cleaning hole 35. The cleaning hole 35 may be disposed at a position facing the cleaning hole 35 or, for example, a detection unit 47 provided in the automatic moving device 40, and may primarily clean the detection unit 47. The cleaning hole 35 is disposed at a position facing the first to fifth sensors 51 to 55, respectively. The solenoid valve and compression pump 38 may be controlled by the logistics PC 21. The cleaning device 34 performs cleaning of the automatic moving device 40 based on the inspection results obtained using the inspection unit 36. The cleaning device 34 may be any device that removes foreign matter and dirt adhering to the automatic moving device 40, and may be a liquid spray cleaning device that applies cleaning liquid to the body and washes off the foreign matter and dirt, or a brush device that applies a brush as a cleaning member to the body and scrubs off the foreign matter and dirt.

[0019] The inspection unit 36 ​​is disposed in the waiting space 30 and is used to inspect the functionality of the automatic moving device 40. While waiting in the waiting space 30, the automatic moving device 40 uses the inspection unit 36 ​​to inspect the functionality of the automatic moving device 40. The inspection unit 36 ​​is configured to include one or more inspection patterns 37 and may be used to inspect the detection unit 47. The inspection patterns 37 are formed on the wall 32 within the detection range of the detection unit 47 (see FIG. 5). The inspection pattern 37 may also be formed on the door 31 that serves as the wall 32. The inspection units 36 are provided at positions facing the first to fifth sensors 51 to 55, respectively. It is preferable that the inspection pattern 37 be a pattern suited to the detection method of the detection unit 47. For example, if the detection unit 47 is an imaging camera, the inspection pattern 37 may be a three-color pattern of RGB, or if it is a stereo camera, a multi-color pattern. Furthermore, when the detection unit 47 is a laser scan sensor or a sonar sensor, the inspection pattern 37 may be an achromatic plane or the wall portion 32 itself.

[0020] The automatic moving device 40 is a vehicle that automatically moves a dolly 12 as a transported object. The automatic moving device 40 enters the space between the casters 14 on the underside of the mounting portion 13 of the dolly 12, and either lifts the mounting portion 13 from below with a loading portion 44 to load it, or connects it to the dolly 12 so that it is engaged and pulled, thereby moving the dolly 12. The automatic moving device 40 may be an AGV (Automatic Guided Vehicle) that moves along a line formed on a road surface, or an AMR (Autonomous Mobile Robot) that senses its surroundings and moves along a free route. As shown in FIG. 3 , the automatic moving device 40 has a vehicle body 41, a control unit 42, a memory unit 43, a loading unit 44, a lifting unit 45, a drive unit 46, a detection unit 47, a driving unit 49, and traveling wheels 50.

[0021] The vehicle body 41 is a flat housing that fits under the cart 12. The running wheels 50 are disposed on the underside, and the loading unit 44 is disposed on the upper side. The control unit 42 is a controller that controls the entire automatic moving device 40. The control unit 42 outputs control signals to the lifting unit 45, the drive unit 46, the detection unit 47, and the communication unit 48, and also inputs signals from the detection unit 47 and the communication unit 48. The control unit 42 determines the moving direction, moving distance, and current position of the automatic moving device 40 based on the driving status of the drive unit 46. The control unit 42 controls the movement and stopping of the automatic moving device 40 based on information from the detection unit 47. The memory unit 43 stores various application programs and various data files. The memory unit 43 stores, for example, location information, including the locations of the delivery origin and delivery destination to which the cart 12 is moved, and map information of the logistics center 20. The location information and map information are acquired via communication from the logistics PC 21. The communication unit 48 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21. The control unit 42 exchanges information with the logistics PC 21 via the communication unit 48. The automatic moving device 40 outputs information about its own cleaning and / or information about the inspection by the detection unit 47 to the logistics PC 21 via the communication unit 48. The driving unit 49 is a housing that is connected to the end of the vehicle body unit 41 and is installed next to the loading unit 44 and higher than the vehicle body unit 41. The driving unit 49 houses the control unit 42, memory unit 43, communication unit 48, storage battery, etc.

[0022] The loading unit 44 moves upward from the vehicle body 41 of the automatic moving device 40 and presses or engages with the underside of the placement unit 13, thereby connecting with the dolly 12 (see FIG. 4). The loading unit 44 has a towing member 56, a loading member 57, a support member 58, and a base 59. The towing member 56 is a pin-shaped member that engages with unevenness formed on the underside of the placement unit 13 and moves the dolly 12 with the casters 14 in contact with the ground, i.e., is used when towing the dolly 12. The towing members 56 are disposed at four locations on the upper surface of the support member 58 so as to be engageable in the front-rear and left-right directions. The loading members 57 are flat-plate-shaped members that are used when moving the dolly 12 in a lifted, loaded state. The loading members 57 are disposed at four locations on the upper surface of the base 59 so as to stably lift the dolly 12. The base unit 59 is an integrated structure on which all of the loading members 57 are arranged, and is raised and lowered by the lifting unit 45. The support members 58 are two columnar members that are hung in the vicinity of each pair of loading members 57. The support members 58 move up and down relative to the loading members 57. In the loading unit 44, the loading members 57 rise and fall in accordance with the rise and fall of the base unit 59, and further, the pulling member 56 rises and falls due to the rise and fall of the support members 58.

[0023] The drive unit 46 is a motor connected to each traveling wheel 50 and drives the connected traveling wheels 50 to rotate, thereby driving the automatic mobile device 40 to travel. The automatic mobile device 40 has four traveling wheels 50 and moves by rotating the traveling wheels 50. The traveling wheels 50 may be Mecanum wheels or omni-wheels that are independently driven and can move vertically and horizontally. Due to their freedom of movement, the traveling wheels 50 are preferably Mecanum wheels. The detection unit 47 detects objects present around the automatic mobile device 40 and their distance. The detection unit 47 may, for example, detect the presence and distance of objects by irradiating the surrounding area with light such as a laser or sound waves and detecting reflected waves. The detection unit 47 may, for example, be one or more of a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor. In the case of an AGV, the detection unit 47 is a sensor that detects objects present near the vehicle body 41, and in the case of an AMR, it is a sensor that can detect obstacles, walls, etc. present in a wider area. The automated transport device 40 has a first sensor 51 and a second sensor 52 disposed at the front and rear of the vehicle body 41, a third sensor 53 disposed on the side of the vehicle body 41, and a fourth sensor 54 disposed on the front of the driver's unit 49. In addition, a fifth sensor 55 that detects the trolley 12 is disposed on the surface of the driver's unit 49 facing the loading unit 44.

[0024] As shown in FIG. 1 , the store 60 displays and sells delivered items. The store 60 has one or more automatic transport devices 40 and can automatically move the carts 12. The store 60 also has the waiting space 30 described above. The store 60 has display shelves 69 for displaying items, and workers display the items on these shelves. The store PC 61 is installed in the store 60 and is configured as a management device for managing merchandise in the store 60. The store PC 61 includes a control unit 62, a memory unit 63, and a communication unit 68. The control unit 62 has a CPU and controls the entire device. The memory unit 63 stores various application programs and various data files. The memory unit 63 stores delivery management information 64, maintenance information 65, map information 66, and the like. The delivery management information 64 is information used to manage the delivery of items. The maintenance information 65 includes information related to the maintenance of the automatic transport devices 40 installed in the store 60. The map information 66 is information about a map of the store 60. The communication unit 68 wirelessly communicates with external devices such as the automatic moving device 40. The communication unit 68 also exchanges information with the control device 70 and the logistics PC 21 via the network 15.

[0025] The coordinating device 70 is a device that manages the delivery system 10. This coordinating device 70 is equipped with a control unit 72, a memory unit 73, and a communication unit 78. The control unit 72 has a CPU and is responsible for controlling the entire device. The memory unit 73 stores various application programs and various data files. The memory unit 73 stores delivery management information 74, which is a database used to manage the delivery of goods, maintenance information 75, which is a database containing information regarding the maintenance of the automated mobile devices 40 installed in the logistics center 20 and the store 60, map information 76, which is a database of maps of the logistics center 20 and the store 60, and the like. The communication unit 78 exchanges information with external devices such as the logistics PC 21 and the store PC 61 via the network 15.

[0026] Next, a process in which the automated moving device 40 moves the dolly 12 at the logistics center 20 in the delivery system 10 configured as described above will be described. Here, a process in which the automated moving device 40 functioning as an AMR moves the dolly 12 to the delivery vehicle 18 will be described as a specific example. When this process begins, the control unit 22 of the logistics PC 21 first selects the automated moving device 40 that will automatically move, and outputs the current position of the dolly 12 to be moved and the destination position to the automated moving device 40. The automated moving device 40 moves to the current position of the dolly 12, detects the dolly 12 with the detection unit 47, inserts the body unit 41 under the dolly 12, and raises the loading unit 44 to engage the dolly 12. Next, the automated moving device 40 automatically travels to the destination position, and lowers the loading unit 44 upon arrival at the destination position. The logistics PC 21 and the automated moving device 40 repeatedly perform these operations.

[0027] Next, a process in which the automatic moving device 40 waits in the waiting space 30 at the logistics center 20 will be described. When the automatic moving device 40 has no work to do, it moves to the waiting space 30 and waits there (see FIG. 3). FIG. 7 is a flowchart showing an example of an automatic moving device maintenance process routine executed by the control unit 22 of the logistics PC 21. This routine is stored in the memory unit 23 and is executed after the automatic moving device 40 is accommodated in the waiting space 30. When this routine starts, the control unit 22 causes the charging device 33 to execute a process to charge the storage battery of the automatic moving device 40 (S100). The charging device 33 starts charging the storage battery. When the charging device 33 detects that charging of the storage battery is complete, the charging process ends.

[0028] Next, the control unit 22 outputs a command to the automatic moving device 40 to execute an automatic inspection (S110). Upon receiving the command to execute the automatic inspection, the automatic moving device 40 executes an inspection of the detection unit 47. The control unit 42 of the automatic moving device 40 determines, for example, based on actual measurement values, whether the distance to the inspection pattern 37 has changed from the initial value by more than a predetermined margin, or whether the RGB values ​​of the camera's image sensor have changed from the initial value by more than a predetermined margin, etc., as an inspection of the detection unit 47. The control unit 22 also outputs a command to the cleaning device 34 to clean the automatic moving device 40 (S120). Upon receiving this command, the cleaning device 34 drives the compression pump 38, opens the electromagnetic valve of the cleaning hole 35, and cleans the detection unit 47 with air blowing.

[0029] Next, the control unit 22 acquires the results of the automatic inspection from the automatic moving device 40 (S130) and determines whether the inspection results are satisfactory (S140). If all the inspection results are satisfactory, the control unit 22 updates the maintenance information 25 based on the operating time, the time of the last automatic inspection and cleaning, and the inspection results, and outputs the updated maintenance information 25 to the supervisory device 70 (S170), terminating this routine. On the other hand, if any of the inspection results are unsatisfactory in S140, the control unit 22 determines whether the reinspection and re-cleaning process has been performed a predetermined number of times (S150). The predetermined number of times is empirically determined to be a value, such as two, three, or five times, at which the inspection results of the detection unit 47 improve with cleaning. If the reinspection and re-cleaning process has not been performed the predetermined number of times, the control unit 22 repeatedly executes the process from S110 onward. That is, the automatic inspection and cleaning process is executed again. If the function of the detection unit 47 is restored by the re-cleaning process, the inspection result is determined to be good in S140. On the other hand, if the inspection result does not improve even after performing the re-inspection and re-cleaning processes a predetermined number of times in S150, the control unit 22 displays and outputs error information about the detection unit 47 (S160), updates and outputs the maintenance information 25 in S170, and ends this routine. After confirming the error information, the worker performs a detailed inspection and detailed maintenance of the automatic moving device 40.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The waiting space 30 of this embodiment corresponds to the waiting space of the present disclosure, the cleaning device 34 corresponds to the cleaning device, the inspection unit 36 ​​corresponds to the inspection unit 36, the charging device 33 corresponds to the charging device, the logistics PC 21, the store PC 61, and the supervisory device 70 correspond to the management devices, and the logistics center 20 and the store 60 correspond to the specific space. Also, the detection unit 47 corresponds to the detection unit, the drive unit 46 corresponds to the drive unit, the control unit 42 corresponds to the control unit, the automated moving device 40 corresponds to the automated moving device, and the delivery system 10 corresponds to the delivery system. Note that in this embodiment, an example of a delivery method of the present disclosure is also clarified by explaining the operation of the delivery system 10.

[0031] In the delivery system 10 of the present embodiment described above, the specific space, such as the logistics center 20 or store 60, is provided with a waiting space 30 where the automated moving device 40 waits, and a cleaning device 34 is disposed in the waiting space to clean the automated moving device 40 while it is waiting. In this delivery system 10, the automated moving device 40 can be cleaned while it is waiting. In this delivery system 10, the waiting time can be utilized to perform maintenance work more efficiently. Furthermore, the cleaning device 34 is one or more of an air blowing device, a liquid spraying cleaning device, and a brushing device, and therefore the automated moving device 40 can be cleaned using air blowing, liquid, a brush, or the like. Furthermore, the waiting space 30 is provided with an inspection unit 36 ​​that is used to inspect the functionality of the automated moving device 40. The automated moving device 40 can inspect its functionality using the inspection unit 36 ​​while waiting in the waiting space 30. Furthermore, the waiting space 30 has a wall 32 facing the automated moving device 40, and an inspection pattern 37 is formed on the wall 32 as an inspection unit 36 ​​to be detected by the detection unit 47 of the automated moving device 40, and the automated moving device 40 uses the inspection pattern 37 to inspect the detection unit 47 of the automated moving device 40. In this delivery system 10, the inspection pattern 37 can be used to inspect the sensor function of the automated moving device 40 while it is waiting. And, since the detection unit 47 is one or more of a laser scan sensor, an imaging camera, and a sonar sensor, the delivery system 10 can inspect the above sensors.

[0032] The cleaning device 34 also performs cleaning of the automated moving device 40 based on the inspection results obtained using the inspection unit 36. In this delivery system 10, the automated moving device 40 can be cleaned immediately or withheld depending on the inspection results, allowing for more efficient maintenance work. In the delivery system 10, if the inspection results of the detection unit 47 are unsatisfactory, the cleaning device 34 performs cleaning, allowing for functional recovery of the automated moving device 40. Furthermore, in the delivery system 10, inspections using the inspection unit 36 ​​are performed after the cleaning of the automated moving device 40, allowing for better inspection results. Furthermore, the delivery system 10 includes a logistics PC 21, a store PC 61, and a supervisory device 70 as management devices that manage information related to the delivery system 10. The automated moving device 40 outputs information related to the cleaning of the automated moving device 40 and / or maintenance information related to the inspection by the detection unit 47 to the management devices. In this delivery system 10, inspections can be performed or omitted based on the managed maintenance information, allowing for more efficient maintenance work. Furthermore, in the delivery system 10, a charging device 33 is provided in the waiting space 30 to charge the automated moving device 40 when the automated moving device 40 is waiting. In this delivery system 10, since the charging device 33 is provided in the waiting space 30, maintenance work can be carried out while the automated moving device 40 is charging when waiting.

[0033] Furthermore, the automated moving device 40 is equipped with a detection unit 47 that detects the surroundings, a drive unit 46 that drives the automated moving device 40, and a control unit 42 that controls the drive unit 46. The delivery system 10 is provided with a waiting space 30 in a specific space where the automated moving device 40 waits, and the waiting space 30 is equipped with an inspection unit 36 ​​that is used to inspect the functions of the automated moving device 40. The control unit 42 inspects the functions of the automated moving device 40 while the automated moving device 40 is waiting in the waiting space 30. The automated moving device 40 can be inspected while it is waiting. The automated moving device 40 can use the time it is waiting to perform maintenance work more efficiently.

[0034] Furthermore, the waiting space 30 forms a garage enclosed by the door 31, walls 32, and ceiling, which can prevent, for example, theft of the automated transport device 40. In addition, the door 31 opens and closes in response to a signal from the automated transport device 40, so that the automated transport device 40 can initiate entry and exit to the waiting space 30.

[0035] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0036] For example, in the above-described embodiment, the delivery system 10 is provided with the cleaning device 34 and the inspection unit 36 ​​in the waiting space 30, but this is not particularly limited, and either the cleaning device 34 or the inspection unit 36 ​​may be omitted. In the delivery system 10, if the cleaning device 34 is disposed in the waiting space 30, automatic cleaning of the automatic moving device 40 can be performed, and if the inspection unit 36 ​​is disposed in the waiting space 30, automatic inspection of the automatic moving device 40 can be performed. Furthermore, in the delivery system 10, the charging device 33 is provided in the waiting space 30, but this is not particularly limited, and the charging device 33 may not be provided. Note that in the delivery system 10, it is preferable to provide the charging device 33, the cleaning device 34, and the inspection unit 36 ​​in the waiting space 30 from the viewpoint of efficient maintenance.

[0037] In the above-described embodiment, the inspection unit 36 ​​is formed on the wall 32, but this is not particularly limited, and the inspection unit 36 ​​may be formed somewhere other than on the wall 32. Furthermore, while the waiting space 30 has the door 31 and the wall 32, this is not particularly limited as long as the charging device 33, cleaning device 34, inspection unit 36, etc. are disposed therein, and the waiting space may be an open space omitting the door 31, the wall 32, the ceiling, etc. In this delivery system 10, too, it is possible to use the waiting time to perform maintenance work more efficiently.

[0038] In the above-described embodiment, the cleaning device 34 performs cleaning of the automated moving device 40 based on the inspection results obtained using the inspection unit 36 ​​when the inspection results are not satisfactory, but this is not particularly limited, and such processing may be omitted. For example, the delivery system 10 may perform cleaning and inspection separately. In this delivery system 10, maintenance work can also be performed more efficiently by utilizing standby time.

[0039] In the above-described embodiment, when the automated moving device 40 waits in the waiting space 30, the charging process, the automatic inspection process, and the cleaning process are always performed. However, this is not limited to this. For example, unnecessary processes among these processes may be omitted based on any of the maintenance information 25, 65, and 75. That is, the delivery system 10 includes a logistics PC 21, a store PC 61, and a supervisory device 70 as management devices that manage information about the delivery system 10. The management devices may output a command to the cleaning device 34 to perform a cleaning process for the automated moving device 40 waiting in the waiting space 30 based on maintenance information about the automated moving device 40. In this case, the management device may output a command to perform a cleaning process when a predetermined time has elapsed since the previous cleaning process. In this delivery system 10, unnecessary cleaning processes can be omitted, allowing for more efficient maintenance work. Furthermore, the management device may output a command to the automated moving device 40 to perform an inspection process for the automated moving device 40 based on maintenance information about the automated moving device 40 waiting in the waiting space 30. At this time, the management device may output a command to execute an inspection process when a predetermined time has elapsed since the previous inspection process. In this delivery system 10, unnecessary inspection processes can be omitted, allowing for more efficient maintenance work.

[0040] In the above-described embodiment, the logistics PC 21, the store PC 61, and the coordinating device 70 are provided as management devices. However, this is not limited to this. The functions of the management devices may be installed in the automated moving device 40, and the management device may be omitted. Furthermore, in the delivery system 10, the management device may be omitted, and a detection unit may be provided in the cleaning device 34, so that the cleaning device 34 automatically performs a cleaning process when the automated moving device 40 enters the waiting space 30. Furthermore, in the delivery system 10, the management device may be omitted, and a detection unit may be provided in the charging device 33, so that the charging device 33 automatically performs a charging process when the automated moving device 40 enters the waiting space 30. Furthermore, in the delivery system 10, the management device may be omitted, and the control unit 42 may automatically perform an inspection process when the automated moving device 40 enters the waiting space 30. If the management device is omitted in the delivery system 10, the process of outputting information such as maintenance information to the management device may also be omitted.

[0041] In the above-described embodiment, the present disclosure has been described as a delivery system 10, but is not limited thereto and may also be a delivery method. This delivery method may be configured as follows. For example, the delivery method of the present disclosure may be a delivery method for delivering an item using an automated moving device that includes a detection unit that detects the surroundings, a drive unit, and a control unit that controls the drive unit, and that automatically moves an item within a specific space using the drive unit, wherein the specific space includes a standby space for the automated moving device, and the method may include a step of cleaning the automated moving device while it is waiting using a cleaning device disposed in the standby space. Alternatively, the delivery method of the present disclosure may include a standby space for the automated moving device in the specific space, the standby space including an inspection unit that is used to inspect the functionality of the automated moving device, and the automated moving device using the inspection unit to inspect the functionality of the automated moving device while waiting in the standby space.

[0042] In the above-described embodiment, the present disclosure has been described as a delivery system 10, but is not limited thereto and may also be an automatic moving device 40. This automatic moving device may be configured as follows. For example, the automatic moving device of the present disclosure may be used in a delivery system for delivering items and automatically move the items within a specific space, and may include a detection unit that detects the surroundings, a drive unit that drives the automatic moving device, and a control unit that controls the drive unit. The delivery system may include a waiting space in the specific space where the automatic moving device waits, and the waiting space may include an inspection unit that is used to inspect the functions of the automatic moving device. The control unit may use the inspection unit to inspect the functions of the automatic moving device while waiting in the waiting space. In this automatic moving device, the inspection unit that is used to inspect the device is disposed in the waiting space, and the device can be inspected while the automatic moving device is waiting. This automatic moving device may utilize the time while waiting to perform maintenance work more efficiently. [Industrial Applicability]

[0043] The delivery system, delivery method, and automated moving device of the present disclosure can be used in the technical field of distribution systems that deliver goods. [Explanation of symbols]

[0044] 10 Delivery system, 12 Cart, 13 Loading unit, 14 Caster, 15 Network, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Delivery management information, 25 Maintenance information, 26 Map information, 28 Communication unit, 30 Waiting space, 31 Door, 32 Wall unit, 33 Charging device, 34 Cleaning device, 35 Cleaning hole, 36 Inspection unit, 37 Inspection pattern, 38 Compression pump, 40 Automatic moving device, 41 Vehicle body unit, 42 Control unit, 43 Memory unit, 44 Loading unit, 45 Lifting unit, 46 Drive unit, 47 Detection unit, 48 Communication unit, 49 Driving unit, 50 Traveling wheel, 51 First sensor, 52 Second sensor, 53 Third sensor, 54 Fourth sensor, 55 Fifth sensor, 56 Traction member, 57 Loading member, 58 support member, 59 base unit, 60 store, 61 store PC, 62 control unit, 63 memory unit, 64 delivery management information, 65 maintenance information, 66 map information, 68 communication unit, 69 display shelf, 70 management device, 72 control unit, 73 memory unit, 74 delivery management information, 75 maintenance information, 76 map information, 78 communication unit.

Claims

1. A delivery system that includes an automatic moving device that includes a detection unit that detects surroundings, a drive unit, a storage battery for driving the drive unit, and a control unit that controls the drive unit, and that automatically moves an item within a specific space using the drive unit, and delivers the item, The specific space is provided with a standby space including a charging device where the automatic moving device waits and charges the storage battery, a cleaning device that cleans the detection unit included in the automatic moving device while the automatic moving device is waiting, and an inspection unit that is used to inspect the function of the automatic moving device, the waiting space has a wall facing the automatic moving device, and an inspection pattern is formed on the wall as the inspection unit to be detected by a detection unit of the automatic moving device; A delivery system in which, while the automatic moving device is waiting in the waiting space, the storage battery is charged, the inspection unit is used to inspect the detection unit as a function of the automatic moving device, and the detection unit is cleaned by the cleaning device.

2. The delivery system of claim 1 , wherein the cleaning device is one or more of an air blowing device, a liquid spraying cleaning device, and a brush device.

3. The delivery system according to claim 1 or 2, wherein the cleaning device performs cleaning processing on the automated moving device based on an inspection result obtained by using the inspection unit.

4. The delivery system includes a management device that manages information of the delivery system, A delivery system described in any one of claims 1 to 3, wherein the management device outputs an instruction to the cleaning device to perform cleaning processing of the automatic moving device based on information about the automatic moving device waiting in the waiting space.

5. The delivery system according to any one of claims 1 to 4, wherein the detection unit is one or more of a laser scan sensor, an imaging camera, and a sonar sensor.

6. The delivery system includes a management device that manages information of the delivery system, The delivery system according to any one of claims 1 to 5, wherein the automatic moving device outputs information regarding cleaning of the automatic moving device and / or information regarding inspection of the detection unit to the management device.

7. A delivery method for delivering an item using an automatic moving device that includes a detection unit that detects the surroundings, a drive unit, a storage battery for driving the drive unit, and a control unit that controls the drive unit, and that automatically moves an item within a specific space using the drive unit, The specific space is provided with a standby space in which the automatic moving device waits and which includes a charging device that charges the storage battery, a cleaning device that cleans the detection unit included in the automatic moving device while the automatic moving device is waiting, and an inspection unit that is used to inspect the function of the automatic moving device, the waiting space has a wall facing the automatic moving device, and an inspection pattern is formed on the wall as the inspection unit to be detected by a detection unit of the automatic moving device; a step of charging the storage battery with the charging device while the automatic moving device is waiting in the waiting space, inspecting the detection unit as a function of the automatic moving device using the inspection pattern with the inspection unit, and cleaning the detection unit with the cleaning device; including shipping methods.

8. An automatic moving device used in a delivery system for delivering an item, which automatically moves the item within a specific space, a detection unit that detects the surroundings; a drive unit that drives the automatic moving device; a storage battery for driving the drive unit; a control unit that controls the drive unit, The delivery system is provided with a waiting space in the specific space, in which the automatic moving device waits and which includes a charging device that charges the storage battery, a cleaning device that cleans the detection unit included in the automatic moving device while the automatic moving device is waiting, and an inspection unit that is used to inspect the function of the automatic moving device; the waiting space has a wall facing the automatic moving device, and an inspection pattern is formed on the wall as the inspection unit to be detected by a detection unit of the automatic moving device; When the automatic moving device is waiting in the waiting space, the storage battery is charged by the charging device, and the detection unit is cleaned by the cleaning device; the control unit, while waiting in the waiting space, uses the inspection unit to inspect the detection unit by using the inspection pattern as a function of the automatic moving device. Automatic moving device.

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