Patent Publication Number: US-2022234828-A1

Title: Opening-closing control device, opening-closing control system, task system, opening-closing control method, and computer-readable medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to Japanese Patent Application No. 2021-011916 filed on Jan. 28, 2021, incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an opening-closing control device, an opening-closing control system, a task system, an opening-closing control method, and a computer-readable medium, and for example, relates to an opening-closing control device, an opening-closing control system, a task system, an opening-closing control method, and a computer-readable medium of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to or from the accommodating portion. 
     2. Description of Related Art 
     As disclosed in FIG. 1 of Japanese Unexamined Patent Application Publication No. 2004-303835 (JP 2004-303835 A), a shelf for accommodating an object such as a package is provided with a door that can be opened and closed. Thus, the door is opened when loading an object into the shelf or unloading an object from the shelf. 
     SUMMARY 
     The applicant has found the following issues. As described above, the door is opened when loading an object into an accommodating portion such as a shelf or unloading an object from the accommodating portion. However, when the state is such that another door can be opened at this time, there is a possibility that an object is stolen from the other door. 
     The present disclosure has been made in view of such a problem, and realizes an opening-closing control device, an opening-closing control system, a task system, an opening-closing control method, and a computer-readable medium that are able to suppress an object from being stolen from a door other than a door that is opened when the object is unloaded from an accommodating portion and when the object is loaded in the accommodating portion. 
     An opening-closing control device of an aspect of the present disclosure is a device that controls opening and closing of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to and from the accommodating portion. The opening-closing control device includes: 
     a door opening information acquisition unit that acquires information indicating a door to be opened in order to execute the task; and
 
a control unit that controls, based on the information indicating the door to be opened in order to execute the task, a lock unit that is arranged corresponding to each of the plurality of doors and that is configured to restrict a door other than the door to be opened in order to execute the task in a closed state.
 
     In the opening-closing control device described above, it is preferable that based on position information of the robot, the door opening information acquisition unit acquire the information indicating the door to be opened in order to execute the task by setting a door in front of which the robot is arranged, among the plurality of doors, as the door to be opened in order to execute the task. 
     In the opening-closing control device described above, it is preferable that the door opening information acquisition unit acquire the information indicating the door to be opened in order to execute the task, among the plurality of doors, based on task information for loading or unloading the object. 
     In the opening-closing control device described above, it is preferable that based on the information indicating the door to be opened in order to execute the task, the control unit control a drive unit and the lock unit that are arranged corresponding to the door and that are configured to open the door to be opened in order to execute the task. 
     An opening-closing control system according to one aspect of the present disclosure includes: the above-mentioned opening-closing control device; and a plurality of drive units that opens and closes each of the door; and a plurality of lock units that restricts each of the doors in a closed state. 
     It is preferable that the opening-closing control system described above include a detection unit that detects a position of the robot. 
     A task system according to one aspect of the present disclosure includes: the above-mentioned opening-closing control system; a robot that operates based on task information for loading or unloading the object to and from the accommodating portion; and a task control device that controls the robot and the opening-closing control system. 
     It is preferable that the task system described above include a task command unit that inputs from outside task information for loading or unloading the object. 
     It is preferable that the task system described above include an accommodating portion that has a plurality of first doors that is moveable along a first rail, and a second door that is moveable along a second rail, in which: the first rail has a length acquired by adding a width dimension of at least one first door to a total width dimension of the first doors; and the second rail has a length acquired by adding a width dimension of at least one second door to a total width dimension of the second door. 
     An opening-closing control method of an aspect of the present disclosure is a method that controls opening and closing of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to and from the accommodating portion, the opening-closing control method including: a step of acquiring information indicating a door to be opened in order to execute the task; and a step of controlling, based on the information indicating the door to be opened in order to execute the task, a lock unit that is arranged corresponding to each of the plurality of doors and that is configured to restrict a door other than the door to be opened in order to execute the task in a closed state. 
     A computer-readable medium of an aspect of the present disclosure stores a program that controls opening and closing of a plurality of doors of an accommodating portion when a robot executes a task of loading or unloading an object to and from the accommodating portion. The opening-closing control program causes a computer to execute: a process of acquiring information indicating a door to be opened in order to execute the task; and a process of controlling, based on the information indicating the door to be opened in order to execute the task, a lock unit that is arranged corresponding to each of the plurality of doors and that is configured to restrict a door other than the door to be opened in order to execute the task in a closed state. 
     According to the present disclosure it is possible to realize an opening-closing control device, an opening-closing control system, a task system, an opening-closing control method, and a computer-readable medium that are able to suppress an object from being stolen from a door other than a door that is opened when the object is unloaded from an accommodating portion and when the object is loaded in the accommodating portion. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: 
         FIG. 1  is a configuration diagram showing a task system according to an embodiment; 
         FIG. 2  is a perspective view schematically showing a robot according to the embodiment; 
         FIG. 3  is a side view schematically showing the robot according to the embodiment; 
         FIG. 4  is a block diagram showing a system configuration of the robot according to the embodiment; 
         FIG. 5  is a perspective view of the accommodating portion of the embodiment as viewed from a front side; 
         FIG. 6  is a diagram for describing the arrangement of doors of the accommodating portion according to the embodiment; 
         FIG. 7  is a perspective view showing a package loaded into or unloaded from an accommodating portion using a robot; 
         FIG. 8  is a block diagram showing functional elements of an opening-closing control system according to the embodiment; 
         FIG. 9  is a block diagram showing functional elements of a task control device according to the embodiment; 
         FIG. 10  is a flowchart showing a flow of executing a task using the task system according to the embodiment; 
         FIG. 11  is a diagram showing a state in which the robot has arrived at the front of a third door of the accommodating portion; 
         FIG. 12  is a diagram showing a state in which the third door of the accommodating portion is open; 
         FIG. 13  is a diagram showing a state in which the robot unloads a desired package from the accommodating portion; 
         FIG. 14  is a diagram showing a state in which the third door of the accommodating portion is closed; 
         FIG. 15  is a diagram showing a state in which the robot carries the package; 
         FIG. 16  is a diagram showing a state in which a first door of the accommodating portion is opened; 
         FIG. 17  is a diagram showing a state in which the third door of the accommodating portion is opened; 
         FIG. 18  is a diagram showing a state in which a second door of the accommodating portion is opened; and 
         FIG. 19  is a diagram showing an example of a hardware configuration included in an opening-closing control device, an opening-closing control system, and a task system. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. Further, in order to clarify the explanation, the following description and drawings are simplified as appropriate. 
       FIG. 1  is a configuration diagram showing a task system according to the present embodiment. A task system  1  is used, for example, to execute a task of loading a package to or unloading a package from an accommodating portion  3  using a robot  2  in a facility, and as shown in  FIG. 1 , the task system  1  includes the robot  2 , the accommodating portion  3 , an opening-closing control system  4 , a task command unit  5 , and a task control device  6 . 
       FIG. 2  is a perspective view schematically showing the robot according to the present embodiment.  FIG. 3  is a side view schematically showing the robot according to the present embodiment.  FIG. 4  is a block diagram showing a system configuration of the robot according to the present embodiment. 
     The robot  2  is, for example, an autonomous mobile robot and is placed in a facility. As shown in  FIGS. 1 to 4 , the robot  2  includes a moving portion  21 , a telescopic portion  22 , a mounting portion  23 , an arm  24 , a drive mechanism  25 , and a control unit  26 , and is connected to a network  11 . Here, the network  11  is, for example, the Internet, and is constructed by a telephone line network, a wireless communication path, Ethernet (registered trademark), or the like. 
     The moving portion  21  includes a robot body  21   a , a pair of right and left drive wheels  21   b  that is rotatably provided for the robot body  21   a , a pair of front and rear driven wheels  21   c , and a pair of drive mechanisms  21   d . The drive mechanisms  21   d  rotatably drive the respective drive wheels  21   b.    
     The drive mechanisms  21   d  each include a motor, a speed reducer, and the like. Each of the drive mechanisms  21   d  is driven based on control information received from the control unit  26  and rotates the corresponding drive wheel  21   b  such that the robot body  21   a  can move forward and rearward, and rotate. 
     With this configuration, the robot body  21   a  can move to an arbitrary position. The configuration of the moving portion  21  is an example, and the present disclosure is not limited to this. For example, the number of the drive wheels  21   b  and the driven wheels  21   c  of the moving portion  21  may be arbitrary, and a known configuration can be used as long as the robot body  21   a  can be moved to an arbitrary position. 
     The telescopic portion  22  is a telescopic mechanism that expands and contracts in a vertical direction. The telescopic portion  22  may be configured as a telescopic type expansion and contraction mechanism. The telescopic portion  22  includes a drive mechanism  22   a  having a motor, a speed reducer, and the like, and expands and contracts by the drive mechanism  22   a  being driven. The drive mechanism  22   a  is driven based on control information received from the control unit  26 . 
     The mounting portion  23  is provided in an upper portion (at a tip) of the telescopic portion  22 . The mounting portion  23  moves up and down due to expansion and contraction of the telescopic portion  22 . In the present embodiment, the mounting portion  23  is used for loading a package into or unloading a package from the accommodating portion  3  by the robot  2 . 
     Then, in order to transport the package, the robot  2  can move together with the package while the package is supported by the mounting portion  23 . With this configuration, the robot  2  can transport the package. However, in the robot  2 , when the mounting portion  23  can be lifted and lowered, a known mechanism can be used instead of the telescopic portion  22 . 
     The mounting portion  23  includes, for example, a plate material serving as an upper surface and a plate material serving as a lower surface. A space for accommodating the arm  24  and the drive mechanism  25  is provided between the upper surface and the lower surface. In the present embodiment, the shape of the mounting portion  23  is, for example, a flat disk shape, but any other shape may be used. 
     More specifically, in the present embodiment, the mounting portion  23  is provided with a cutout  23   a  along a line of flow of the arm  24  such that, when the arm  24  is moved, a protruding portion  24   b  of the arm  24  does not interfere with the mounting portion  23 . The cutout  23   a  is formed at least on the upper surface of the mounting portion  23 . 
     The mounting portion  23  is provided with the arm  24  that is horizontally moved in and out of the mounting portion  23 . The arm  24  includes a shaft portion  24   a  extending in the horizontal direction and the protruding portion  24   b  that extends in the direction perpendicular to the shaft portion  24   a  and is provided at the tip of the shaft portion  24   a . That is, in the present embodiment, the arm  24  is L-shaped. 
     The drive mechanism  25  moves the arm  24  in the horizontal direction (that is, the direction along the shaft portion  24   a , in other words, the longitudinal direction of the arm  24 ) and rotates around the shaft portion  24   a , based on the control information received from the control unit  26 . 
     The drive mechanism  25  includes, for example, a motor and a linear guide, and moves the arm  24  in the horizontal direction and rotates the arm  24 . As the drive mechanism  25 , a known mechanism for performing the operations above can be used. The drive mechanism  25  is provided in the mounting portion  23 . 
     As described above, the arm  24  is movable in the horizontal direction, and the protruding portion  24   b  is rotatable as the arm  24  rotates around the shaft portion  24   a . That is, the protruding portion  24   b  can rotate with the shaft portion  24   a  as a rotation axis. 
     The control unit  26  controls the operation of the robot  2  based on the control information received from the task control device  6 . That is, the control unit  26  controls the operations of the moving portion  21 , the telescopic portion  22 , and the arm  24 . The control unit  26  can control the rotation of each drive wheel  21   b  and move the robot body  21   a  to an arbitrary position by transmitting the control information to the drive mechanism  21   d  of the moving portion  21 . 
     Further, the control unit  26  can control the height of the mounting portion  23  by transmitting the control information to the drive mechanism  22   a  of the telescopic portion  22 . Further, the control unit  26  can control the horizontal movement of the arm  24  and the rotation around the shaft portion  24   a  by transmitting the control information to the drive mechanism  25 . 
     Here, the control unit  26  may control movement of the robot  2  by executing known control such as feedback control and robust control based on rotation information of the drive wheels  21   b  detected by rotation sensors (for example, an encoder) provided for the drive wheels  21   b.    
     Further, the control unit  26  may cause the robot  2  to move autonomously by controlling the moving portion  21  based on information such as distance information detected by a distance sensor such as a camera or an ultrasonic sensor provided for the robot  2  and map information on moving environment. 
     The accommodating portion  3  is disposed in the facility and loads or unloads the package carried by the robot  2 .  FIG. 5  is a perspective view of the accommodating portion of the present embodiment as viewed from a front side.  FIG. 6  is a diagram for describing the arrangement of the doors of the accommodating portion according to the present embodiment, and shows a state in which all the doors are closed. Here, in order to clarify the description, the side on which the robot  2  loads or unloads the package is described as the front surface of the accommodating portion  3 . 
     As shown in  FIGS. 5 and 6 , the accommodating portion  3  includes an accommodating portion main body  31 , a door  32 , and a sliding portion  33 , and is configured to be capable of housing a plurality of packages  12 . The accommodating portion main body  31  has a rectangular frame as a basic form, and an open portion is formed at least on the front surface of the accommodating portion main body  31 . The inside of the accommodating portion main body  31  is divided into a plurality of spaces by a partition  31   a.    
     The accommodating portion main body  31  of the present embodiment is divided into a first space S 1 , a second space S 2 , and a third space S 3  by a partition  31   a . The first space S 1 , the second space S 2 , and the third space S 3  are arranged in the right-left direction of the accommodating portion main body  31  when viewed in a direction facing the front of the accommodating portion main body  31 . 
     In these spaces S 1 , S 2 , S 3 , a plurality of pairs of rails  31   b  are arranged so as to face each other in each of the spaces S 1 , S 2 , S 3  at intervals in the vertical direction. The rail  31   b  extends in the front-rear direction of the accommodating portion main body  31 . 
     As shown in  FIG. 5 , the door  32  is arranged on the front side of each of the spaces S 1 , S 2 , S 3  so as to cover the open portion of each of the spaces S 1 , S 2 , S 3 . The door  32  has a substantially rectangular shape when viewed in a direction facing the front of the accommodating portion  3 . 
     As shown in  FIG. 6 , the accommodating portion  3  of the present embodiment has, as the door  32 , a first door  32   a  covering the open portion of the first space S 1 , a second door  32   b  covering the open portion of the second space S 2 , and a third door  32   c  covering the third space S 3 . That is, the accommodating portion  3  includes a number of doors  32  corresponding to the number of compartments in the space. 
     As shown in  FIG. 6 , the sliding portion  33  includes a first rail  33   a  and a second rail  33   b . The first rail  33   a  is, for example, arranged on the front side of the accommodating portion main body  31  and on the upper side of the accommodating portion main body  31 , and extends in the right-left direction of the accommodating portion main body  31 . 
     The first rail  33   a  slidably suspends and supports the first door  32   a  and the third door  32   c . For example, a roller provided on the upper side of the first door  32   a  and the third door  32   c  is hooked on the first rail  33   a . As a result, the first door  32   a  and the third door  32   c  can move in the right-left direction of the accommodating portion main body  31  along the first rail  33   a.    
     The first rail  33   a  has a length obtained by adding the width dimension of another door  32  to the total length of the width dimension of the first door  32   a  and the width dimension of the third door  32   c . That is, the first rail  33   a  has the total length of the width dimension of the three doors  32 , and the width dimension area of one door  32  is used to slide the first door  32   a  or the third door  32   c.    
     The second rail  33   b  is arranged on the back side of the accommodating portion main body  31  with respect to the first rail  33   a . The second rail  33   b  is arranged, for example, on the front side of the accommodating portion main body  31  and on the upper side of the accommodating portion main body  31 . The second rail  33   b  also extends in the right-left direction of the accommodating portion main body  31 . 
     The second rail  33   b  slidably suspends and supports the second door  32   b . For example, a roller provided on the upper side of the second door  32   b  is hooked on the second rail  33   b . As a result, the second door  32   b  can move in the right-left direction of the accommodating portion main body  31  along the second rail  33   b.    
     The second rail  33   b  has a length obtained by adding the width dimension of the two doors  32  to the width dimension of the second door  32   b . That is, the second rail  33   b  also has the total length of the width dimensions of the three doors  32 , and the second door  32   b  can be slid using the width dimension region of the two doors  32 . 
     However, the second door  32   b  may be suspended and supported by the first rail  33   a , and the first door  32   a  and the third door  32   c  may be suspended and supported by the second rail  33   b . That is, the three doors may be assigned to the first rail  33   a  and the second rail  33   b.    
     Further, the second rail  33   b  only needs to have a length in which the second door  32   b  can be opened, and only needs to have the total length of the width dimensions of at least two second doors  32   b , for example. 
       FIG. 7  is a perspective view showing a package loaded into or unloaded from an accommodating portion using a robot. As shown in  FIG. 7 , the package  12  is a container having a box shape as a basic form, and for example, brims  12   a  are provided on both sides of the package  12 . 
     Since the brims  12   a  are supported by the pair of rails  31   b  of the accommodating portion  3 , the package  12  is supported in the respective spaces S 1 , S 2 , S 3  of the accommodating portion  3 . With this configuration, the package  12  can move inside the accommodating portion  3  in the front-rear direction of the accommodating portion  3  along the pair of rails  31   b  of the accommodating portion  3 . 
     Therefore, the package  12  can be unloaded from the accommodating portion  3  by pulling out the package  12  from the inside of the accommodating portion  3 . In contrast, by pushing the package  12  into the accommodating portion  3 , the package  12  can be loaded into the accommodating portion  3 . However, the package  12  only needs to have a configuration that can be supported by the pair of rails  31   b  of the accommodating portion  3 . 
     As shown in  FIG. 7 , a groove  12   b  for hooking a protruding portion  24   b  of the arm  24  is provided on the bottom surface of the package  12  at a predetermined position. Any object can be accommodated inside the package  12 . 
       FIG. 8  is a block diagram showing functional elements of an opening-closing control system according to the present embodiment. As shown in  FIG. 8 , the opening-closing control system  4  includes a detection unit  41 , a drive unit  42 , a lock unit  43 , and an opening-closing control device  44 , and is connected to the network  11 . The detection unit  41  detects the position of the robot  2 . 
     The detection unit  41  can be configured by, for example, an infrared camera, and is provided in the accommodating portion  3  so that the robot  2  can be detected in the facility in which the accommodating portion  3  is arranged. However, as long as the detection unit  41  can detect the position of the robot  2  moving in the facility, the type and arrangement of the sensors are not limited. 
     The drive unit  42  opens and closes the door  32 . In the opening-closing control system  4  of the present embodiment, as the drive unit  42 , a first drive unit  42   a  that opens and closes the first door  32   a , a second drive unit  42   b  that opens and closes the second door  32   b , and a third drive unit  42   c  that opens and closes the third door  32   c  are provided. 
     The first drive unit  42   a , the second drive unit  42   b , and the third drive unit  42   c  can be configured by, for example, a drive mechanism such as a linear engine having an electromagnet and a permanent magnet. The first drive unit  42   a , the second drive unit  42   b , and the third drive unit  42   c  are, for example, on the front side of the accommodating portion main body  31 , and on the upper side of the accommodating portion main body  31 , it is preferable that they are arranged corresponding to each of the doors  32   a ,  32   b ,  32   c.    
     However, in the first drive unit  42   a , the second drive unit  42   b , and the third drive unit  42   c , if each of the doors  32   a ,  32   b ,  32   c  can be opened and closed, a known drive mechanism can be used, and the arrangement of each of the drive units  42   a ,  42   b , and  42   c  is also not limited. 
     The opening-closing control system  4  of the present embodiment in which the lock unit  43  restricts the door  32  in a closed state includes as the lock unit  43 , a first lock unit  43   a  that restricts the first door  32   a  in a closed state, a second lock unit  43   b  that restricts the second door  32   b  in a closed state, and a third lock unit  43   c  that restricts the third door  32   c  in a closed state. 
     The first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  can be configured by, for example, a lock mechanism such as an actuator in which a pin moves linearly. It is preferable that the first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  be, for example, on the front side of the accommodating portion main body  31 , and be arranged on the lower side of the accommodating portion main body  31  so as to correspond to the doors  32   a ,  32   b ,  32   c , respectively. 
     With the pins of the first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  protruding to the inside of the accommodating portion main body  31 , the first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  are fitted to recess portions formed on bottom surfaces of the doors  32   a ,  32   b ,  32   c . As a result, the doors  32   a ,  32   b ,  32   c  can be restricted to be in a closed state. 
     However, if the first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  can be restricted so that the doors  32   a ,  32   b ,  32   c  are closed, a known lock mechanism can be used, and the arrangement of the respective lock units  43   a ,  43   b ,  43   c  is also not limited. 
     As shown in  FIG. 8 , the opening-closing control device  44  includes a door opening information acquisition unit  441 , a determination unit  442 , and a control unit  443 . The door opening information acquisition unit  441  acquires the detection information of the robot  2  from the detection unit  41 . The door opening information acquisition unit  441  will be described in detail later. Based on the detection information, the door opening information acquisition unit  441  certifies that the door in front of which the robot  2  is arranged among the first door  32   a , the second door  32   b , and the third door  32   c  is the door to be opened in order to execute the task. As a result, the door opening information acquisition unit  441  acquires information indicating the door to be opened in order to execute the task. 
     Although the details will be described later, the determination unit  442  determines whether the mounting portion  23  of the robot  2  has reached the height at which the package  12  is arranged, and whether the mounting portion  23  of the robot  2  has started descending. 
     Although the details will be described later, the control unit  443  controls the first drive unit  42   a , the second drive unit  42   b , the third drive unit  42   c , the first lock unit  43   a , the second lock unit  43   b , and the third lock unit  43   c  so as to open the door of either the first door  32   a , the second door  32   b , or the third door  32   c  while maintaining the restricted state in which the other doors are closed, based on the information indicating the door to be opened in order to execute the task. 
     That is, the control unit  443  can open and close either the first door  32   a , the second door  32   b , or the third door  32   c  by transmitting control information to the drive units  42   a ,  42   b ,  42   c  and the lock units  43   a ,  43   b ,  43   c.    
     At this time, for example, when the first drive unit  42   a , the second drive unit  42   b , and the third drive unit  42   c  are configured of a linear engine, the control unit  443  controls the strength of the magnetic force and the direction of magnetism of the electromagnet by adjusting the current flowing through the electromagnet of the respective drive units  42   a ,  42   b ,  42   c . The door opening information acquisition unit  441 , determination unit  442 , and control unit  443  may be provided in, for example, the accommodating portion  3 , or may be arranged outside the accommodating portion  3 . 
     The task command unit  5  is operated by a user of the robot  2  or another person in order to input (command) task information for loading or unloading the package  12 . As shown in  FIG. 1 , the task command unit  5  is often mounted on a mobile terminal  13  such as a smartphone owned by the user, and identification information of the package  12  displayed on a display unit of the mobile terminal  13  and task type information for loading or unloading the package  12  can be selected to issue a command. The task command unit  5  is connected to the network  11 . The task command unit  5  only needs to be capable of inputting task information necessary for loading or unloading the package  12 . 
     The task control device  6  controls the robot  2  and the opening-closing control system  4 .  FIG. 9  is a block diagram showing functional elements of a task control device according to the present embodiment. As shown in  FIG. 9 , the task control device  6  includes a command acquisition unit  61 , a storage unit  62 , and a control unit  63 , and is connected to the network  11 . 
     The command acquisition unit  61  acquires, for example, the task information received from the task command unit  5  for loading or unloading the package  12 . Note that, the command acquisition unit  61  may be configured of the task command unit  5 . In short, the command acquisition unit  61  only needs to acquire the task information input by the user. 
     The storage unit  62  includes the identification information of the package  12 , the task type information for loading or unloading the package  12 , the position information of each space S 1 , S 2 , S 3 , the identification information of the doors  32   a ,  32   b ,  32   c , the identification information of each drive unit  42   a ,  42   b ,  42   c , the identification information of each lock unit  43   a ,  43   b ,  43   c , the position information of the rail  31   b  in each space S 1 , S 2 , S 3 , and the like. 
     Here, it is preferable that the identification information of the package  12 , the position information of each space S 1 , S 2 , S 3 , and the position information of the rail  31   b  in each space S 1 , S 2 , S 3  be associated with each other. Further, it is preferable that the position information of each space S 1 , S 2 , S 3 , the identification information of each door  32   a ,  32   b ,  32   c , the identification information of each drive unit  42   a ,  42   b ,  42   c , and the identification information of each lock unit  43   a ,  43   b ,  43   c  be associated with each other. 
     Although the details will be described later, the control unit  63  controls the control unit  26  of the robot  2  and the control unit  443  of the opening-closing control device  44  based on the task information for loading or unloading the package  12 . That is, the control unit  63  controls the control unit  26  of the robot  2  and the control unit  443  of the opening-closing control device  44  in order to execute a desired task. 
     Here, for example, based on the detection results of the encoders provided on the telescopic portion  22  and the arm  24  of the robot  2 , the control unit  63  may receive from the control unit  26  of the robot  2 , information indicating that the mounting portion  23  has reached the desired height when the robot  2  executes the task and information indicating that the arm  24  has completed loading or unloading the package  12 . That is, the control unit  63  may receive information indicating the progress status of the task by the robot  2  from the control unit  26  of the robot  2 . 
     Next, a flow of executing a task using the task system  1  according to the present embodiment will be described. Here, in the following description, it is assumed that the robot  2  executes a task of unloading the package  12  accommodated in the third space S 3  of the accommodating portion  3  and transporting the package  12 . Further, it is assumed that all the doors  32   a ,  32   b ,  32   c  are restricted in a state of being closed by the lock unit  43 . 
       FIG. 10  is a flowchart showing a flow of executing a task using the task system according to the present embodiment.  FIG. 11  is a diagram showing a state in which the robot has arrived at the front of the third door of the accommodating portion.  FIG. 12  is a diagram showing a state in which the third door of the accommodating portion is open.  FIG. 13  is a diagram showing a state in which the robot unloads a desired package from the accommodating portion.  FIG. 14  is a diagram showing a state in which the third door of the accommodating portion is closed.  FIG. 15  is a diagram showing a state in which the robot carries the package. 
     First, when the user inputs the task information via the task command unit  5  mounted on the mobile terminal  13 , the task command unit  5  transmits information indicating the task information to the task control device  6 . As a result, the control unit  63  of the task control device  6  transmits the control information to each control unit  26 ,  443  in order to issue a command of starting the task to the control unit  26  of the robot  2  and the control unit  443  of the opening-closing control device  44 . 
     Next, the control unit  26  of the robot  2  controls the drive mechanism  21   d  of the moving portion  21  in order to move the robot  2  toward the front of the third door  32   c  of the accommodating portion  3  (S 1 ). At the same time, the control unit  443  of the opening-closing control device  44  controls the detection unit  41  in order to detect the robot  2  present in the facility. 
     When the detection unit  41  detects the robot  2  present in the facility, the detection unit  41  transmits the detection information to the door opening information acquisition unit  441  of the opening-closing control device  44 . Based on the detection information, the door opening information acquisition unit  441  determines which of the doors  32   a ,  32   b ,  32   c  the robot  2  is arranged in front of among the first door  32   a , the second door  32   b , and the third door  32   c  (S 2 ). Such a determination is continued while the task is being executed by the robot  2 . 
     Then, when the robot  2  reaches the front of the third door  32   c  of the accommodating portion  3  as shown in  FIG. 11 , the control unit  26  of the robot  2  controls the drive mechanism  22   a  of the telescopic portion  22  so that the mounting portion  23  reaches the height at which the desired package  12  is accommodated. 
     At this time, the robot  2  autonomously moves to the front of the third door  32   c  based on the position information of the third space S 3  of the accommodating portion  3 . Then, the drive mechanism  22   a  of the telescopic portion  22  of the robot  2  autonomously raises the mounting portion  23  to the height at which the package  12  is accommodated based on the position information of the rail  31   b  associated with the identification information of the desired package  12 . 
     At the same time, based on the determination result of which of the doors  32   a ,  32   b ,  32   c  the robot  2  is arranged in front of, the door opening information acquisition unit  441  of the opening-closing control device  44  certifies that the door in front of which the robot  2  is arranged (that is, the third door  32   c ) is the door to be opened in order to execute the task. 
     For example, when the robot  2  invades a preset range on the front side of each of the doors  32   a ,  32   b ,  32   c , the door opening information acquisition unit  441  can certify that the door having the region in which the robot  2  has invaded as the front side is the door to be opened in order to execute the task. 
     The determination unit  442  of the opening-closing control device  44  determines whether the mounting portion  23  of the robot  2  has reached the height at which the desired package  12  is accommodated, based on the progress status of the task by the robot  2  indicated by the information received from the control unit  26  of the robot  2  (S 3 ). 
     When the mounting portion  23  of the robot  2  does not reach the desired height at which the package  12  is accommodated (NO in S 3 ), the opening-closing control device  44  returns to step S 3  while maintaining the restricted state in which all the doors  32   a ,  32   b ,  32   c  of the accommodating portion  3  are closed. 
     In contrast, when the mounting portion  23  of the robot  2  reaches the height at which the desired package  12  is accommodated (YES in S 3 ), the control unit  443  of the opening-closing control device  44  controls the third drive unit  42   c  and the third lock unit  43   c  in order to open the third door  32   c  of the accommodating portion  3  as shown in  FIG. 12  (S 4 ). Then, the control unit  443  of the opening-closing control device  44  transmits to the control unit  63  of the task control device  6 , information regarding that the third door  32   c  of the accommodating portion  3  has been opened. 
     At this time, the control unit  443  of the opening-closing control device  44  controls the first drive unit  42   a , the second drive unit  42   b , the first lock unit  43   a , and the second lock unit  43   b  so that the restricted state in which the first door  32   a  and the second door  32   b  that are the other doors of the accommodating portion  3  are closed is maintained. 
     Next, the control unit  63  of the task control device  6  transmits to the control unit  26  of the robot  2 , information indicating that the third door  32   c  of the accommodating portion  3  has been opened. As shown in  FIG. 13 , the control unit  26  of the robot  2  controls the drive mechanism  25  of the arm  24  in order to unload the desired package  12  from the accommodating portion  3  and place it on the mounting portion  23  (S 5 ). 
     At this time, since the first door  32   a  and the second door  32   b  that are the other doors of the accommodating portion  3  are maintained restricted state in which the doors are closed, it is possible to suppress the package  12  accommodated in the first space S 1  and the second space S 2  of the accommodating portion  3  from being stolen while the robot  2  unloads the desired package  12  form the accommodating portion  3 . 
     When the desired package  12  is placed on the mounting portion  23  of the robot  2 , the control unit  26  of the robot  2  controls the drive mechanism  22   a  of the telescopic portion  22  in order to lower the mounting portion  23 . In contrast, the determination unit  442  of the opening-closing control device  44  determines whether the mounting portion  23  of the robot  2  has started descending, based on the progress status of the task by the robot  2  indicated by the information received from the control unit  26  of the robot  2  (S 6 ). 
     When the mounting portion  23  of the robot  2  starts descending (YES in S 6 ), the control unit  443  of the opening-closing control device  44  closes the third door  32   c  of the accommodating portion  3  as shown in  FIG. 14 . The third drive unit  42   c  and the third lock unit  43   c  are controlled in order to regulate the state of the door (S 7 ). As a result, all the doors  32   a ,  32   b ,  32   c  of the accommodating portion  3  are restricted to the closed state. 
     When the lowering of the mounting portion  23  is completed, the control unit  26  of the robot  2  controls the drive mechanism  21   d  of the moving portion  21  to carry the package  12  as shown in  FIG. 15  (S 8 ). After that, when the control unit  63  of the task control device  6  recognizes that the transportation of the package  12  is completed based on the progress status of the task by the robot  2  indicated by the information received from the control unit  26  of the robot  2 , the task system  1  ends the task using the task system  1 . 
     In contrast, when the mounting portion  23  of the robot  2  has not started descending (NO in S 6 ), the control unit  443  of the opening-closing control device  44  returns to step S 6 . 
     Here, when the package  12  is loaded into the accommodating portion  3  by using the robot  2 , it can be realized in a flow substantially equal to the above-mentioned process. For example, in S 1 , the robot  2  may carry the package  12  instead of the step of moving the robot  2  in the state where the package  12  is not placed, and in S 5 , the package  12  may be carried in instead of the step of unloading the package  12  and step S 8  may be omitted. 
     As described above, the opening-closing control device  44 , the opening-closing control system  4 , the task system  1 , and the opening-closing control method of the present embodiment acquire information indicating that the door to be opened in order to execute the task, and restrict the doors other than the door indicated by the information in a closed state. 
     In this way, since the doors other than the door to be opened are maintained in the restricted state in which the doors are closed, while the robot  2  loads or unloads the package  12  between the spaces in which the desired package  12  is accommodated in the accommodating portion  3 , it is possible to suppress the package  12  accommodated in another space in the accommodating portion  3  from being stolen. 
     Moreover, in the opening-closing control device  44 , the opening-closing control system  4 , the task system  1 , and the opening-closing control method of the present embodiment, the door to be opened in order to execute the task can be automatically opened, and it is possible to realize making of the first door  32   a , the second door  32   b , and the third door  32   c  of the accommodating portion  3  automatic doors. 
     Here, the effect of arranging the first door  32   a , the second door  32   b , and the third door  32   c  of the accommodating portion  3  will be described.  FIG. 16  is a diagram showing a state in which the first door of the accommodating portion is opened.  FIG. 17  is a diagram showing a state in which the third door of the accommodating portion is opened.  FIG. 18  is a diagram showing a state in which the second door of the accommodating portion is opened. 
     When loading or unloading the package  12  to and from the accommodating portion  3  by using the robot  2 , it is sufficient to open any of the first door  32   a , the second door  32   b , and the third door  32   c  of the accommodating portion  3 . Therefore, in the present embodiment, as shown in  FIG. 6 , the first rail  33   a  slidably suspends and supports the first door  32   a  and the third door  32   c , and the second rail  33   b  slidably suspends and supports the second door  32   b.    
     At this time, the first rail  33   a  has a length obtained by adding the width dimension of another door  32  to the total length of the width dimension of the first door  32   a  and the width dimension of the third door  32   c . That is, the first rail  33   a  has the total length of the width dimension of the three doors  32 , and the width dimension area of one door  32  is used to slide the first door  32   a  or the third door  32   c , as shown in  FIG. 16  and  FIG. 17 . 
     Further, the second rail  33   b  has a length obtained by adding the total width dimension of the two doors  32  to the width dimension of the second door  32   b . That is, the second rail  33   b  also has the total length of the width dimensions of the three doors  32 , and the second door  32   b  can be slid using the width dimension region of the two doors  32 , as shown in  FIG. 18 . 
     As described above, in the present embodiment, the three doors  32  can be opened and closed by using the first rail  33   a  and the second rail  33   b . Thus, the number of rails can be reduced and the accommodating portion  3  can be downsized as compared with the case where rails are provided for each door as in a general sliding door. In this way, when the accommodating portion  3  is arranged in the facility, the occupied space of the accommodating portion  3  can be reduced. 
     However, the number of doors slidably supported by one rail and the number of rails are not limited to the above, and in short, it is only necessary that each rail has a length in which at least the width dimension of one door is added to the total width dimension of the number of doors supported by the rail and that a plurality of doors are slidably supported on at least one rail. Further, the disclosure is not limited to the case in which the upper side of the door is supported by the rail, and the lower side of the door may be supported. 
     The opening-closing control device, the opening-closing control system, and the task system according to the above embodiment may have the following hardware configuration.  FIG. 19  is a diagram showing an example the opening-closing control device, the opening-closing control system, and the task system. As the procedure of processing in the opening-closing control device, the opening-closing control system, and the task system has been described in various embodiments described above, the present disclosure may also take the form of a control method. 
     The control device shown in  FIG. 19  includes a processor  101  and a memory  102  together with an interface  103 . A part of the opening-closing control system and the task system and the configuration of the opening-closing control device described in the above-described embodiment are realized in a manner such that the processor  101  reads and executes a control program stored in the memory  102 . That is, the program is a program for causing the processor  101  to function as a part of the opening-closing control system and the task system, and as the configuration of the opening-closing control device. It can be said that the program is a program for causing the opening-closing control system, the task system, and the opening-closing control device to execute the process in the configuration or a part thereof. 
     The program described above is stored using various types of non-transitory computer-readable media and can be supplied to a computer (a computer including an information notification device). The non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks). Further, the examples above include a compact disc read-only memory (CD-ROM), a compact disc recordable (CD-R), and a compact disc rewritable (CD-R/W). Further, the examples above include semiconductor memories (e.g., mask ROM, programmable ROM (PROM), erasable programmable ROM (EPROM), flash ROM, random access memory (RAM)). The program may also be supplied to the computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical and optical signals and electromagnetic waves. The transitory computer-readable media can supply a program to a computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path. 
     The present disclosure is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. 
     In the above embodiment, the position of the robot  2  is detected by using the detection unit  41 . However, for example, the position of the robot  2  in the facility estimated by the robot  2  itself may be acquired and the detection unit  41  may be omitted. 
     In the above embodiment, the progress status of the task is acquired from the robot  2 . However, the progress status of the task may be acquired based on the detection information of the detection unit  41 . That is, for example, the position of the robot  2  and the height of the mounting portion  23  may be acquired by performing image processing on the detection information of the detection unit  41 . 
     The door opening information acquisition unit  441  of the above embodiment acquires information indicating the door to be opened in order to execute the task based on the position of the robot  2 . However, information indicating the door to be opened in order to execute the task may be acquired based on the task information. 
     In the above embodiment, the robot  2  loads or unloads the package  12  to and from the accommodating portion. However, the object that is loaded and unloaded is not limited to the package  12  as long as it can be stored in the storage unit. Further, the configuration of the accommodating portion  3  is not limited to the above, and it is sufficient that the accommodating portion  3  can accommodate an object and the door can be opened and closed. Therefore, the door is not limited to the sliding door as described above, and may be configured to rotate around a rotation axis. Further, the configuration of the robot  2  is not limited to the above, and may be any configuration as long as the robot  2  can load or unload an object from the accommodating portion, and may be, for example, a humanoid robot.