Delivery systems, delivery methods, and programs

Abstract

The goal is to minimize the effort required from the user while enabling delivery robots to smoothly transport packages to their destinations. [Solution] The delivery system is a delivery system that causes a delivery robot to deliver packages at a facility, and includes a processing circuit that generates commands related to the operation of the delivery robot. When an identification medium held by a user is read by a reader located at the facility, the processing circuit moves the delivery robot to a predetermined receiving point, and after the package is loaded onto the delivery robot at the receiving point, moves the delivery robot to a delivery destination linked to the identification information of the identification medium read by the reader.

Description

[[Technical Field]]

[0001] The present disclosure relates to a delivery system, a delivery method, and a program. [[Background Art]]

[0002] Patent Literature 1 discloses a delivery system including a delivery management server and a delivery cart that autonomously moves within a building to deliver a package to a delivery destination. The delivery management server has a database in which identification information is associated with delivery destination information indicating the delivery destination of a package to which the identification information is assigned. When a user who has arrived at the building by delivery vehicle transfers a package with a slip attached with identification information from the delivery vehicle to the delivery cart, the user causes the camera of the delivery cart to read the identification information on the slip. The delivery management server refers to the database and specifies the delivery destination corresponding to the read identification information. [[Related Art]] [[Patent Literature]]

[0003] [[Patent Literature 1]] Japanese Unexamined Patent Application Publication No. 2022-68480 [[Summary of Invention]] [[Problem to be Solved by Invention]]

[0004] In the above configuration, the user has to prepare in advance a slip with identification information indicating the delivery destination attached thereto, which is time-consuming for the user. Further, if the delivery cart is not waiting at the cargo receiving place where packages are transferred from the delivery vehicle to the delivery cart, there is a possibility that the package cannot be smoothly delivered to the delivery destination.

[0005] An object of an aspect of the present disclosure is to allow a delivery robot to smoothly carry a package to a delivery destination point while reducing the time and effort required of a user. [[Means for Solving Problem]]

[0006] A delivery system according to one aspect of the present disclosure is a delivery system that causes a delivery robot to deliver packages at a facility, and comprises a processing circuit that generates commands for the operation of the delivery robot. When an identification medium held by a user is read by a reader located at the facility, the processing circuit moves the delivery robot to a predetermined receiving point, and after the package is loaded onto the delivery robot at the receiving point, moves the delivery robot to a delivery destination linked to the identification information of the identification medium read by the reader.

[0007] A delivery method according to one aspect of the present disclosure is a delivery method system in which a delivery robot delivers goods at a facility, wherein when identification information of an identification medium held by a user is read by a reader placed at the facility, the delivery robot is moved to a predetermined receiving point, and after the goods are loaded onto the delivery robot at the receiving point, the delivery robot is moved to a delivery destination linked to the identification information read by the reader.

[0008] A program according to one aspect of the present disclosure causes at least one processor to execute the delivery method. The program may be stored in a computer-readable, non-temporary, and tangible storage medium. [Effects of the Invention]

[0009] According to one aspect of this disclosure, it is possible to have delivery robots smoothly transport packages to their destination locations while minimizing the effort required of the user. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of the delivery system according to the embodiment. [Figure 2] Figure 2 is a block diagram of the delivery leader shown in Figure 1. [Figure 3] Figure 3 is a block diagram of the key shown in Figure 1. [Figure 4] Figure 4 is a block diagram of the facility management system shown in Figure 1. [Figure 5] Figure 5 is a block diagram of the delivery robot shown in Figure 1. [Figure 6] Figure 6 is a block diagram of the server shown in Figure 1. [Figure 7] Figure 7 is a block diagram of the mobile information terminal shown in Figure 1. [Figure 8] Figure 8 is a diagram showing each database on the server in Figure 6. [Figure 9] Figure 9 is a flowchart of the processing of the delivery system shown in Figure 1. [Figure 10] Figure 10 is a flowchart that continues from Figure 9. [Figure 11] Figure 11 is a flowchart that continues from Figure 10. [Figure 12] Figure 12 is a flowchart of the timeout control shown in Figure 10. [Modes for carrying out the invention]

[0011] Embodiments will be described below with reference to the drawings.

[0012] Figure 1 is a schematic diagram of a delivery system 1 according to an embodiment. The delivery system 1 is a system that causes a delivery robot 7 to deliver a user's 3 package 4 from a receiving point P0 to a single delivery destination point P1 in a facility 2. Facility 2 is a facility in which user 3 possesses a unique identification medium for each room 11. Facility 2 has multiple rooms 11. The locking device of the door 11a of each room 11 is unlocked by a different key 5. Facility 2 is, for example, an apartment building, but it may also be a hotel, dormitory, etc.

[0013] The identification medium possessed by user 3 is, for example, a key 5 for unlocking the locking device on the door 11a of user 3's room 11. User 3 arrives at facility 2 with luggage 4 and key 5 in hand and goes to the specific room 11 assigned to user 3. User 3 may also be carrying a personal information terminal 6.

[0014] In the facility 2, a plurality of delivery destination points P1 are set as delivery destination point candidates. Each delivery destination point P1 is a point associated with each room 11. The delivery destination point P1 is, for example, a point in front of the corresponding room 11 in the corridor of the facility 2. It is preferable that the delivery destination point P1 is located at a position avoiding the movement trajectory of the door 11a of the corresponding room 11.

[0015] The facility 2 has a plurality of floors. The facility 2 is provided with an elevator 12 for the user 3 and the delivery robot 7 to move between the respective floors. The elevator 12 has a car 12a that moves up and down in the vertical direction to convey the user 3 and the delivery robot 7 for movement between the respective floors. The movement of the car 12a is controlled by an elevator control device 13.

[0016] The facility 2 is provided with an entrance door 14 that separates the outside and the inside of the facility 2. The entrance door 14 is an automatic door. The facility 2 is provided with an entrance reader 15 arranged on the outer side of the entrance door 14 and in the vicinity of the entrance door 14. By holding the key 5 over the entrance reader 15, the entrance door 14 can be opened. In the facility 2, a facility management device 17 is arranged for performing authentication of the key 5 read by the entrance reader 15, issuing an instruction to permit opening of the entrance door 14, and the like.

[0017] The entrance reader 15 communicates with the facility management device 17 via a communication network in the facility 2. The facility management device 17 instructs the actuator of the entrance door 14 to permit opening via the communication network in the facility 2. A manager's room 16 is arranged on the inner side of the entrance door 14. In the facility 2, a charging station 18 for charging the delivery robot 7 is arranged.

[0018] A delivery leader 19 is located outside facility 2. A corresponding receiving point P0 is set for the delivery leader 19. The receiving point P0 is set in the vicinity of the delivery leader 19. When user 3 holds the key 5 over the delivery leader 19, the delivery robot 7 is summoned to the receiving point P0 corresponding to the delivery leader 19. The delivery leader 19 may be located near the entrance door 14 or in the parking lot of facility 2. If facility 2 has multiple delivery leaders 19, multiple receiving points P0 are set as candidate receiving points corresponding to each delivery leader 19.

[0019] User 3 can move the delivery robot 7 with the simple task of holding the key 5 for their room 11 up to the delivery reader 19, and can also unlock the door 11a of room 11 using the same key 5 that summoned the delivery robot 7, making it highly convenient for User 3. Furthermore, because User 3 actually goes near the delivery reader 19 and has the key 5 read by the delivery reader 19, the delivery robot 7 moves to the receiving point P0 associated with the delivery reader 19. This prevents the delivery robot 7 from being summoned by a third party due to mischief, compared to when the delivery robot 7 is summoned to the receiving point P0 by a command from a mobile information terminal 6.

[0020] The delivery system 1 includes a server 8 connected to a network N. Network N is, for example, the internet, but may also be a LAN (Local Area Network) or a WAN (Wide Area Network). The delivery reader 19, delivery robot 7, and portable information terminal 6 are connected to network N and communicate with the server 8.

[0021] The delivery robot 7 comprises wheels W including drive wheels and a body B supported by the wheels W. A touch panel display 55 that can be operated by a user 3 is located on the body B. The delivery robot 7 also comprises a cargo storage space S for loading cargo 4, a cover C for opening and closing the cargo storage space S, and a locking device 57 for locking the cover C in the closed position. The cover C may be connected to the body B via a hinge, or it may be a shutter that opens and closes the opening of the cargo storage space S.

[0022] Delivery robot 7 is a robot that moves autonomously toward its destination. If delivery robot 7 travels via intermediate stops before reaching its final destination, it should simply choose the nearest intermediate stop from its current location as its destination. Delivery robot 7 is assigned the task of moving to deliver package 4 to its destination. Delivery robot 7 is designed to travel on the ground, but it may also fly in the air.

[0023] Figure 2 is a block diagram of the delivery reader 19 shown in Figure 1. As shown in Figure 2, the delivery reader 19 includes a control circuit 21, an antenna 22, and a communication interface 23. The antenna 22 receives wireless signals using RFID (Radio Frequency Identification). The communication interface 23 transmits the information indicated by the wireless signal received by the antenna 22 to the server 8 using the communication interface 23. For example, when the delivery reader 19 receives a signal containing identification information Z from the IC tag 33 of the key 5 (described later), it transmits a call signal containing the identification information Z to the server 8.

[0024] The communication interface 23 only needs to be capable of connecting to network N in order to communicate with server 8. The communication interface 23 is, for example, an interface that connects to a mobile phone communication network such as LTE (Long Term Evolution) or 5G, but it may also be a wireless LAN interface that can communicate using WiFi, or an Ethernet interface that connects to network N via a wired connection.

[0025] Furthermore, the configuration of the entrance reader 15 is substantially the same as that of the delivery reader 19. The entrance reader 15 transmits the information indicated by the wireless signal received by the antenna 22 to the facility management device 17 using the communication interface 23. For example, when the entrance reader 15 receives a signal containing identification information Z from the IC tag 33 of the key 5 (described later), it transmits an authentication request signal containing the identification information Z to the facility management device 17.

[0026] Figure 3 is a block diagram of the key 5 shown in Figure 1. As shown in Figure 3, when the locking device of the door 11a of room 11 is a cylinder lock, the key 5 comprises a key body 31 inserted into the cylinder lock and a holder 32 connected to the key body 31. An IC tag 33 is housed in the holder 32. If the locking device of the door 11a of room 11 is a contactless electronic locking device, the key 5 may be a card-type key or the like.

[0027] The IC tag 33 includes an IC chip 33a and an antenna 33b. The antenna 33b uses RFID to wirelessly communicate with the delivery reader 19 and the entrance reader 15. The IC chip 33a stores identification information Z. Identification information Z is information that identifies a room 11 within the facility 2. Identification information Z is, for example, a key ID that uniquely identifies key 5. When the IC chip 33a receives a request signal via the antenna 33b, it transmits a response signal containing the identification information Z via the antenna 33b. The IC tag 33 may be a passive tag, an active tag, or a semi-active tag.

[0028] Figure 4 is a block diagram of the facility management device 17 shown in Figure 1. As shown in Figure 4, the facility management device 17 includes a processor 41, system memory 42, storage memory 43, and a communication interface 44. The processor 41 may include a CPU (Central Processing Unit). The system memory 42 may include RAM. The storage memory 43 may include a hard disk, flash memory, or a combination thereof. The storage memory 43 stores a program 43a. An example of a processing circuit 40 is a configuration in which the processor 41 executes the program 43a read from the system memory 42. The processing circuit 40 includes the processor 41, system memory 42, and storage memory 43 storing the program 43a. The communication interface 44 receives signals from the entrance reader 15 and transmits control signals to the controller of the entrance door 14.

[0029] When the processor 41, which executes program 43a, receives an authentication request signal containing identification information Z from the entrance reader 15, it determines whether the key ID indicated by the identification information Z matches one of several pre-registered key IDs. If they match, authentication is successful; otherwise, authentication is unsuccessful. If authentication is successful, the processor 41 sends an open command to the controller of the entrance door 14 via the communication interface 44 to open the entrance door 14. If authentication is unsuccessful, the processor 41 does not send an open command to the controller of the entrance door 14.

[0030] Figure 5 is a block diagram of the delivery robot 7 shown in Figure 1. As shown in Figure 5, the delivery robot 7 includes a processor 51, system memory 52, storage memory 53, distance sensor 54, touch panel display 55, travel actuator 56, locking device 57, communication interface 58, etc. These devices 54 to 58 are electrically connected to the processor 51.

[0031] The processor 51 may include a CPU (Central Processing Unit). The system memory 52 may include RAM. The storage memory 53 may include a hard disk, flash memory, or a combination thereof. The storage memory 53 stores program 53a. An example of a processing circuit 50 is a configuration in which the processor 51 executes program 53a read from the storage memory 53 to the system memory 52. ​​The processing circuit 50 includes the processor 51, the system memory 52, and the storage memory 53 that stores program 53a. The processor 51 controls the touch panel display 55 and at least one of the travel actuator 56 according to program 53a, based on information input from at least one of the distance measuring sensor 54, the touch panel display 55, and the communication interface 58.

[0032] The distance measuring sensor 54 detects the shape of the area around the delivery robot 7 in three dimensions by measuring the distance of objects around the delivery robot 7 in three dimensions. The distance measuring sensor 54 detects the position data of the outer surface of objects within the facility 2 by receiving reflected waves from objects around the delivery robot 7. For example, the distance measuring sensor 54 may emit light, radio waves, or ultrasonic waves towards the area around the delivery robot 7 and receive the reflected waves. The distance measuring sensor 54 can measure distance in all directions horizontally with respect to the delivery robot 7. The distance measuring sensor 54 may also measure distance in two dimensions around the delivery robot 7.

[0033] The distance measuring sensor 54 may, for example, detect the distance to an obstacle by measuring the time from the time laser light is irradiated until the reflected wave is received. The distance measuring sensor 54 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measuring sensor 54 is a three-dimensional LIDAR sensor. The distance measuring sensor 54 may also be an infrared distance measuring sensor, a millimeter-wave radar, or a depth-sensing camera. The depth-sensing camera may measure the distance to an object using parallax from a stereo camera.

[0034] The storage memory 53 stores map data that identifies the shape of the area in facility 2 where the delivery robot 7 can travel. For example, the map data identifies the shape of each floor within facility 2. The map data identifies the outline of the area where the delivery robot 7 can travel by identifying the outlines of obstacles such as walls on each floor.

[0035] The processor 51 determines the position of the delivery robot 7 on the map data by matching the surrounding shape detected by the distance measuring sensor 54 with the shape of the map data. In other words, a positioning sensor is realized by combining the distance measuring sensor 54 with software that matches the shape detected by the distance measuring sensor 54 with the map data. Other means may be used to position the delivery robot 7, for example, satellite positioning, WiFi positioning, beacon (BLE) positioning, or RFID positioning may be used.

[0036] The touch panel display 55 is an example of a user interface. That is, the touch panel display 55 serves as both a user input interface and a user output interface. As the user input interface, at least one selected from a keyboard, mouse, buttons, directional keys, etc., may be used, or it may be a smartphone or tablet terminal capable of communicating with the delivery robot 7. As the user output interface, a non-touch panel display may be used.

[0037] The travel actuator 56 includes a wheel drive actuator that drives the wheels W to rotate. The travel actuator 56 is, for example, an electric motor. The travel actuator 56 may also include a braking actuator that drives a brake that brakes the wheels W. The delivery robot 7 may change its direction of travel by making the rotation speeds of the left and right wheels W different, by making the rotation directions of the left and right wheels W different, or by steering the wheels W with a steering actuator. The delivery robot 7 may have an opposing differential two-wheel mechanism or an omnidirectional Mecanum mechanism.

[0038] The locking device 57 includes a lock and an actuator that drives the lock. The lock is operable between a locked state in which the cover C is locked to the body B in a closed state of the luggage storage space S, and an unlocked state in which the lock of the cover C to the body B is released, allowing the cover C to be opened and closed. The processing circuit 50 controls the actuator of the locking device 57, thereby allowing the lock of the locking device 57 to operate between the locked state and the unlocked state. The locking device 57 is equipped with a lock sensor capable of detecting whether the lock is in the locked state or the unlocked state, and the processing circuit 50 can determine the state of the locking device 57 based on the signal from the lock sensor.

[0039] The communication interface 58 is capable of connecting to the network N in order to communicate with the server 8. The communication interface 58 is, for example, an interface that connects to a mobile phone communication network such as LTE (Long Term Evolution) or 5G, but it may also be a wireless LAN interface that can communicate using WiFi (trademarked), or an Ethernet interface that connects to the network N via a wired connection. The communication interface 58 may also include an interface that can directly communicate wirelessly with the mobile information terminal 6. The communication interface 58 may include, for example, a Bluetooth (trademarked) communication device, or an RFID reader.

[0040] Figure 6 is a block diagram of the server 8 shown in Figure 1. As shown in Figure 6, the server 8 includes a processor 61, system memory 62, storage memory 63, and a communication interface 64. The processor 61 may include a CPU (Central Processing Unit). The system memory 62 may include RAM. The storage memory 63 may include a hard disk, flash memory, or a combination thereof. The storage memory 63 stores a program 63a. An example of a processing circuit 60 is a configuration in which the processor 61 executes the program 63a read from the storage memory 63 to the system memory 62.

[0041] The processing circuit 60 generates commands related to the operation of the delivery robot 7. The storage memory 63 has databases DB1, DB2, and DB3, which will be described later. The communication interface 64 includes a communication device that connects to the network N by wire or wireless. Note that databases DB1, DB2, and DB3 may be located outside the server 8 and communicate with the server 8, rather than in the server 8's memory.

[0042] The processing circuit 50 of the delivery robot 7 and the processing circuit 60 of the server 8 constitute a computer system connected via a network N. Programs 53a and 63a are executed by this computer system. In this embodiment, the programs 53a and 63a executed by this computer system are distributed between the program 53a of the delivery robot 7 and the program 63a of the server 8, but they may be centralized in either the delivery robot 7 or the server 8.

[0043] Figure 7 is a block diagram of the portable information terminal 6 shown in Figure 1. As shown in Figure 7, the portable information terminal 6 includes a processor 71, system memory 72, storage memory 73, touch panel display 74, speaker 75, microphone 76, communication interface 77, etc. The processor 71 may include a CPU (Central Processing Unit). The system memory 72 may include volatile memory. The storage memory 73 may include non-volatile memory. The storage memory 73 includes a hard disk, flash memory, or a combination thereof. The storage memory 73 stores a program 73a. An example of a processing circuit 70 is a configuration in which the processor 71 executes a program 73a read from the storage memory 73 to the system memory 72. The processing circuit 70 includes the processor 71, system memory 72, and storage memory 73 storing the program 73a.

[0044] The touch panel display 74 is an example of a user interface. The touch panel display 74 functions as both a user input interface and a user output interface. The user input interface may be buttons or a keyboard, and the user output interface may be a non-touch panel display.

[0045] The speaker 75 outputs sound. The microphone 76 collects sound. The communication interface 77 can connect to the network N to communicate with the server 8. The communication interface 77 is, for example, an interface that connects to a mobile phone communication network such as LTE (Long Term Evolution) or 5G, but it may also be a wireless LAN interface that can communicate using WiFi (trademark). The communication interface 77 may also include an interface that can directly communicate wirelessly with the communication interface 58 of the delivery robot 7. The communication interface 77 may include, for example, a Bluetooth communicator or an RFID tag.

[0046] Figure 8 is a diagram showing the databases DB1, DB2, and DB3 of server 8 in Figure 6. As shown in Figure 8, server 8 has a first database DB1. The first database DB1 stores room IDs, room names, delivery destinations, and key IDs in association with each other. The room ID is identification information that identifies room 11 of facility 2. The room name is the name, such as the room number, of room 11 corresponding to the room ID. The delivery destination is the floor where the delivery destination P1 corresponding to room 11 is located and the coordinates of delivery destination P1. The key ID is identification information Z of key 5 corresponding to the room ID. In this way, the first database DB1 stores the key ID, which is the identification information Z of key 5, associated with the delivery destination P1 corresponding to room 11 of user 3 who possesses key 5.

[0047] The second database, DB2, stores the room ID, user ID, password, username, and telephone number in relation to each other. The room ID is the identification information that identifies room 11 in facility 2. The user ID is the identification information of the user who has the right to use room 11. The password is the password corresponding to the user ID. The username is the name of the user corresponding to the user ID. The telephone number is the telephone number of the user corresponding to the user ID.

[0048] The third database DB3 stores the task number, user ID, robot ID, start time, end time, and status in relation to each other. The task number is a number that identifies the task instructed to deliver package 4 to delivery robot 7. The user ID indicates the identification information of the user requesting the task. The robot ID indicates the identification information of delivery robot 7 that will perform the task. Note that if there is only one delivery robot 7 at facility 2, the robot ID may be omitted. The start time indicates the time the task was created. The end time indicates the time the task was completed. The status indicates that the task is running, completed, or timed out.

[0049] The first database DB1 and the second database DB2 are linked using the room ID as a common key. The second database DB2 and the third database DB3 are linked using the user ID as a common key. Note that two or all of the databases DB1, DB2, and DB3 may be merged into a single database.

[0050] Figure 9 is a flowchart of the processing of delivery system 1 in Figure 1. Figure 10 is a flowchart continuing from Figure 9. Figure 11 is a flowchart continuing from Figure 10. Hereinafter, the processing of delivery system 1 will be explained according to the flowcharts in Figures 9 and 10, referring to the configuration in Figures 1 to 7. Note that the processing of delivery robot 7 is performed by processing circuit 50, the processing of server 8 is performed by processing circuit 60, and the processing of portable information terminal 6 is performed by processing circuit 70.

[0051] In step S1, the server 8 determines whether it has received a call signal from the delivery leader 19 to summon the delivery robot 7 to the receiving point P0. When the user 3 brings the key 5 close to the delivery leader 19 and reads the identification information Z from the key 5, the delivery leader 19 sends a call signal containing the identification information Z to the server 8. In step S2, the server 8 determines whether the key ID indicated by the identification information Z contained in the received call signal matches one of the multiple key IDs registered in the first database DB1. If they match, authentication is considered successful; otherwise, authentication is considered unsuccessful.

[0052] If authentication is successful, in step S3, the server 8 generates a task for the delivery robot 7. The task includes the delivery robot 7 moving to the receiving point P0, the delivery robot 7 loading the package 4 at the receiving point P0 and then moving to a specific delivery destination P1 associated with the identification information Z, and having the user 3 retrieve the package 4 at that specific delivery destination P1.

[0053] In the third database DB3, a user ID is associated with each task. This grants the user ID associated with the task the authority to unlock the locking device 57 of the delivery robot 7 while the task is being executed. In other words, the server 8 temporarily grants the user ID corresponding to the identification information Z of the key 5 read by the delivery reader 19 the authority to unlock the locking device 57 of the delivery robot 7. For example, the period during which the user ID corresponding to the task is temporarily granted the authority to unlock the locking device 57 of the delivery robot 7 may be, for example, the period from when authentication is successful and the task is generated in step S2 until when the task is completed in step S17, which will be described later.

[0054] In step S4, the server 8 sends a movement command signal to the delivery robot 7 to move toward the receiving point P0 corresponding to the delivery leader 19 that sent the call signal. The movement command signal includes information on the task number indicating the number of the task generated in step S3, the receiving point P0 for that task, and the delivery destination point P1 for that task.

[0055] If facility 2 has only one delivery leader 19, the receiving point P0 is uniquely determined in advance. In this case, the movement command signal that server 8 transmits to delivery robot 7 may include information indicating the coordinates of receiving point P0, or the coordinates of receiving point P0 may be pre-set in delivery robot 7 without the movement command signal including information indicating receiving point P0.

[0056] If facility 2 has multiple delivery leaders 19, each delivery leader 19 may be assigned a corresponding receiving point P0. In that case, server 8 may identify the receiving point corresponding to the delivery leader 19 that sent the received call signal as the receiving point P0 for the task, and include the identified receiving point P0 in the movement command signal.

[0057] Regarding the delivery destination P1, the server 8 refers to the first database DB1 and identifies the delivery destination P1 for the task as the delivery destination P1 corresponding to the identification information Z, i.e., the key ID, included in the call signal. That is, the delivery destination P1 included in the movement command signal is a specific delivery destination P1 selected from a group of candidate delivery destination P1s, and is the delivery destination P1 associated with the room 11 of user 3, which corresponds to the identification information Z included in the call signal.

[0058] In step S5, upon receiving a movement command signal, the delivery robot 7 autonomously moves toward the receiving point P0, comparing its own position, determined using the distance measuring sensor 54, with the aforementioned map data.

[0059] In step S6, the delivery robot 7 determines whether or not it has arrived at the receiving point P0. If the delivery robot 7 determines that it has arrived at the receiving point P0, in step S7, the delivery robot 7 determines whether or not user 3's package 4 has been placed in the package storage space S.

[0060] There are various methods for determining whether package 4 has been placed in the package storage space S. The transport robot 7 may be equipped with a sensor that outputs a signal indicating that package 4 has been placed in the package storage space S, and the robot may determine that package 4 has been placed in the package storage space S based on the signal from that sensor. For example, if the delivery robot 7 is equipped with a locking sensor that detects the state of the locking device 57, the robot may determine that package 4 has been placed in the package storage space S when the locking sensor detects that the locking device 57 has been locked at the receiving point P0. If the delivery robot 7 is equipped with an opening / closing sensor that detects the opening and closing of the cover C, the delivery robot 7 may determine that package 4 has been placed in the package storage space S when the opening / closing sensor detects that the cover C has been opened and closed at the receiving point P0. If the delivery robot 7 is equipped with a weight sensor that detects the weight of an object placed in the package storage space S, the delivery robot 7 may determine that package 4 has been placed in the package storage space S when the weight measured by the weight sensor increases. If the delivery robot 7 is equipped with a camera that includes an imaging sensor for photographing the luggage storage space S, the delivery robot 7 may analyze the image captured by the camera and determine that luggage 4 is in the luggage storage space S, and if it recognizes that luggage 4 is in the luggage storage space S, it may determine that luggage 4 has been placed in the luggage storage space S. The delivery robot 7 may also determine that luggage 4 has been placed in the luggage storage space S when it receives user input indicating that luggage 4 has been placed in the luggage storage space S. When determining that luggage 4 has been placed in the luggage storage space S in response to user input, the interface that receives the user input may be considered a sensor. If a security camera that photographs the activity area of ​​the transport robot 7 is installed in the facility 2, the server 8 may analyze the image captured by the security camera and determine that luggage 4 has been placed in the luggage storage space S. The delivery robot 7 may integrate steps S7 and S8, and if it determines YES in step S8, it may determine that luggage 4 has been placed in the luggage storage space S. In other words, step S7 may be omitted.

[0061] In step S8, the delivery robot 7 determines whether or not it has received an input from user 3 to command it to depart. For example, the delivery robot 7 may display an input button to command it to depart on the touch panel display 55, and the delivery robot 7 may receive an input to command it to depart when user 3 presses that input button. User 3 may operate a personal information terminal 6 to send a departure command signal to the server 8 to command the delivery robot 7 to depart, and the delivery robot 7 may receive an input to command it to depart from the server 8 that has received the departure command signal. The delivery robot 7 may also directly receive an input to command it to depart wirelessly from the personal information terminal 6 operated by user 3.

[0062] When the delivery robot 7 receives an input from user 3 to command it to depart, in step S9, the delivery robot 7 autonomously moves toward a specific delivery destination P1 indicated by the movement command signal received from server 8 in step S4. If user 3 uses information processing terminal 6 to instruct server 8 to depart the delivery robot 7, server 8 may command the delivery robot 7 to depart toward a specific delivery destination P1. If server 8 determines in step S7 that the package 4 has been placed in the package storage space S, server 8 may command the delivery robot 7 to depart toward a specific delivery destination P1. Step S8 may also be omitted. That is, if it is determined in step S7 that the package 4 has been placed in the package storage space S, the delivery robot 7 may autonomously move toward delivery destination P1. In short, when the predetermined conditions that allow the delivery robot 7 to depart toward delivery destination P1 are met, the delivery robot 7 should depart toward a specific delivery destination P1.

[0063] In step S10, the delivery robot 7 refers to its own location information and map data to determine whether or not it has arrived at a specific delivery destination P1. If it is determined that the delivery robot 7 has arrived at the specific delivery destination P1, in step S31, the delivery robot 7 notifies the user 3's mobile device 6 of the delivery robot 7's arrival at the delivery destination P1. At this time, the delivery robot 7 may notify the mobile device 6 of its arrival via the server 8, or it may send an SMS message to the mobile device 6 using the mobile phone network without going through the server 8. The server 8 periodically receives location information of the delivery robot 7 from the transport robot 7, and if it determines that the delivery robot 7 has arrived at a specific delivery destination P1, the server 8 may notify the mobile device 6 of the delivery robot 7's arrival at the delivery destination P1.

[0064] In step S11, the delivery robot 7 determines whether the package 4 was retrieved from the delivery robot 7 within a predetermined time limit from the arrival at the delivery destination P1. If the package 4 is not retrieved from the delivery robot 7 after the time limit has elapsed, in step S30, the delivery robot 7 performs a timeout control as described later, referring to Figure 11.

[0065] There are various methods for determining whether package 4 has been removed from the delivery robot 7. The delivery robot 7 may be equipped with a sensor that outputs a signal indicating that package 4 has been removed from the package storage space S, and the robot may determine that package 4 has been removed from the package storage space S based on the signal from that sensor. For example, if the delivery robot 7 is equipped with a locking sensor that detects the state of the locking device 57, the robot may determine that package 4 has been removed from the package storage space S when it detects that the locking device 57 has been unlocked at the delivery destination P1. If the delivery robot 7 is equipped with an opening / closing sensor that detects the opening and closing of the cover C, the delivery robot 7 may determine that package 4 has been removed from the package storage space S when the opening / closing sensor detects that the cover C has opened and closed at the delivery destination P1. If the delivery robot 7 is equipped with a weight sensor that detects the weight of an object placed in the package storage space S, the delivery robot 7 may determine that package 4 has been removed from the package storage space S when the weight measured by the weight sensor decreases to an initial value indicating empty. If the delivery robot 7 is equipped with a camera that includes an imaging sensor for photographing the luggage storage space S, the delivery robot 7 may analyze the images captured by the camera and determine that the luggage 4 has been removed from the luggage storage space S. If a security camera that photographs the activity area of ​​the transport robot 7 is installed in the facility 2, the server 8 may analyze the images captured by the security camera and determine that the luggage 4 has been removed from the luggage storage space S. The delivery robot 7 may determine that the luggage 4 has been removed from the luggage storage space S when it receives user input indicating that the luggage 4 has been removed from the luggage storage space S. The delivery robot 7 may determine that the luggage 4 has been removed from the luggage storage space S when user 3 makes user input indicating task completion on the delivery robot 7's touch panel display 55. When determining that the luggage 4 has been removed from the luggage storage space S in response to user input, the interface that receives the user input may be considered a sensor.

[0066] In step S12, user 3 uses the personal information terminal 6 to send an unlock request signal to the server 8 instructing the delivery robot 7 to unlock the locking device 57. This unlock request signal includes information requesting the unlocking of the locking device 57 of the delivery robot 7 and user-related information associated with user 3. This user-related information may be information unique to user 3. For example, user-related information may be a user ID. If the delivery robot 7 is equipped with a reader that reads the IC tag 33 of the key 5, the user-related information may also be identification information Z of the key 5 read by the reader of the delivery robot 7. That is, in step S12, user 3 may instruct the delivery robot 7 to unlock by having the reader of the delivery robot 7 read the identification information Z of the IC tag 33 of the key 5.

[0067] In step S13, the server 8 determines whether the user ID included in the received unlocking request signal has the authority to unlock the locking device 57 of the delivery robot 7. For example, the server 8 refers to the third database DB3 and determines whether the user ID included in the received unlocking request signal matches the user ID associated with the task that the delivery robot 7 is currently executing. If the user ID included in the unlocking request signal matches the user ID corresponding to the task being executed, the server 8 determines that the user 3 who sent the unlocking request signal has the authority to unlock the locking device 57 of the delivery robot 7.

[0068] If it is determined that user 3, who sent the unlock request signal, has been granted the authority to unlock, in step S14, the server 8 sends an unlock command signal to the delivery robot 7 instructing it to unlock the locking device 57 of the delivery robot 7. That is, when the server 8 receives an unlock request signal containing user-related information associated with user 3, while user 3 has been granted the authority to unlock, it sends an unlock command signal to the delivery robot 7.

[0069] In step S15, upon receiving the unlock command signal, the delivery robot 7 unlocks the locking device 57. This allows user 3 to open the cover C and retrieve their luggage 4 from the luggage storage space S. In this way, the locking device 57 of the delivery robot 7 is prevented from being unlocked by a user other than user 3 who summoned the delivery robot 7.

[0070] In step S12, if user 3 has the reader of the delivery robot 7 read the IC tag 33 of the key 5 and commands the delivery robot 7 to unlock, if the server 8 or the delivery robot 7 determines that the identification information Z read by the reader of the delivery robot 7 belongs to user 3 who has the authority to unlock, the delivery robot 7 will unlock the locking device 57.

[0071] In step S16, the delivery robot 7 determines whether or not package 4 has been taken out of the package storage space S. A specific example of this determination is the same as that described in step S11. Note that in Figure 10, step S11 is conveniently connected to step S15 when the determination in step S11 is YES, but in reality, if the determination in step S11 is YES, the process proceeds to the part immediately following step S16.

[0072] When the package 4 is taken out of the package storage space S of the delivery robot 7, in step S17, the delivery robot 7 sends a task completion signal to the server 8 to report that the task has been completed.

[0073] The task completion signal includes the task number of the completed task. In step S18, the server 8 enters "Completed" in the status of the task corresponding to the task number included in the task completion signal in the third database DB3. If the server 8 determines that the package 4 has been taken out of the package storage space S, the server 8 may enter "Completed" in the status of the task accordingly. In step S19, the delivery robot 7 moves to the home location. The home location is, for example, the charging station 18.

[0074] In step S17, the delivery robot 7 may send a task completion signal after detecting that the package 4 has been taken out of the package storage space S and receiving user input indicating confirmation of package receipt via the touch panel display 55 or the personal information terminal 6. In this case, since user 3 may forget to input confirmation of package receipt to the delivery robot 7 after taking out the package 4 from the delivery robot 7, the delivery robot 7 may assume that the task is complete and automatically move to the home location after a certain period of time has elapsed since detecting that the package 4 has been taken out of the package storage space S.

[0075] As described above, with the configuration described above, if user 3 has the delivery reader 19 read the identification information Z of key 5, the delivery robot 7 will automatically come to the receiving point P0, so user 3 can easily summon the delivery robot 7. The specific delivery destination P1 to which the delivery robot 7 will carry the package 4 is pre-associated with the identification information Z read by the delivery reader 19, so user 3 is saved the trouble of specifying the specific delivery destination P1. Thus, the delivery robot 7 can smoothly transport the package 4 to the specific delivery destination P1 while minimizing the effort required from user 3.

[0076] Figure 12 is a flowchart of the timeout control shown in Figure 10. Figure 12 illustrates the timeout control that is executed in step S30 above if the package 4 remains on the delivery robot 7 even after the time limit has elapsed since the delivery robot 7 arrived at the delivery destination P1. As shown in Figure 12, in step S21, the delivery robot 7 notifies the server 8 of the start of timeout control.

[0077] In step S22, the delivery robot 7 moves to a predetermined designated location different from the delivery destination P1. This designated location may be, for example, a designated location P2 corresponding to the charging station 18 or the management room 16, or a place such as a parcel locker. This prevents the delivery robot 7 from being left unattended at the delivery destination P1 for an extended period of time and becoming an obstruction.

[0078] In timeout control, server 8 sends a notification signal to a pre-designated information terminal indicating that the time limit has been exceeded. Specifically, in step S23, server 8 sends a notification signal to the user 3's mobile information terminal 6 corresponding to the task, indicating that the package 4 has been forgotten to be taken from the delivery robot 7. The mobile information terminal 6 to which the notification signal is sent may be, for example, a mobile information terminal 6 having a telephone number registered in the second database DB2. Upon receiving the notification signal, the mobile information terminal 6 notifies user 3 by display and sound, at least one of which, to prompt user 3 to take the package 4 from the delivery robot 7. Step S23 may be omitted.

[0079] In step S24, the server 8 grants the manager of the manager's room 16 the authority to unlock the locking device 57 of the delivery robot 7. In step S25, the server 8 sends an alert signal to the manager's terminal used by the manager indicating that the package 4 has been forgotten to be taken out of the delivery robot 7. Upon receiving the alert signal, the manager's terminal notifies the manager, at least by display and sound, to prompt the manager to take the package 4 out of the delivery robot 7 and temporarily store it. Step S24 may be omitted. The manager may always have the authority to unlock the locking device 57 of the delivery robot 7. Alternatively, the manager, upon seeing the manager's terminal that has received the alert signal, may simply contact user 3 by telephone or other means, or the manager may go to user 3's room 11 and ring the doorbell in room 11 to call user 3. Steps S24 and S25 may be omitted.

[0080] Upon receiving notification, the administrator can use their administrator terminal to send an unlock request signal to the server 8 to unlock the locking device 57 of the delivery robot 7. The server 8 receives the unlock request signal from the administrator terminal, and if the authentication of the administrator ID included in the unlock request signal is successful, it sends an unlock command signal to the delivery robot 7 to unlock the locking device 57 of the delivery robot 7, allowing the package 4 to be retrieved from the delivery robot 7. Steps S26, S27, S28, and S29 in Figure 12 are the same as steps SS16, S17, S18, and S19 in Figure 11, respectively, so a detailed explanation is omitted.

[0081] In this way, a user 3 who learns from their mobile device 6 that the delivery robot 7 has exceeded the time limit since arriving at a specific delivery destination P1, or an administrator who learns from their administrator terminal, can take action against the delivery robot 7.

[0082] Furthermore, the technology disclosed herein is not limited to the embodiments described above. For example, the identification information Z of the IC tag 33 of the key 5 is not limited to the key ID, but may be, for example, a room ID. The identification information of the identification medium held by the user is not limited to the identification information of a contactless IC tag 33 that can communicate with the delivery reader 19 by short-range wireless communication, but may be, for example, the identification information of a contact-type identification medium, or a two-dimensional code such as a QR code (registered trademark). The delivery robot 7 does not have to be equipped with a locking device 57 that locks the cover C in the closed position. If the delivery robot 7 does not have a locking device 57, the delivery robot 7 may be equipped with a camera that photographs the luggage storage space S and its surroundings, and a security camera that photographs the activity area of ​​the transport robot 7 may be installed in the facility 2. The delivery robot 7 does not have to be equipped with a cover C that opens and closes the luggage storage space S.

[0083] The entity that performs each step shown in Figures 9 to 12 is not particularly limited. At least one of the steps performed by the delivery robot 7 in Figures 9 to 12 may be performed by the server 8 instead. The processing circuit that performs the processing in the delivery system 1 may include either or both of the processing circuit 50 of the delivery robot 7 and the processing circuit 60 of the server 8. At least one of the steps performed by the server 8 in Figures 9 to 12 may be performed by the delivery robot 7 instead. The order of each step in each flowchart can be changed as appropriate. If the delivery leader 19 and the delivery robot 7 are configured to communicate directly with each other wirelessly, the server 8 may be omitted.

[0084] As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to the embodiments described above and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology.

[0085] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0086] [Aspect] The embodiments described above are specific examples of the following embodiments.

[0087] (Aspect 1) A delivery system in which delivery robots deliver packages at a facility, The system includes a processing circuit that generates commands related to the operation of the delivery robot, The aforementioned processing circuit is When the identification medium held by the user is read by the reader installed at the facility, the delivery robot is moved to a designated receiving point. A delivery system that, after the package is loaded onto the delivery robot at the receiving point, moves the delivery robot to a delivery destination linked to the identification information of the identification medium read by the reader.

[0088] According to Embodiment 1, when a user has the reader read the identification information of the identification medium, the delivery robot will automatically come to the receiving point, so the user can easily summon the delivery robot. The delivery destination to which the delivery robot will carry the package is pre-linked to the identification information read by the reader, so the user does not have to specify the delivery destination. Therefore, the delivery robot can smoothly transport the package to the delivery location while minimizing the effort required from the user.

[0089] (Aspect 2) The aforementioned delivery destination is a location corresponding to a room in the aforementioned facility. The delivery system according to embodiment 1, wherein the identification medium is a key for unlocking the door of the room and includes an IC tag storing the identification information.

[0090] According to Embodiment 2, the user can move the delivery robot with a simple operation of holding the room key over the reader, and can also unlock the room door using the same key that summoned the delivery robot, thus improving user convenience.

[0091] (Aspect 3) The delivery robot includes a cargo storage space, a cover for opening and closing the cargo storage space, and a locking device for locking the cover in the closed position. The aforementioned processing circuit is The delivery system according to embodiment 1 or 2, wherein the user corresponding to the identification information read by the reader is temporarily granted the authority to unlock the locking device of the delivery robot.

[0092] According to embodiment 3, the locking device of the delivery robot cannot be unlocked by a user other than the user who summoned the delivery robot, thereby improving the security of the package.

[0093] (Aspect 4) The system further includes a memory containing a database in which the aforementioned identification information is linked to the aforementioned delivery destination location. The delivery system according to any one of embodiments 1 to 3, wherein the processing circuit refers to the database and identifies the delivery destination associated with the identification information.

[0094] According to embodiment 4, the delivery destination corresponding to the identification information can be easily identified by referring to the database.

[0095] (Appendix 5) The delivery system according to any one of embodiments 1 to 4, wherein the processing circuit moves the delivery robot to a designated location different from the delivery destination if the package remains on the delivery robot even after a predetermined time limit has elapsed since the delivery robot arrived at the delivery destination.

[0096] According to embodiment 5, it is possible to prevent the delivery robot from being left unattended at the delivery location for an extended period of time.

[0097] (Aspect 6) The delivery system according to any one of embodiments 1 to 5, wherein the processing circuit transmits a notification signal to a pre-designated information terminal indicating that the time limit has been exceeded if the package remains on the delivery robot even after a predetermined time limit has elapsed since the delivery robot arrived at the delivery destination.

[0098] According to embodiment 6, a person who learns from an information terminal that the delivery robot has exceeded the time limit since arriving at the delivery location can take action against the delivery robot, thus preventing the delivery robot from being left unattended at the delivery location for an extended period of time.

[0099] (Aspect 7) A delivery method in which delivery robots deliver packages at a facility, When the reader located at the facility reads the identification information of the identification medium held by the user, the delivery robot is moved to a predetermined receiving point. A delivery method comprising: loading the package onto the delivery robot at the receiving point; and then moving the delivery robot to a delivery destination linked to the identification information read by the reader.

[0100] (Pattern 8) A program that causes at least one processor to execute the delivery method described in Embodiment 7. [Explanation of symbols]

[0101] 1. Delivery System 2 facilities 3 users 4. Luggage 5 keys 7 Delivery robots 8 servers 11 rooms 19 Delivery Leader 33 IC tags 50 Processing Circuits 51 processors 53a Program 57 Locking device 60 Processing Circuits 61 processors 63a Program C Cover P0 Receiving point P1 Delivery destination P2 Designated location S Luggage storage space Z Identification Information

Claims

1. A delivery system in which delivery robots deliver packages at a facility, The system includes a processing circuit that generates commands related to the operation of the delivery robot, The aforementioned processing circuit is When the identification medium held by the user is read by the reader installed at the facility, the delivery robot is moved to a designated receiving point. A delivery system that, after the package is loaded onto the delivery robot at the receiving point, moves the delivery robot to a delivery destination linked to the identification information of the identification medium read by the reader.

2. The aforementioned delivery destination is a location corresponding to a room in the aforementioned facility. The delivery system according to claim 1, wherein the identification medium is a key for unlocking the door of the room and includes an IC tag storing the identification information.

3. The delivery robot includes a cargo storage space, a cover for opening and closing the cargo storage space, and a locking device for locking the cover in the closed position. The aforementioned processing circuit is The delivery system according to claim 1, wherein the user corresponding to the identification information read by the reader is temporarily granted the authority to unlock the locking device of the delivery robot.

4. The system further includes a memory containing a database in which the aforementioned identification information is linked to the aforementioned delivery destination location. The delivery system according to claim 1, wherein the processing circuit refers to the database and identifies the delivery destination associated with the identification information.

5. The delivery system according to claim 1, wherein if the package remains on the delivery robot even after a predetermined time limit has elapsed since the delivery robot arrived at the delivery destination, the processing circuit moves the delivery robot to a designated location different from the delivery destination.

6. The delivery system according to claim 1, wherein the processing circuit transmits a notification signal to a pre-designated information terminal indicating that the time limit has been exceeded if the package remains on the delivery robot even after a predetermined time limit has elapsed since the delivery robot arrived at the delivery destination.

7. A delivery method in which delivery robots deliver packages at a facility, When the reader located at the facility reads the identification information of the identification medium held by the user, the delivery robot is moved to a predetermined receiving point. A delivery method comprising: loading the package onto the delivery robot at the receiving point; and then moving the delivery robot to a delivery destination linked to the identification information read by the reader.

8. A program that causes at least one processor to execute the delivery method described in claim 7.

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