Control system

Abstract

To provide a control system capable of maintaining security while improving convenience.SOLUTION: A control system includes: a terminal device installed at an entrance of an apartment house; a door control device that controls locking and unlocking of a door installed at the entrance; a server that stores delivery information set by a service provider; a control unit capable of communicating with the terminal device, the door control device, and the server; and a delivery robot. The server transmits the delivery information to the control unit, and the terminal device has an information acquisition unit capable of acquiring delivery information from the delivery robot. The control unit collates the delivery information received from the server with the delivery information received from the information acquisition unit, and if it determines that the collation is successful, transmits an unlock instruction to the door control device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control system. [Background technology]

[0002] In recent years, a delivery style known as "drop-off delivery" has been increasing, in which delivery is completed by leaving the delivery at a designated location when the recipient of the delivery is absent from the delivery destination residence, etc. In delivery services using drop-off delivery, various technologies have been proposed for automatically unlocking autolock doors installed at the entrances of apartment complexes, etc., for visitors who are permitted to enter the apartment complexes, etc. (for example, Patent Document 1 and Patent Document 2). Furthermore, in recent years, a technology has been proposed in which delivery robots deliver parcels instead of people delivering them (for example, Patent Document 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-14729 [Patent Document 2] JP 2020-53047 A [Patent Document 3] Patent Publication No. 2021-33581 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 3 discloses that a user terminal is notified of information about a delivery item, and a home delivery management device that receives a delivery instruction for the delivery item from the user terminal that has received the notification has a home delivery robot deliver the delivery item using route information to the delivery destination of the delivery item. However, if the delivery destination is a facility with an auto-lock door, such as an apartment building, there is an issue that the home delivery robot cannot enter the facility.

[0005] Therefore, an object of the present invention is to provide a control system that can improve convenience while maintaining security when a delivery robot performs delivery work to a delivery destination within a facility such as an apartment building. [Means for solving the problem]

[0006] One aspect of the present invention provides a control system comprising a terminal device installed at the entrance of an apartment building, a door control device that controls locking and unlocking of the door installed at the entrance, a server that stores delivery information set by a service provider, a control unit capable of communicating with the terminal device, the door control device and the server, and a delivery robot that is capable of receiving delivery information from the server and moving to an apartment building corresponding to the delivery information to deliver a package, wherein the server is configured to transmit the delivery information to the control unit, the terminal device has an information acquisition unit capable of acquiring the delivery information from the delivery robot, and the control unit is configured to compare the delivery information received from the server with the delivery information transmitted from the delivery robot to the information acquisition unit and received from the information acquisition unit, and if it is determined that the comparison is successful, to send an unlocking instruction to the door control device.

[0007] According to the above configuration, when the matching between the delivery information from the server and the delivery information sent by the delivery robot to the control unit via the terminal device is successful, the door is unlocked without any operation from the living room side or the management office side. Therefore, it is possible to provide a control system that can maintain security while improving convenience when the delivery robot performs delivery work to a delivery destination in an apartment building. Effect of the Invention

[0008] According to the present invention, it is possible to provide a control system that can improve convenience while maintaining security when a delivery robot performs delivery work to a delivery destination within a facility such as an apartment building. [Brief description of the drawings]

[0009] [Figure 1]1 is a configuration diagram of a control system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a functional block diagram of a portion of the control system of FIG. 1. [Diagram 3] FIG. 2 is a diagram showing an example of a data table stored in a server included in the control system. [Figure 4] 4 is a flowchart illustrating an example of the operation of the control system according to the first embodiment. [Diagram 5] 4 is a flowchart illustrating an example of the operation of the control system according to the first embodiment. [Figure 6] FIG. 11 is a functional block diagram of a control system according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First embodiment Hereinafter, a control system according to a first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a configuration diagram showing a control system 1 according to a first embodiment. As shown in Fig. 1, the control system 1 includes a collective entrance unit 10 (an example of a terminal device), a controller 20, a room master unit 30, a entrance slave unit 40, a server 50, a door control device 60, a mobile terminal 70, a delivery management device 80, and a delivery robot 90. The control system 1 is a system that is applied to a collective housing M such as an apartment building.

[0011] The collective entrance unit 10 and the room master unit 30 are connected to the control unit 20 via an intercom line L over which communication is performed according to a general-purpose protocol. The entrance slave unit 40 is also connected to the room master unit 30 via the intercom line L. In this example, the intercom line L is configured with a LAN (Local Area Network) cable. The intercom line L may also be configured with a dedicated line.

[0012] The collective entrance device 10 is installed at a collective entrance (entrance), which is a common space of an apartment building M. The apartment building M is, for example, a five-story apartment building. The collective entrance device 10 includes a display unit 11, a communication unit 12, and a camera 13.

[0013] The control unit 20 controls the operation of the collective entrance unit 10, the room master unit 30, etc. For example, the control unit 20 controls the call status from the collective entrance unit 10 to the room master unit 30. The control unit 20 is connected to a server 50, a mobile terminal 70, and a door control device 60 through a network N. The control unit 20 is also connected to a call center C outside the control system 1 through the network N.

[0014] The controller 20 may include at least one microcontroller including one or more processors, and other electronic circuits including active elements such as transistors and passive elements. The controller 20 may be configured with multiple CPU cores. The controller 20 may be, for example, a microprocessing unit (MPU), a graphics processing unit (GPU), and / or a tensor processing unit (TPU). The GPU may be configured with multiple GPU cores. The controller 20 may also be configured with hardware resources including integrated circuits such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). The controller 20 may also be configured with a combination of at least one microcontroller and an integrated circuit.

[0015] The room master unit 30 is installed in each dwelling unit of the apartment building M in which the control system 1 is provided. The room master unit 30 includes a display unit 31, an operation unit 32, and a call unit 33. The display unit 31 can display various information and can accept user operations, and is, for example, a touch display. The display unit 31 displays images of visitors captured by the camera 13 of the collective entrance unit 10. The operation unit 32 is operated when responding to a call from the collective entrance unit 10. The operation unit 32 is, for example, composed of operation buttons displayed on the touch display that is the display unit 31. The call unit 33 is used by the resident to make a call to the collective entrance unit 10, and includes a microphone and a speaker.

[0016] The entrance slave unit 40 is installed at the entrance of each dwelling unit. The entrance slave unit 40 is equipped with a call button 41 for a visitor to call a resident, a communication unit 42 for the visitor to talk to the resident, and a camera 43 capable of capturing an image of the visitor. The image of the visitor captured by the camera 43 is displayed on the display unit 31 of the room master unit 30.

[0017] The server 50 is, for example, a server installed in the apartment complex M or at the office of a service provider. Examples of the service provider include an apartment management company and a delivery company. The server 50 has a function of collecting information set by the residents of the apartment complex M or the service provider and creating a data table.

[0018] The door control device 60 is a device for controlling the locking and unlocking of a door 61 installed at the entrance of the apartment building M. For example, the door 61 is an auto-lock door installed between the entrance and the elevator hall of the apartment building M. The door control device 60 unlocks the door 61 based on an unlocking instruction signal transmitted from the control device 20. In addition, a camera 65 (an example of a detection unit) capable of capturing an image of the periphery of the door 61 is installed near the door 61. The door control device 60 detects, based on the image captured by the camera 65, that a person or a delivery robot 90 has entered the apartment building M or that a person or a delivery robot 90 has exited the apartment building M. The door control device 60 transmits an entry detection signal or an exit detection signal to the control device 20 based on the detection information.

[0019] The mobile terminal 70 is a terminal carried by a resident of the apartment complex M. Examples of the mobile terminal 70 include a mobile phone, a smartphone, a tablet, a notebook computer, and a personal computer. The resident can use the mobile terminal 70 to specify a desired time for delivery of the package by the delivery robot 90.

[0020] The delivery management device 80 is a device that manages the delivery service of the delivery items. The delivery management device 80 may be any of various information processing devices such as a server. The delivery management device 80 searches for a route from a collection and delivery center of the delivery item to the delivery destination based on information about the delivery destination address of the delivery item. The delivery management device 80 uses the information about the searched route to cause a delivery robot 90 to deliver the delivery item from the collection and delivery center to the delivery destination.

[0021] The delivery robot 90 is a robot that delivers items from a collection and delivery center to a delivery destination address. The form of the delivery robot 90 is not particularly limited as long as it is a robot that can deliver items. Examples of the delivery robot 90 include road-moving robots such as vehicles that move autonomously on roads without a driver, and air-moving robots such as drones that move autonomously in the air. The delivery robot 90 has, for example, a delivery box for loading the items, and loads the items into the delivery box to deliver the items.

[0022] FIG. 2 is a functional block diagram of the collective entrance unit 10, the controller 20, the room master unit 30, the server 50, and the like of the control system 1. As shown in FIG. As shown in FIG. 2, the collective entrance unit 10 includes a display unit 11, a call unit 12, and a camera 13, as well as a collective entrance unit CPU (Central Processing Unit) 14, a communication interface (communication IF) 15, and a communication unit 16.

[0023] The display unit 11 is configured to be capable of displaying a call operation unit 111. That is, the display unit 11 also functions as an input unit for receiving various operations from the user.

[0024] The collective entrance machine CPU 14 performs processing for controlling each part of the collective entrance machine 10. The collective entrance machine CPU 14 also functions as an information acquisition unit that receives various information from external devices. For example, the collective entrance machine CPU 14 receives delivery information of a delivery item from a delivery robot 90 that has arrived at the apartment complex M to deliver the delivery item, and transmits the delivery information to the control machine 20.

[0025] The communication IF 15 forms a bidirectional signal transmission path between the collective entrance device CPU 14 and the intercom line L. As a result, a signal transmission path between the collective entrance device CPU 14 and the control device 20 is formed via the communication IF 15.

[0026] The communication unit 16 has a communication function for communicating with the delivery robot 90. The communication unit 16 communicates with the delivery robot 90 that has arrived at the apartment complex M, and acquires delivery information of the delivery from the delivery robot 90. The communication unit 16 may acquire the delivery information by, for example, reading an IC tag such as an RFID, a QR code (registered trademark), a barcode, or other tag displayed by the delivery robot 90. If the tag displayed by the delivery robot 90 is an RFID, the communication unit 16 incorporates a dedicated circuit for reading the RFID. On the other hand, if the tag is a QR code or a barcode, the camera 13 or a separate camera may have the function of the communication unit 16. The delivery information acquired by the communication unit 16 is transmitted to the control device 20 via the communication IF 15.

[0027] The control unit 20 includes a control unit 21 and a memory unit 22. The control unit 21 controls the transmission and reception of signals between the collective entrance unit 10 and each unit of the room master unit 30 connected to the control unit 20 via the intercom line L. The memory unit 22 stores communication information, control information, and the like. In this example, the memory unit 22 stores a call table 22a in which the room number of each dwelling unit in the apartment building M is recorded in association with a room master unit ID capable of identifying the room master unit 30 of each dwelling unit.

[0028] The control unit 21 receives a signal including the delivery information acquired by the collective entrance unit CPU 14 of the collective entrance unit 10 from the collective entrance unit 10. The control unit 21 then refers to the call table 22a to identify the room master unit 30 of the dwelling unit associated with the acquired delivery information. The control unit 21 then transmits a call signal to the identified room master unit 30.

[0029] The control unit 21 also controls the connection of the control unit 20 to the network N. As a result, the control unit 20 is connected to the server 50, the door control device 60, and the mobile terminal 70 via the network N. The control unit 21 receives from the collective entrance unit 10 delivery information transmitted to the collective entrance unit 10 from the delivery robot 90 that has arrived at the apartment building M. The control unit 21 also receives stored information including the delivery information stored in the server 50 from the server 50. The control unit 21 then performs a comparison based on the delivery information received from the collective entrance unit 10 and the delivery information included in the stored information received from the server 50.

[0030] The control unit 21 includes an unlock instruction unit 23. The unlock instruction unit 23 generates an unlock instruction signal for unlocking the door 61 according to the result of the collation of the delivery information. Then, the control unit 21 transmits the unlock instruction signal generated by the unlock instruction unit 23 to the door control device 60. Note that, although the unlock instruction unit 23 is provided in the control device 20 in this embodiment, the unlock instruction unit 23 may be provided in the server 50 or another server.

[0031] The room master unit 30 includes a master unit CPU 34, a communication IF 35, and a memory unit 36 ​​in addition to a display unit 31, an operation unit 32, and a call unit 33. The master unit CPU 34 performs processing for controlling each unit of the room master unit 30. The communication IF 35 forms a bidirectional signal transmission path between the master unit CPU 34 and the intercom line L. This forms a signal transmission path between the master unit CPU 34 and the control unit 20. The memory unit 36 ​​stores control information and the like for the room master unit 30. The memory unit 36 ​​also stores image data captured by the camera 13 of the collective entrance unit 10 or the camera 43 of the entrance slave unit 40 and transmitted from the collective entrance unit 10 or the entrance slave unit 40.

[0032] The server 50 includes a storage unit 51 and a transmission unit 52 . The storage unit 51 stores a data table 51a. FIG. 3 shows an example of the data table 51a stored in the storage unit 51. As shown in FIG. 3, the data table 51a stores the tracking number of a delivery transmitted from the delivery management device 80 or the like in association with the resident ID and room number of the resident to whom the delivery is to be sent. For example, the tracking number: 101-***-*** is stored in association with the resident ID: U1 and the room number: 101 corresponding to the resident ID: U1. The tracking number: 151-***-*** is stored in association with the resident ID: U2 and the room number: 201 corresponding to the resident ID: U2.

[0033] Returning to FIG. 2, the transmitting unit 52 has a function of reading out the tracking number stored in the data table 51 a when a number request signal is received from the controller 20 , and transmitting the tracking number to the controller 20 .

[0034] The delivery management device 80 has a storage unit 81 and a control unit 82. The storage unit 81 stores various information used in the delivery management device 80. The storage unit 81 includes a delivery information storage unit 811 and a map data storage unit 812.

[0035] The delivery information storage unit 811 stores, as the delivery status of a delivery piece, for example, a delivery piece ID, sender information, delivery destination information, etc. The delivery piece ID is information that identifies the delivery piece, and an example of this is the waybill number written on the delivery slip. The sender information is information about the sender of the delivery piece, and an example of this is the name, address, postal code, and contact information (for example, telephone number, email address, etc.) written in the sender column of the delivery slip. The delivery destination information is information about the delivery destination of the delivery piece, and an example of this is the name, address, postal code, and contact information (for example, telephone number, email address, etc.) written in the delivery destination column of the delivery slip.

[0036] In addition to the above information, the delivery information storage unit 811 may store various information written on the delivery slip. For example, the desired delivery date, desired delivery time period, item name, type of delivery, etc. may be stored. This allows the delivery management device 80 to execute delivery during the desired delivery time period based on the information on the desired delivery time period stored in the delivery information storage unit 811, or execute delivery by avoiding time periods when delivery is not desired.

[0037] The map data storage unit 812 stores various data used for route searches. For example, the map data storage unit 812 stores route network data and map data. The map data includes information on topography, buildings, roads, facilities, notes, and the like that are necessary to configure a background map.

[0038] The control unit 82 controls each unit of the delivery management device 80. The control unit 82 functions as a route search unit 821 and a delivery control unit 822.

[0039] The route search unit 821 searches for a route that the delivery robot 90 will use when moving from a collection and delivery center to a delivery destination address, using the route network data included in the map data storage unit 812. The route search unit 821 also calculates the travel time required from the collection and delivery center to the delivery destination address, and estimates the expected arrival time when the delivery robot 90 will arrive at the delivery destination address, taking into account the travel time and other factors.

[0040] The delivery control unit 822 uses information on the route searched by the route search unit 821 to cause the delivery robot 90 to deliver the parcel from the collection and delivery center to the delivery destination address. The delivery control unit 822 also accepts various information related to delivery, such as delivery instructions such as the desired time to receive the parcel, from the mobile terminal 70. On the other hand, the delivery control unit 822 transmits various information related to delivery, such as a delivery start notification to the mobile terminal 70 indicating that delivery of the parcel by the delivery robot 90 has started. At this time, the delivery control unit 822 may notify the mobile terminal 70 of the estimated arrival time of the delivery robot 90 at the delivery destination, estimated by the route search unit 821.

[0041] The delivery robot 90 has a location information acquisition unit 91, a control unit 92, a memory unit 93, and a communication unit 94. The position information acquisition unit 91 acquires the position of the delivery robot 90. The configuration of the position information acquisition unit 91 is not particularly limited as long as it is possible to acquire the current position of the delivery robot 90, and for example, a global positioning system (GPS) or the like can be applied.

[0042] The control unit 92 controls each unit of the delivery robot 90. The memory unit 93 stores various information used by the delivery robot 90. The communication unit 94 communicates with external devices to input and output various information. In addition to the above configuration, the delivery robot 90 may be equipped with various sensors that detect surrounding obstacles. This allows the delivery robot 90 to move while avoiding collisions with surrounding obstacles.

[0043] (Example of operation of control system 1) Next, an example of the operation of the control system 1 when the delivery robot 90 delivers a package to a room in the apartment building M will be described with reference to Fig. 4 and Fig. 5. Fig. 4 and Fig. 5 are flowcharts for explaining an example of the operation of the control system 1.

[0044] First, when a delivery item is collected at a collection and delivery center, the delivery management device 80 of this embodiment identifies the mobile terminal 70 to be notified based on the delivery destination information of the delivery item (step S101). Then, the delivery management device 80 notifies the identified mobile terminal 70 of a delivery confirmation request to obtain consent as to whether delivery of the delivery item can be started (step S102).

[0045] Although not shown in the figures, the delivery management device 80 identifies the server 50 of the destination apartment complex M based on the delivery destination information of the delivery piece, and transmits the delivery information to the identified server 50. The server 50 that receives the delivery information stores the delivery information (particularly the tracking number included in the delivery information) in the data table 51a of the storage unit 51. As described above, the tracking number transmitted from the delivery management device 80 is stored in the data table 51a in association with the resident ID and room number of the resident to whom the delivery piece is to be sent.

[0046] Next, the mobile terminal 70 that has received the delivery confirmation request transmits a delivery permission signal permitting delivery of the delivery item to the delivery management device 80 (step S103). Specifically, the resident of the apartment building M who is the user of the mobile terminal 70 sees the delivery confirmation request notified to the mobile terminal 70 and, if he or she permits delivery of the delivery item, performs a delivery permission operation on the mobile terminal 70.

[0047] When the delivery management device 80 receives the delivery permission signal from the mobile terminal 70, the delivery management device 80 transmits a delivery preparation request including delivery information of the package to the delivery robot 90 arranged at the collection and delivery station (step S104).

[0048] When the delivery robot 90 receives the delivery preparation request, it loads the delivery items into the delivery box based on the delivery information included in the delivery preparation request (step S105). The delivery items may be loaded automatically by the delivery robot 90, or may be loaded into the delivery box of the delivery robot 90 by a worker at the collection and delivery center. When loading of the delivery items is completed, the delivery robot 90 transmits a delivery preparation completion signal to the delivery management device 80 (step S106).

[0049] When the delivery management device 80 receives a delivery preparation completion signal from the delivery robot 90, the route search unit 821 searches for a route for the delivery robot 90 to travel from the collection and delivery center to the delivery destination address using the route network data contained in the map data storage unit 812 (step S107). Then, the delivery management device 80 transmits a delivery start request including the searched route information to the delivery robot 90 (step S108).

[0050] When the delivery robot 90 receives the delivery start request, it starts delivering the piece based on the route information (step S109). The delivery management device 80 also creates a delivery start notification in the information notification unit 824 that the delivery robot 90 has started delivering the piece, and transmits the delivery start notification to the mobile terminal 70 (step S110). The delivery start notification may include the estimated arrival time of the delivery robot 90 at the delivery destination estimated by the route search unit 821. As a result, the delivery start notification transmitted to the mobile terminal 70 allows the resident of the apartment building M, who is the user of the mobile terminal 70 (the recipient of the piece), to know that the delivery robot 90 has started delivering the piece and the estimated arrival time of the delivery robot 90 at the apartment building M.

[0051] When the delivery robot 90 starts delivering a delivery item, it periodically acquires its current location and transmits the location information to the delivery management device 80 (step S111). The delivery management device 80 manages the movement of the delivery robot 90 based on the location information periodically acquired from the delivery robot 90 (step S112).

[0052] Next, assume that the delivery robot 90 arrives at the entrance of the apartment complex M, which is the delivery destination. At this time, as shown in Fig. 5, the communication unit 94 of the delivery robot 90 communicates with the communication unit 16 of the collective entrance machine 10 of the collective entrance machine M, and transmits delivery information of the delivery item to be delivered to the collective entrance machine 10 (step S113). The delivery robot 90 displays an IC tag such as an RFID tag on the communication unit 94, for example, and the communication unit 16 of the collective entrance machine 10 reads the IC tag to obtain the delivery information.

[0053] When the delivery information is acquired from the delivery robot 90, the collecting entrance unit CPU 14 of the collecting entrance unit 10 transmits the delivery information to the control unit 20 (step S114).

[0054] The control unit 21 of the control unit 20 transmits an information request signal to the server 50 based on the delivery information received from the collective entrance unit 10 (step S115). The information request signal includes, for example, the delivery address or tracking number included in the delivery information received from the collective entrance unit 10.

[0055] The server 50 reads out the stored information stored in the data table 51a based on the information request signal received from the collective entrance device 10 (step S116). For example, when the delivery robot 90 delivers a parcel (tracking number 101-***-***) to room 101 of the collective entrance device 10, the information request signal received from the collective entrance device 10 includes the room number of room 101 or the tracking number 101-***-***. In this case, the server 50 reads out the stored information corresponding to the room number of room 101 or the tracking number 101-***-*** from the data table 51a. The server 50 then transmits the read out stored information to the control device 20 (step S117).

[0056] When the control unit 21 receives the stored information from the server 50, the control unit 21 judges whether the delivery information received from the delivery robot 90 via the collective entrance machine 10 matches the delivery information included in the stored information received from the server 50 (step S118). The delivery information included in the stored information is, for example, a tracking number or a delivery address. Here, if it is judged that the delivery information from the delivery robot 90 does not match the delivery information from the server 50 (No in step S118), the control unit 21 transmits an error signal to the collective entrance machine 10 (step S119). The collective entrance machine 10 that has received the error signal communicates with the delivery robot 90 and transmits the error signal to the delivery robot 90 (step S120).

[0057] Upon receiving the error signal, the delivery robot 90 transmits an information confirmation request to the delivery management device 80 to confirm whether the delivery information transmitted to the collective entrance device 10 in step S113 is correct (step S121). The delivery management device 80 that has received the information confirmation request confirms the delivery information (step S122) and transmits the delivery information again to the delivery robot 90 (step S123). Subsequent processing returns to step S113.

[0058] On the other hand, if it is determined in step S118 that the delivery information from the delivery robot 90 matches the delivery information from the server 50 (Yes in step S118), the control unit 21 determines that the authentication is successful and generates an unlock instruction signal for the door 61 in the unlock instruction unit 23 (step S124). Then, the control unit 21 transmits the generated unlock instruction signal to the door control device 60 (step S125). The door control device 60 that has received the unlock instruction signal unlocks the door 61 based on the unlock instruction signal (step S126).

[0059] Next, the door control device 60 transmits an unlocking completion signal indicating that the door 61 has been unlocked to the control unit 20 (step S127). Then, the control unit 20 transmits the unlocking completion signal to the collective entrance unit 10 (step S128). The collective entrance unit 10, which has received the unlocking completion signal, communicates with the communication unit 94 of the delivery robot 90 via the communication unit 16, and transmits an unlocking notification to the delivery robot 90 (step S129).

[0060] The delivery robot 90 that has received the unlocking notification enters the apartment building M through the unlocked door 61 and starts moving to the delivery destination (step S130). For example, the delivery robot 90 may move to a room in the apartment building M that is the delivery destination, or may move to the location of a delivery box installed in a common area or the like.

[0061] Here, the camera 65 of the door control device 60 is installed near the door 61 and captures the surroundings of the door 61. The door control device 60 detects that the delivery robot 90 has entered the apartment M through the door 61 based on the image data captured by the camera 65 (step S131). The door control device 60, which detects the entry of the delivery robot 90 into the apartment M, transmits an entry detection signal to the control device 20 (step S132). The control unit 21 of the control device 20, which has received the entry detection signal, identifies the room parent unit 30 of the delivery destination room based on the room information included in the delivery information received in step S114. Then, it transmits an entry notification to the identified room parent unit 30 (step S133). The room parent unit 30, which has received the entry notification, displays the entry notification of the delivery robot 90 on the display unit 31 (step S134). The control device 20 may transmit the entry notification to the mobile terminal 70 of the resident of the delivery destination.

[0062] When the delivery to the delivery destination is completed, the delivery robot 90 exits through the door 61 and leaves the apartment building M (step S135). At this time, the door control device 60 detects that the delivery robot 90 has exited from the door 61 to the outside of the apartment building M based on the image data captured by the camera 65 (step S136). The door control device 60, which detects the exit of the delivery robot 90 to the outside of the apartment building M, transmits an exit detection signal to the control device 20 (step S137). The control unit 21 of the control device 20, which has received the exit detection signal, transmits an exit notification to the room parent unit 30 of the delivery destination room (step S138). The room parent unit 30, which has received the exit notification, displays the exit notification of the delivery robot 90 on the display unit 31 (step S139). The control device 20 may transmit the exit notification to the mobile terminal 70 of the resident of the delivery destination. Thereafter, the delivery robot 90 returns to the collection and delivery center, and the series of delivery processes is completed.

[0063] As described above, the control system 1 according to the present embodiment includes a collective entrance machine 10 (an example of a terminal device) installed at the entrance of the apartment house M, a door control device 60 that controls locking and unlocking of the door 61 installed at the entrance, a server 50 that stores delivery information set by a service provider, a control machine 20 (control unit 21) that can communicate with the collective entrance machine 10, the door control device 60, and the server 50, and a delivery robot 90 that can move to the collective entrance machine M corresponding to the delivery information by receiving the delivery information from the server 50 and deliver the delivery item. The server 50 is configured to transmit the delivery information to the control machine 20. It has a collective entrance machine CPU 14 (an example of an information acquisition unit) that can acquire the delivery information from the collective entrance machine 10 and the delivery robot 90 that has arrived at the collective entrance machine M. The control unit 21 of the control machine 20 is configured to compare the delivery information received from the server 50 with the delivery information received from the delivery robot 90 via the collective entrance machine 10, and transmit an unlocking instruction to the door control device 60 if it is determined that the comparison is successful. According to this configuration, when the matching of the delivery information is successful, the door 61 is unlocked without any operation from the living room side or the management office side. Therefore, when the delivery robot 90 performs a delivery operation to a delivery destination in the apartment complex M, it is possible to maintain security while improving convenience.

[0064] The door control device 60 is also configured to unlock the door 61 in response to receiving an unlocking command, and to transmit an unlocking completion signal indicating that the unlocking of the door 61 has been completed to the control device 20. The control device 20 is then configured to notify the delivery robot 90 of the unlocking of the door 61 via the collective entrance device 10 based on the unlocking completion signal received from the door control device 60. With this configuration, the delivery robot 90 can recognize that the matching of the delivery information has been successful and the door 61 has been unlocked. Therefore, the delivery robot 90 can safely pass through the door 61 and enter the collective housing M.

[0065] The control system 1 further includes a room master unit 30 installed in each room in the apartment building M, and a camera 65 (an example of a detection unit) installed near the door 61 and capable of detecting entry and exit through the door 61. When the camera 65 detects that the delivery robot 90 has entered the apartment building M through the unlocked door 61, the door control device 60 transmits an entry detection signal to the control unit 20. The control unit 20 is configured to transmit an entry notification indicating that the delivery robot 90 has entered the apartment building M to the room master unit 30 installed in the room linked to the delivery information based on the received delivery information and the entry detection signal. With this configuration, the delivery robot 90 carrying the delivery item can be confirmed to have entered the apartment building M by the room master unit 30 associated with the delivery item, so that the convenience of the resident receiving the delivery item from the delivery robot 90 that has arrived at the entrance of the room or when the delivery is left at the door can be improved.

[0066] Furthermore, when the camera 65 detects that the delivery robot 90 has exited through the door 61, the door control device 60 is configured to transmit an exit detection signal to the control unit 20. In this case, the control unit 20 transmits an exit notification indicating that the delivery robot 90 has exited outside the apartment building M to the room master unit 30 based on the exit detection signal. With this configuration, the room master unit 30 can confirm that the delivery robot 90 has exited the apartment building M after completing delivery, so that, for example, a resident can pick up a parcel that has been left at the door after the delivery robot 90 has left.

[0067] In the above embodiment, when the camera 65 detects entry or exit through the door 61, the door control device 60 transmits an entry detection signal or an exit detection signal to the control device 20, but the present invention is not limited to this example. The camera 65 may transmit an entry detection signal or an exit detection signal of the delivery robot 90 directly to the control device 20.

[0068] (Modification) Next, as a modified example, the configuration of control system 300 in apartment building M in which delivery box 311 is installed will be described with reference to Fig. 6. Fig. 6 is a functional block diagram of control system 300 according to this modified example.

[0069] 6, the control system 300 according to the modified example differs from the control system 1 of the first embodiment in that it includes a box control device 310 and a delivery box 311 in addition to the collective entrance unit 10, the controller 20, the room master unit 30, the entrance slave unit 40, the server 50, the door control device 60, the door 61, the mobile terminal 70, the delivery management device 80, and the delivery robot 90. Descriptions of the components of the control system 300 that are the same as those of the control system 1 of the first embodiment will be omitted.

[0070] The box control device 310 is a device for controlling the locking and unlocking of the delivery box 311 installed in front of each dwelling unit of the apartment building M. The box control device 310 unlocks the delivery box 311 based on an unlock instruction signal transmitted from the control device 20.

[0071] In the control system 300, the call table 22a stored in the memory 22 of the controller 20 records the room number of each dwelling unit in the apartment M in association with the room master unit ID of the room master unit 30 of each dwelling unit, and also stores the room master unit ID of each dwelling unit in association with the identification number (box ID) of the delivery box 311 installed in front of each dwelling unit. In addition, in the data table stored in the memory 51 of the server 50, in addition to the tracking number of the delivery item, the delivery address of the delivery item, the delivery method, the controller ID, and the master unit ID, the box ID of the delivery box 311 corresponding to the master unit ID may be stored. The delivery box 311 corresponding to the master unit ID is, for example, the delivery box 311 placed in front of the dwelling unit in which the room master unit 30 with a specific master unit ID is installed, that is, the delivery box 311 dedicated to that dwelling unit.

[0072] For example, when the delivery robot 90 delivers a parcel designated for delivery to a designated location, the delivery information acquired by the collective entrance device 10 from the delivery robot 90 is transmitted to the server 50, and the control unit 21 of the control unit 20 performs authentication based on the delivery information acquired from the collective entrance device 10 and the delivery information received from the server 50. If the delivery information of both companies matches, the control unit 21 determines that the authentication is successful and identifies a box ID corresponding to the delivery address (for example, a specific room number in the apartment building M) included in the matching delivery information. Then, the control unit 21 generates and transmits an unlock instruction signal for the door 61 in the unlock instruction unit 23, and generates an unlock instruction signal for the delivery box 311 corresponding to the identified box ID. The control unit 21 transmits a box unlock instruction signal to the box control device 310 of the delivery box 311 corresponding to the identified box ID, and the box control device 310 that receives the box unlock instruction signal unlocks the delivery box 311. This allows the delivery robot 90, which has entered the apartment building M through the unlocked door 61, to place the delivery in the delivery box 311 located in front of the residence of the delivery destination.

[0073] As described above, in addition to the configuration of the control system 1, the control system 300 according to this modification further includes a box control device 310 that controls locking and unlocking of the delivery box 311 associated with each room in the apartment building M. When the controller 20 determines that the matching of the delivery information is successful, the controller 20 is configured to transmit an unlocking instruction to the box control device 310 to unlock the delivery box 311 corresponding to the room associated with the delivery information. With this configuration, the delivery box 311 can be unlocked with a simple operation, and the convenience of delivery by the delivery robot 90 can be improved.

[0074] The present invention is not limited to the above-described embodiment, and can be freely modified, improved, etc. as appropriate. The material, shape, size, numerical value, form, number, location, etc. of each component in the above-described embodiment are arbitrary and not limited as long as the present invention can be achieved. [Explanation of symbols]

[0075] 1,300 Control Systems 10. Collective entrance machine 11,31 Display section 12,33,42 Call section 13,43,65 Camera 14 Collective entrance machine CPU 15,35 Communication interface (communication IF) 16,94 Communications Department 20 Controller 21,82,92 Control section 22,36,51,81,93 Storage section 22a Call Table 23 Unlock instruction section 30 Room Master Unit 32 Operation section 34 Main CPU 40 Entrance door unit 41 Call button 50 Servers 51a Data Table 52 Transmitter 60 Door control device 61 Door 70 Mobile Devices 80 Delivery management device 90 Delivery Robot 91 Location information acquisition unit 111 Call operation section 310 Box Control Device 311 Delivery Box 811 Delivery information storage unit 812 Map data storage unit 821 Route Search Unit 822 Delivery Control Unit

Claims

1. A terminal device installed at an entrance of the apartment building; A door control device that controls locking and unlocking of a door installed at the entrance; A server that stores delivery information set by a service provider; A control unit capable of communicating with the terminal device, the door control device, and the server; a delivery robot that receives the delivery information from the server, moves to an apartment building corresponding to the delivery information, and delivers an item; A control system comprising: The server is configured to transmit the delivery information to the control unit, the terminal device has an information acquisition unit capable of acquiring the delivery information from the delivery robot, The control unit is configured to compare the delivery information received from the server with the delivery information transmitted from the delivery robot to the information acquisition unit and received from the information acquisition unit, and if it determines that the comparison is successful, to send an unlocking instruction to the door control device.

2. The door control device includes: unlocking the door in response to receiving the unlock instruction; Transmitting an unlocking completion signal indicating that the unlocking of the door has been completed to the control unit; It is configured as follows: The control system according to claim 1 , wherein the control unit is configured to notify the delivery robot of the unlocking of the door via the terminal device based on the unlocking completion signal received from the door control device.

3. A room master unit installed in each room in the apartment building; A detection unit that is installed near the door and is capable of detecting entry and exit through the door; Further equipped with When the detection unit detects that the delivery robot has entered the apartment building through the unlocked door, the door control device transmits an entry detection signal to the control unit, The control system of claim 1 or 2, wherein the control unit is configured to send an entry notification indicating that the delivery robot has entered the apartment building to the room parent unit installed in a room linked to the delivery information based on the received delivery information and the entry detection signal.

4. When the detection unit detects that the delivery robot has exited from the door to the outside of the apartment building, the door control device transmits an exit detection signal to the control unit, The control system of claim 3, wherein the control unit is configured to send an exit notification indicating that the delivery robot has exited outside the apartment building based on the exit detection signal to the room parent unit installed in a room linked to the delivery information.

5. The housing complex further includes a box control device that controls locking and unlocking of at least one delivery box associated with at least one of the rooms included in the housing complex, The control system according to claim 1 or 2, wherein the control unit is configured to, when it determines that the matching is successful, send an unlocking instruction to the box control device to unlock a delivery box corresponding to a room associated with the delivery information.

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