To provide an autonomous travel type delivery robot capable of automatically performing an unattended delivery process which is equivalent in quality to an unattended delivery service performed by a delivery person.SOLUTION: An autonomous travel type delivery robot R includes: an unattended delivery device 2 mounted on a robot body 1 having a package compartment; and a control part C for executing an unattended delivery process. The unattended delivery device 2 includes: two or more facing-surface separation distance detection parts 9 for detecting, from positions different from each other, distances between a surface (wall) W faced by the robot body 1 in a package carry-out direction 31x upon arrival at a delivery destination and the robot body 1; and a robot body angle calculation part C2 for calculating the angle of the robot body 1 with respect to the facing surface W on the basis of values detected by the facing-surface separation distance detection parts 9. The autonomous travel type delivery robot R performs: a pre-unattended-delivery correction process for correcting the position and attitude of the robot R to a target position and target attitude set in advance, on the basis of the values detected by the facing-surface separation distance detection parts 9 and a value calculated by the robot body angle calculation part C2; and a finish pushing process for pushing out a package toward the facing surface W while the package is placed on a package delivery surface.SELECTED DRAWING: Figure 12

    【課題】配達員が行う置き配サービスと同等品質の置き配処理を自動で行うことが可能な自律走行型配達ロボットを提供する。【解決手段】荷室を有するロボット本体1に搭載された置き配装置2と、置き配処理を実行する制御部Cとを備えた自律走行型配達ロボットRであり、配達先に到着した際にロボット本体1が荷物搬出方向31xに対向する面(壁)Wとロボット本体1との距離を相互に異なる位置から検出する2以上の対向面離間距離検出部9と、対向面離間距離検出部9の検出値に基づいて対向面Wに対するロボット本体1の角度を算出するロボット本体角度算出部C2とを備え、対向面離間距離検出部9の検出値及びロボット本体角度算出部C2の算出値に基づいてロボットRの位置及び姿勢を予め設定した目標位置及び目標姿勢に補正する置き配前補正処理と、荷物を荷物配送面に置いた状態で荷物を対向面Wに向かって押し出す仕上げ押し処理とを行う構成にした。【選択図】図12


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    Titel :

    AUTONOMOUS TRAVEL TYPE DELIVERY ROBOT


    Weitere Titelangaben:

    自律走行型配達ロボット


    Beteiligte:

    Erscheinungsdatum :

    2023-08-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS



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