Logistics system and logistics robot control method

Abstract

The present disclosure provides a logistics system and a logistics robot control method. In a logistics service using a logistics robot that delivers a package by autonomous travel, an appropriate delivery route is determined. The logistics system provides a logistics service using a logistics robot that delivers a package by autonomous travel. The logistics system has one or more processors that execute a delivery route determination process that determines a delivery route for a logistics robot to deliver a package. In a case where there are a plurality of delivery route candidates from a position of the logistics robot to a delivery address of the package, the one or more processors select a delivery route from the plurality of delivery route candidates in accordance with at least one of a congestion degree, a time period, a weather condition, and an energy consumption amount of the logistics robot for each of the plurality of delivery route candidates.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a logistics service that utilizes a logistics robot that delivers a cargo by autonomous travel. BACKGROUND

[0002] Patent Literature 1 discloses a delivery system that utilizes a mobile body that performs automatic driving. The delivery system determines a delivery box corresponding to a delivery address from among a plurality of delivery boxes. The mobile body performs automatic driving to deliver a cargo to the determined delivery box.

[0003] PRIOR ART DOCUMENTS

[0004] Patent Literature 1: Japanese Patent No. 6164599 SUMMARY

[0005] A logistics service that utilizes a logistics robot that delivers a cargo by autonomous travel is considered. There can be a case where a plurality of candidates exist as a delivery route from a position of the logistics robot to a delivery address of the cargo. Patent Literature 1 does not consider a method of deciding an appropriate delivery route in such a case. There is room for improvement regarding the decision of the delivery route.

[0006] An object of the present disclosure is to provide a technology capable of deciding an appropriate delivery route in a logistics service that utilizes a logistics robot that delivers a cargo by autonomous travel.

[0007] A first aspect relates to a logistics system that provides a logistics service that utilizes a logistics robot that delivers a cargo by autonomous travel.

[0008] The logistics system includes one or more processors that execute a delivery route decision process that decides a delivery route in which the logistics robot delivers the cargo.

[0009] In a case where a plurality of delivery route candidates exist as a delivery route from a position of the logistics robot to a delivery address of the cargo, the one or more processors select a delivery route from among the plurality of delivery route candidates in accordance with at least one of a congestion degree, a time period, a weather condition, and an amount of energy consumption of the logistics robot of each of the plurality of delivery route candidates.

[0010] A second aspect relates to a logistics robot control method that controls a logistics robot that delivers a cargo by autonomous travel.

[0011] The logistics robot control method includes:

[0012] a delivery route decision process that decides a delivery route in which the logistics robot delivers the cargo; and

[0013] The logistics robot is controlled so as to deliver the goods in accordance with the delivery route.

[0014] In a case where there are a plurality of delivery route candidates from the position of the logistics robot to the delivery address of the goods, the delivery route decision process includes a process of selecting a delivery route from the plurality of delivery route candidates in accordance with at least one of the congestion degree, the time period, the weather condition of each of the plurality of delivery route candidates, and the energy consumption amount of the logistics robot of each of the plurality of delivery route candidates.

[0015] According to the present disclosure, in a case where there are a plurality of delivery route candidates, a delivery route is selected in accordance with at least one of the congestion degree, the time period, the weather condition of each of the delivery route candidates, the energy consumption amount of the logistics robot of each of the delivery route candidates, and the delivery route history. Thereby, an appropriate delivery route corresponding to the situation can be decided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of a logistics system for explaining an embodiment of the present disclosure.

[0017] Figure 2 is a schematic diagram of a logistics system for explaining an embodiment of the present disclosure.

[0018] Figure 3 is a schematic diagram of an outline of a delivery route decision process for explaining an embodiment of the present disclosure.

[0019] Figure 4 is a flowchart that schematically shows a process performed by a logistics system according to an embodiment of the present disclosure.

[0020] Figure 5 is a schematic diagram of a first example of a delivery route decision process for explaining an embodiment of the present disclosure.

[0021] Figure 6 is a schematic diagram of a second example of a delivery route decision process for explaining an embodiment of the present disclosure.

[0022] Figure 7 is a schematic diagram of a third example of a delivery route decision process for explaining an embodiment of the present disclosure.

[0023] Figure 8 is a schematic diagram of a fourth example of a delivery route decision process for explaining an embodiment of the present disclosure.

[0024] Figure 9 is a schematic diagram of a fifth example of a delivery route decision process for explaining an embodiment of the present disclosure.

[0025] Figure 10is a schematic diagram for explaining a sixth example of a delivery route decision process of an embodiment of the present disclosure.

[0026] Figure 11 is a schematic diagram for explaining a seventh example of a delivery route decision process of an embodiment of the present disclosure.

[0027] Figure 12 is a block diagram showing a configuration example of a logistics robot of an embodiment of the present disclosure.

[0028] Figure 13 is a block diagram showing an example of various information in a logistics robot of an embodiment of the present disclosure.

[0029] Figure 14 is a block diagram showing a configuration example of a management system of an embodiment of the present disclosure.

[0030] Figure 15 is a block diagram showing an example of various information in a management system of an embodiment of the present disclosure.

[0031] (Symbol Explanation)

[0032] 1: logistics system; 2: service area; 5: sensor; 10: logistics robot; 20: sensor group; 30: communication device; 40: travel unit; 50: storage unit; 60: control device; 70: travel unit control device; 80: storage unit control device; 100: management system; 110: input / output device; 120: communication device; 130: information processing device; 140: processor; 150: storage device; 160: database; CAN: route candidate information; CON: weather condition information; DLV: delivery information; HRS: time period information; HST: delivery history information; MAP: service area information; OPE: operation information; RBT: logistics robot information; REF: reference information; RST: route condition information; RTE: route information; SUR: surrounding condition information DETAILED DESCRIPTION

[0033] An embodiment of the present disclosure will be described with reference to the drawings.

[0034] 1. Logistics system

[0035] Figure 1 and Figure 2 is a schematic diagram for explaining a logistics system 1 of the present embodiment. The logistics system 1 provides a logistics service. A service area 2 is a predetermined area in which the logistics service is provided. For example, the service area 2 is one block of a smart city or the like. The logistics system 1 includes a plurality of logistics robots 10 and a management system 100.

[0036] The logistics robot 10 is a robot mainly used for delivering goods. The logistics robot 10 is configured to autonomously travel from a departure place to a destination. For example, the departure place is a place where goods are gathered (example: a logistics center), and the destination is a delivery address of the goods (example: a user's residence). As another example, the departure place is a delivery address of certain goods, and the destination is a delivery address of other goods. Further, as another example, the departure place is a delivery address of the last goods, and the destination is a place where goods are gathered.

[0037] The kind of the logistics robot 10 is not limited to one. A plurality of kinds of logistics robots 10 can be used. For example, as shown in FIG. 1, a small logistics robot 10-1, a medium logistics robot 10-2, and a large logistics robot 10-3 can be used. Figure 2

[0038] The management system 100 performs management of the logistics service, management of the logistics robots 10, and control. The management system 100 is, for example, a management server. The management system 100 can also be a distributed processing system.

[0039] The management system 100 can communicate with each logistics robot 10, and collect information related to the position and the state from each logistics robot 10. In addition, the management system 100 accepts a delivery request from a user of the logistics service. The management system 100 allocates a logistics robot 10 that performs delivery in response to the delivery request, and determines a delivery route of the goods by the logistics robot 10. Then, the management system 100 notifies the determined delivery route to the logistics robot 10, and instructs the logistics robot 10 to perform delivery of the goods according to the delivery route. The logistics robot 10 autonomously travels according to the notified delivery route, and performs delivery of the goods.

[0040] 2. Delivery route determination process

[0041] Figure 3 A case where there are a plurality of candidates for the delivery route from the position of the logistics robot 10 to the delivery address of the goods is shown. Hereinafter, the candidate for the delivery route is referred to as "delivery route candidate". In the example shown in FIG. 1, there are three delivery route candidates R1 to R3. Figure 3

[0042] ​​According to the present embodiment, an appropriate delivery route is selected from among the plurality of delivery route candidates in accordance with the situation. In order to select an appropriate delivery route, "reference information REF" is used. For example, the reference information REF includes information related to at least one of the congestion degree, the time period, the weather condition, the amount of energy consumption of the logistics robot 10, and the delivery route history of the logistics robot 10 for each delivery route candidate. Details of the reference information REF will be described later. According to such reference information REF, a delivery route is selected from among the plurality of delivery route candidates. Thereby, an appropriate delivery route corresponding to the situation can be determined.

[0043] For example, the management system 100 determines a delivery route. Specifically, the management system 100 extracts a plurality of delivery route candidates. The route candidate information CAN indicates the plurality of delivery route candidates. In addition, the management system 100 acquires the reference information REF described later. Then, the management system 100 selects a delivery route from among the plurality of delivery route candidates indicated by the route candidate information CAN in accordance with the reference information REF. The route information RTE indicates the selected delivery route. The management system 100 provides the route information RTE to the logistics robot 10, instructing the logistics robot 10 to deliver the goods in accordance with the route information RTE. Controlling the logistics robot 10 includes giving an instruction to the logistics robot 10. The logistics robot 10 autonomously travels in accordance with the delivery route indicated by the route information RTE, and delivers the goods.

[0044] As another example, the logistics robot 10 can also determine a delivery route. In this case, the management system 100 provides the route candidate information CAN and the reference information REF to the logistics robot 10. Alternatively, the logistics robot 10 can acquire at least one of the route candidate information CAN and the reference information REF by itself. The logistics robot 10 selects a delivery route from among the plurality of delivery route candidates indicated by the route candidate information CAN in accordance with the reference information REF. That is, the logistics robot 10 generates the route information RTE by itself. Then, the logistics robot 10 autonomously travels in accordance with the delivery route indicated by the route information RTE, and delivers the goods.

[0045] Figure 4 is a flowchart that schematically shows a process performed by the logistics system 1 of the present embodiment.

[0046] In step S100, the logistics system 1 (the management system 100 or the logistics robot 10) performs "delivery route determination processing" that determines a delivery route in which the logistics robot 10 delivers goods. In particular, in a case where there are a plurality of delivery route candidates, the logistics system 1 selects a delivery route from among the plurality of delivery route candidates in accordance with the reference information REF (step S150).

[0047] In step S200, the logistics system 1 executes "logistics robot control processing". Specifically, the logistics system 1 (the management system 100 or the logistics robot 10) controls the logistics robot 10 so that the goods are delivered along the delivery route decided in step S100. Note that controlling the logistics robot 10 also includes the management system 100 giving an instruction to the logistics robot 10.

[0048] As explained above, according to the present embodiment, in the case where there are a plurality of delivery route candidates, an appropriate delivery route corresponding to the situation can be decided.

[0049] The following explains various examples of the "delivery route decision processing" of the present embodiment.

[0050] 2-1. First Example

[0051] Figure 5 is a schematic diagram for explaining the first example of the delivery route decision processing. A plurality of sensors 5 for recognizing the situation around are provided within the service area 2. The sensor 5 is, for example, a camera for acquiring image information indicating the situation around. The sensor 5 can communicate with the management system 100 and transmit the recognized information (example: image information) to the management system 100.

[0052] The management system 100 recognizes the situation of each of the plurality of delivery route candidates on the basis of the recognition information received from the sensor 5. The route situation information RST is information indicating the situation of each delivery route candidate. For example, the route situation information RST includes image information along each delivery route candidate.

[0053] The management system 100 calculates the "crowding degree" of each delivery route candidate on the basis of the route situation information RST. The "crowding degree" here indicates to what extent the moving bodies are crowded on the delivery route candidate. As the moving bodies, humans, vehicles, robots (including other logistics robots 10), animals, and the like are exemplified. For example, the crowding degree is the average value of the moving body density along the delivery route candidate. Different weighting can be performed in accordance with the kind of moving bodies. As another example, the crowding degree is the peak value of the moving body density along the delivery route candidate. For example, in the case where the route situation information RST includes image information, the image information is analyzed to determine the moving bodies, and thus the crowding degree can be calculated. The route situation information RST can also include the crowding degree calculated for each delivery route candidate.

[0054] In the first example, the reference information REF includes the above-described route situation information RST. That is, the management system 100 selects the delivery route from the plurality of delivery route candidates on the basis of the route situation information RST. In particular, the management system 100 selects the delivery route from the plurality of delivery route candidates on the basis of the crowding degree of each delivery route candidate.

[0055] More specifically, the management system 100 selects, as the delivery route, the delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates. In this way, the delivery route is selected in consideration of the congestion degree of each delivery route candidate. Figure 5 In the example shown, there are two delivery route candidates RA, RC. The congestion degree of the delivery route candidate RC is high, and the congestion degree of the delivery route candidate RA is low. In this case, the management system 100 selects the delivery route candidate RA as the delivery route.

[0056] As explained above, according to the first example, the delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates is selected as the delivery route. The logistics robot 10 can move smoothly on the delivery route that is not congested. In addition, on the delivery route that is not congested, the risk of the logistics robot 10 contacting other moving bodies is also greatly reduced. Thus, the delivery efficiency is improved, and the safety is also improved.

[0057] 2-2. Second Example

[0058] Figure 6 is a schematic diagram for explaining a second example of the delivery route decision process. The explanation that is repeated with the first example is appropriately omitted.

[0059] In the second example, the reference information REF includes time period information HRS in addition to the route status information RST described above. The time period information HRS indicates whether the current time is a first time period or a second time period. For example, the first time period is daytime, and the second time period is nighttime. The time period information HRS is obtained from a system clock. The management system 100 selects the delivery route from among the plurality of delivery route candidates in accordance with the congestion degree of each delivery route candidate and the time period.

[0060] More specifically, during the daytime, the management system 100 selects, as the delivery route, the delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates. On the other hand, during the nighttime, the management system 100 selects, as the delivery route, the delivery route candidate with the highest congestion degree among the plurality of delivery route candidates. That is, the management system 100 switches the selection policy of the delivery route between the daytime and the nighttime.

[0061] During the daytime, the delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates is selected as the delivery route. The logistics robot 10 can move smoothly on the delivery route that is not congested. In addition, on the delivery route that is not congested, the risk of the logistics robot 10 contacting other moving bodies is also greatly reduced. Thus, in the delivery of goods during the daytime, the delivery efficiency is improved, and the safety is also improved.

[0062] On the other hand, at night, the delivery route candidate with the highest congestion degree among the plurality of delivery route candidates is selected as the delivery route. In this case, the logistics robot 10 can take over the task of monitoring the block at night while delivering the goods. In addition, at night, people feel safe as long as there is a logistics robot 10 nearby.

[0063] 2-3. Example 3

[0064] Figure 7 is a schematic diagram for explaining Example 3 of the delivery route decision process. In Example 3, the plurality of delivery route candidates includes the overground route RG and the underground route RU. The underground route RU has less interference with people than the overground route RG. The underground route RU can also be a delivery route dedicated to the logistics robot 10. Typically, the distance to the delivery address along the underground route RU becomes longer than the distance to the delivery address along the overground route RG by the amount of diving underground.

[0065] In Example 3, the reference information REF includes time period information HRS. The time period information HRS indicates whether the current time is the 1st time period or the 2nd time period. For example, the 1st time period is daytime, and the 2nd time period is nighttime. The time period information HRS is obtained from the system clock. The management system 100 selects the delivery route from the plurality of delivery route candidates in accordance with the time period information HRS.

[0066] More specifically, during the daytime, the management system 100 selects the overground route RG as the delivery route. On the other hand, at night, the management system 100 selects the underground route RU as the delivery route. That is, the management system 100 switches the selection policy of the delivery route between daytime and nighttime.

[0067] At night, the underground route RU is selected as the delivery route. During the nighttime, the visual recognition of the overground route RG deteriorates, and the probability of the logistics robot 10 contacting people increases. By selecting the underground route RU, which has less interference with people, it is possible to reduce the risk of the logistics robot 10 contacting people. In addition, the possibility of the logistics robot 10 being involved in an accident is also reduced.

[0068] On the other hand, during the daytime, the overground route RG is selected as the delivery route. Typically, the distance to the delivery address along the overground route RG is shorter than the distance to the delivery address along the underground route RU. By selecting the short overground route RG, it is possible to shorten the time required for delivery.

[0069] 2-4. Example 4

[0070] Figure 8 is a schematic diagram for explaining Example 4 of the delivery route decision process. The description duplicated with Example 3 described above is appropriately omitted.

[0071] In the fourth example, the management system 100 selects the underground route RU as the delivery route during the day. On the other hand, the management system 100 selects the overground route RG as the delivery route at night. That is, the management system 100 switches the selection policy of the delivery route between the day and the night.

[0072] During the day, the underground route RU is selected as the delivery route. In the underground route RU, there is less interference with people compared to the overground route RG. Thus, the logistics robot 10 can move smoothly on the underground route RU. In addition, the risk of the logistics robot 10 coming into contact with people is also greatly reduced. Therefore, in the delivery of goods during the day, the delivery efficiency is improved, and the safety is also improved.

[0073] On the other hand, at night, the overground route RG is selected as the delivery route. In this case, the logistics robot 10 can perform the task of monitoring the neighborhood at night while delivering goods. In addition, at night, people will feel a sense of security as long as there is a logistics robot 10 nearby.

[0074] 2-5. Fifth Example

[0075] Figure 9 is a schematic diagram for explaining a fifth example of the delivery route decision processing. As with the case of the third example described above, the plurality of delivery route candidates include the overground route RG and the underground route RU.

[0076] In the fifth example, the reference information REF includes weather condition information CON. The weather condition information CON indicates a parameter associated with a weather condition. The parameter associated with the weather condition includes at least one of rainfall amount, snowfall amount, dustfall amount, wind speed, fog concentration, and air temperature. Such weather condition information CON is provided by, for example, a weather information service system. The management system 100 acquires the weather condition information CON from the weather information service system.

[0077] The management system 100 selects the delivery route from the plurality of delivery route candidates in accordance with the weather condition information CON. More specifically, the management system 100 determines whether the overground route RG is in a harsh environment in accordance with the weather condition information CON. For example, in a case where the parameter shown in the weather condition information CON is equal to or greater than a threshold value, the management system 100 determines that the overground route RG is in a harsh environment. In a harsh environment, the recognition accuracy of the logistics robot 10 is reduced. In addition, a large amount of rain or snow can create an obstacle to the travel of the logistics robot 10.

[0078] Therefore, in a case where the parameter shown in the weather condition information CON is equal to or greater than a threshold value, the management system 100 selects the underground route RU as the delivery route instead of the overground route RG. Thus, it is possible to safely perform the delivery of goods without being affected by the harsh environment.

[0079] On the other hand, in a case where the parameter shown in the weather condition information CON is lower than the threshold value, the above-ground route RG is not in a harsh environment. Therefore, the management system 100 can also select the above-ground route RG as the delivery route. For example, the distance to the delivery address along the above-ground route RG is shorter than the distance to the delivery address along the underground route RU. By selecting the short above-ground route RG, it is possible to shorten the time required for delivery.

[0080] 2-6. 6th Example

[0081] Figure 10 is a schematic diagram for explaining a 6th example of the delivery route decision process. In the 6th example, the reference information REF includes service area information MAP. The service area information MAP indicates the configuration of a service area 2 (refer to Figure 1 ) in which a logistics service is provided. For example, the service area information MAP includes a three-dimensional road map, a building configuration, a floor structure within a building, a room configuration of each floor, an elevator configuration of a building, and the like.

[0082] The management system 100 estimates the energy consumption amount of the logistics robot 10 for each delivery route candidate on the basis of the service area information MAP. The energy consumption amount can be calculated on the basis of the distance and the height difference of each delivery route candidate. Then, the management system 100 selects the delivery route from among the plurality of delivery route candidates on the basis of the energy consumption amount of the logistics robot 10.

[0083] More specifically, the management system 100 selects the delivery route candidate with the least energy consumption amount among the plurality of delivery route candidates as the delivery route. In the example shown in Figure 10 , there are two delivery route candidates RE and RF. The energy consumption amount of the delivery route candidate RE is small, and the energy consumption amount of the delivery route candidate RF is large. Therefore, the management system 100 selects the delivery route candidate RE as the delivery route.

[0084] As explained above, according to the 6th example, the delivery route candidate with the least energy consumption amount among the plurality of delivery route candidates is selected as the delivery route. Thereby, it is possible to reduce the energy required for delivery of goods. In particular, in a situation where the energy is in a straitened condition as a whole of the service area 2, it is preferable to select the delivery route that saves energy.

[0085] 2-7. 7th Example

[0086] Figure 11 is a schematic diagram for explaining a 7th example of the delivery route decision process. In the 7th example, the reference information REF includes delivery history information HST. The delivery history information HST indicates the delivery history of the logistics robot 10. In particular, the delivery history information HST indicates a past delivery route RP on which the logistics robot 10 has traveled in the past.

[0087] The management system 100 selects a delivery route from among the plurality of delivery route candidates on the basis of the delivery history information HST. More specifically, in a case where the plurality of delivery route candidates include a past delivery route RP, the management system 100 selects the past delivery route RP as the delivery route. The past delivery route RP is a delivery route in which a past cargo delivery was successful, and thus the likelihood of the cargo delivery being performed without congestion is high.

[0088] 2-8. 8th example

[0089] Two or more of the above-described examples can be combined. That is, the delivery route decision processing can be performed while taking into consideration two or more of a plurality of parameters such as the congestion degree of the delivery route candidate, the time period, the weather condition, the amount of energy consumption, and the delivery route history. For example, a score is calculated by combining the parameters. Then, the higher the score, the higher the priority order is set.

[0090] 2-9. 9th example

[0091] In the 9th example, the delivery route decision processing is performed by the logistics robot 10. The management system 100 provides the route candidate information CAN and the reference information REF to the logistics robot 10. Alternatively, the logistics robot 10 can acquire at least one of the route candidate information CAN and the reference information REF by itself. The logistics robot 10 selects a delivery route from among the plurality of delivery route candidates shown by the route candidate information CAN on the basis of the reference information REF.

[0092] 3. Logistics robot

[0093] 3-1. Configuration example

[0094] Figure 12 is a block diagram showing a configuration example of the logistics robot 10 of the present embodiment. The logistics robot 10 is provided with a sensor group 20, a communication device 30, a travel unit 40, a storage unit 50, and a control device 60.

[0095] The sensor group 20 includes a position sensor, a state sensor, an identification sensor, and the like. The position sensor is used to acquire the position and orientation of the logistics robot 10. As the position sensor, a GNSS (Global Navigation Satellite System) receiver is exemplified. The state sensor is used to detect the state of the logistics robot 10. As the state of the logistics robot 10, wheel speed, speed, acceleration (forward-backward acceleration, lateral acceleration, and the like), angular velocity (yaw rate and the like), loaded weight, battery level, failure state, and the like are exemplified. The identification sensor is used to identify the situation around the logistics robot 10. As the identification sensor, a camera, a LIDAR (LIght Detection And Ranging), a radar, a sonar, and the like are exemplified.

[0096] The communication device 30 communicates with the outside of the logistics robot 10. For example, the communication device 30 communicates with the management system 100 through a wireless communication network of 4G, 5G, or the like. The communication device 30 can also be connected with a wireless LAN. The communication device 30 can also perform close-range communication with other logistics robots 10 in the vicinity. As the close-range communication method, infrared communication, Bluetooth (registered trademark) is exemplified.

[0097] The travel unit 40 performs acceleration, deceleration, and turning of the logistics robot 10. For example, the travel unit 40 includes wheels, an electric motor that drives the wheels, a drive circuit that drives the electric motor, a battery that supplies power, and the like. Acceleration and deceleration of the logistics robot 10 are performed by control of the electric motor. Brake can also be performed using regenerative braking based on control of the electric motor. In addition, a mechanical brake can also be provided at an arbitrary wheel. Turning of the logistics robot 10 is achieved by controlling the difference in rotational speed of left and right wheels (motors). A steering mechanism that steers the wheels can also be provided. A specific wheel can also be a omni-directional wheel.

[0098] The holding unit 50 is used to hold a cargo. For example, the holding unit 50 includes a holding case, an actuator that automatically opens and closes a lid of the holding case, an actuator that changes the position and orientation of the holding case, an arm that takes out a cargo from the holding case, and the like.

[0099] The control device 60 controls the logistics robot 10. For example, the control device 60 includes a travel unit control device 70 that controls the travel unit 40, and a holding unit control device 80 that controls the holding unit 50. The travel unit control device 70 and the holding unit control device 80 are connected to be communicable, and perform processing in cooperation with each other.

[0100] The driving unit control device 70 includes one or more processors 71 (hereinafter referred to as "processor 71") that perform various processes, and one or more storage devices 72 (hereinafter referred to as "storage devices 72") that store various information. For example, the processor 71 includes a CPU (Central Processing Unit). The storage device 72 is, for example, volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. The processor 71 implements the functions of the driving unit control device 70 by executing a computer program. The computer program may also be recorded on a computer-readable recording medium.

[0101] The storage unit control device 80 includes: one or more processors 81 (hereinafter simply referred to as "processor 81") for performing various processes; and one or more storage devices 82 (hereinafter simply referred to as "storage device 82") for storing various information. For example, the processor 81 includes a CPU. The storage device 82 is, for example, volatile memory, non-volatile memory, HDD, SSD, etc. The processor 81 implements the functions of the storage unit control device 80 by executing a computer program. The computer program may also be recorded on a computer-readable recording medium.

[0102] 3-2. Examples of various types of information

[0103] Figure 13 This is a block diagram illustrating examples of various information in the logistics robot 10. This information is stored in storage devices 72 and 82.

[0104] Service Area Information MAP indicates the service area providing logistics services 2 (refer to...) Figure 1 The service area information MAP consists of, for example, a 3D road map, building configuration, floor structure within the buildings, room configuration on each floor, and elevator configuration. For example, the service area information MAP is provided from the management system 100. The control device 60 obtains the service area information MAP from the management system 100 via the communication device 30.

[0105] The operation information OPE indicates the position and the state of the logistics robot 10. The position of the logistics robot 10 is obtained by the position sensor of the sensor group 20. The control device 60 can also acquire high-precision position information by a known self-position estimation process (Localization). The state of the logistics robot 10 is detected by the state sensor of the sensor group 20. As the state of the logistics robot 10, wheel speed, speed, acceleration (forward-backward acceleration, lateral acceleration, etc.), angular velocity (yaw rate, etc.), load weight, battery level, failure state, etc. are exemplified. The control device 60 acquires the operation information OPE from the sensor group 20.

[0106] The surrounding situation information SUR indicates the situation of the surroundings of the logistics robot 10. The surrounding situation information SUR is obtained from the recognition result by the recognition sensor of the sensor group 20. For example, the surrounding situation information SUR includes an image (video) captured by a camera. The surrounding situation information SUR can also include object information related to objects in the surroundings of the logistics robot 10. As the objects in the surroundings of the logistics robot 10, a pedestrian, a moving object (vehicle, robot), a sign, a white line, a roadside structure, a building, etc. are exemplified. The object information indicates the relative position and the relative speed of the object with respect to the logistics robot 10.

[0107] The delivery information DLV is information related to the delivery of the goods. For example, the delivery information DLV includes goods information indicating the delivery address of each of the goods. Further, the delivery information DLV includes route information RTE indicating the delivery route on which the logistics robot 10 travels. The delivery information DLV is provided from the management system 100, for example. The control device 60 acquires the delivery information DLV from the management system 100 via the communication device 30. As another example, the control device 60 can also generate the route information RTE from the delivery address of the goods and the service area information MAP.

[0108] The route candidate information CAN indicates a plurality of delivery route candidates from the position of the logistics robot 10 to the delivery address of the goods. The route candidate information CAN is provided from the management system 100, for example. The control device 60 acquires the route candidate information CAN from the management system 100 via the communication device 30. As another example, the control device 60 can also generate the route candidate information CAN from the delivery address of the goods and the service area information MAP.

[0109] Reference information (REF) is used to select a delivery route from multiple delivery route candidates. Examples of reference information REF are those described in Section 2 above. For instance, the reference information REF is provided from the management system 100. The control device 60 obtains the reference information REF from the management system 100 via the communication device 30. As other examples, the control device 60 may also obtain reference information REF such as time period information (HRS) and weather condition information (CON) itself.

[0110] 3-3. Delivery Processing

[0111] The driving unit control device 70 (processor 71) controls the driving unit 40 to perform driving control (acceleration control, deceleration control, turning control). It obtains the speed, acceleration, and angular velocity of the logistics robot 10 from the operation information OPE. The driving unit control device 70 can also perform driving control based on the surrounding condition information SUR to avoid collisions between the logistics robot 10 and surrounding objects.

[0112] In particular, the driving unit control device 70 (processor 71) performs autonomous driving control so that the logistics robot 10 moves toward its destination. More specifically, the driving unit control device 70 performs autonomous driving control based on service area information MAP, operation information OPE (location information), and delivery information DLV (route information RTE) so that the logistics robot 10 moves along the delivery route.

[0113] The driving unit control device 70 (processor 71) can also perform delivery route determination processing. Figure 4 (Step S100). For example, route candidate information CAN and reference information REF are provided from the management system 100. The driving unit control device 70 obtains the route candidate information CAN and reference information REF from the management system 100 via the communication device 30. As another example, the driving unit control device 70 may also generate the route candidate information CAN itself based on the delivery address and service area information MAP of the goods. Furthermore, as another example, the driving unit control device 70 may also obtain reference information REF such as time period information HRS and weather condition information CON. The driving unit control device 70 (processor 71) selects a delivery route from multiple delivery route candidates shown by the route candidate information CAN based on the reference information REF (refer to Section 2 above).

[0114] After the logistics robot 10 reaches the delivery address of the goods, the storage unit control device 80 (the processor 81) controls the storage unit 50 in order to unload the goods. For example, the storage unit control device 80 automatically opens and closes the lid of the storage box, or changes the position and orientation of the storage box, or takes out the goods from the storage box. Likewise, the storage unit control device 80 can also control the storage unit 50 to pack the goods.

[0115] 3-4. Monitoring Function

[0116] The control device 60 can also transmit the surrounding situation information SUR to the management system 100 via the communication device 30. The operator of the management system 100 can monitor the situation of the service area 2 based on the surrounding situation information SUR.

[0117] In addition, the control device 60 can also detect abnormal phenomena based on the surrounding situation information SUR. As the abnormal phenomena, there are patients, crimes, and the like. In the case where an abnormal phenomenon is detected, the control device 60 transmits an alarm to the management system 100 via the communication device 30. The operator of the management system 100 recognizes the abnormal phenomenon and takes countermeasures.

[0118] 4. Management System

[0119] 4-1. Configuration Example

[0120] Figure 14 is a block diagram showing a configuration example of the management system 100 of the present embodiment. The management system 100 is, for example, a management server. The management system 100 can also be a distributed processing system. The management system 100 is provided with an input / output device 110, a communication device 120, an information processing device 130, and a database 160.

[0121] The input / output device 110 is an interface for receiving information from an operator of the management system 100 and providing information to the operator. As the input device, a keyboard, a mouse, a touch panel, a switch, and the like are exemplified. As the output device, a display device, a speaker, and the like are exemplified. The operator can monitor the state of the logistics service using the input / output device 110.

[0122] The communication device 120 performs communication with the outside. For example, the communication device 120 communicates with each logistics robot 10 through a wireless communication network of 4G, 5G, or the like. The communication device 120 can also be connected with a wireless LAN. In addition, the communication device 120 communicates with the sensor 5 for recognizing the situation of the floor of the building 3. In addition, the communication device 120 can also communicate with a user terminal (example: PC, tablet, smart phone).

[0123] Information processing apparatus 130 includes one or more processors 140 (hereinafter referred to as "processor 140") and one or more storage devices 150 (hereinafter referred to as "storage device 150"). Processor 140 performs various information processing tasks. For example, processor 140 includes a CPU. Storage device 150 stores various information required for the processing performed by processor 140. Examples of storage devices 150 include volatile memory, non-volatile memory, HDD, SSD, etc. Processor 140 implements the functions of information processing apparatus 130 by executing computer programs. The computer programs are stored in storage device 150. Computer programs may also be recorded on computer-readable recording media. Computer programs may also be provided via a network.

[0124] Additionally, the information processing device 130 can access the database 160. The database 160 is implemented using a predetermined storage device. The database 160 may also be contained within the storage device 150. The database 160 stores various information required to provide logistics services. The information processing device 130 reads the required information from the database 160 and saves it to the storage device 150.

[0125] 4-2. Examples of various types of information

[0126] Figure 15 This is a block diagram illustrating examples of various information in the management system 100. The various information are stored in storage device 150 or database 160.

[0127] Service Area Information MAP indicates the service area providing logistics services 2 (refer to...) Figure 1 The service area information map (MAP) consists of, for example, a 3D road map, building layout, floor structure within buildings, room layout on each floor, and elevator layout. The service area information map is pre-made. It can also be updated periodically.

[0128] Logistics robot information (RBT) is information related to each logistics robot 10 and is generated for each logistics robot 10. For example, logistics robot information RBT includes operation information (OPE) and delivery information (DLV).

[0129] Operational information (OPE) indicates the position and status of the logistics robot 10. The processor 140 communicates with each logistics robot 10 via the communication device 120 and periodically obtains the OPE from each logistics robot 10.

[0130] Delivery information (DLV) is information related to the delivery of goods. For example, a delivery information DLV includes goods information indicating the delivery address of each item. Furthermore, a delivery information DLV may also include route information (RTE) indicating the delivery route traveled by the logistics robot 10.

[0131] The logistics robot information RBT can further include performance information indicating the performance of the logistics robot 10. For example, the performance information includes the size of the logistics robot 10, the cargo storage capacity, the maximum load capacity, the battery capacity, the maximum travelable distance, the maximum moving speed, and the like. The performance information is prepared in advance.

[0132] The route candidate information CAN indicates a plurality of delivery route candidates from the position of the logistics robot 10 to the delivery address of the cargo.

[0133] The reference information REF is information used to select a delivery route from among the plurality of delivery route candidates indicated by the route candidate information CAN. As the reference information REF, the reference information explained in Section 2 described above is exemplified. The route condition information RST is acquired from information transmitted from the sensors 5 provided in the service area 2. The time period information HRS is obtained from the system clock. The weather condition information CON is obtained from a weather information service system. The delivery history information HST is obtained from the database 160.

[0134] 4-3. Delivery processing

[0135] The processor 140 accepts a delivery request from a user of the logistics service. More specifically, the processor 140 accepts a delivery request from a user terminal via the communication device 120. The delivery request includes a desired delivery place, a desired delivery date, a desired delivery time, and the like.

[0136] In response to the delivery request, the processor 140 assigns a logistics robot 10 that performs the delivery. More specifically, the processor 140 selects a logistics robot 10 that can arrive at the desired delivery place at the desired delivery time on the desired delivery date, based on the service area information MAP, the operation information OPE, and the performance information. Further, the processor 140 determines an appropriate delivery route based on the service area information MAP and the desired delivery place (delivery address), and generates route information RTE (delivery route determination processing).

[0137] More specifically, the processor 140 extracts a plurality of delivery route candidates based on the delivery address of the cargo and the service area information MAP, and generates route candidate information CAN. Further, the processor 140 selects a delivery route from among the plurality of delivery route candidates indicated by the route candidate information CAN, based on the reference information REF (refer to Section 2 described above). The route information RTE indicates the selected delivery route. The delivery information DLV includes this route information RTE.

[0138] Thus, the processor 140 allocates the distribution logistics robot 10 that performs distribution in response to a distribution request from a user, generates distribution information DLV related to the logistics robot 10. The processor 140 communicates with the logistics robot 10 via the communication device 120, provides the distribution information DLV to the logistics robot 10, and instructs the logistics robot 10 to perform distribution processing in accordance with the distribution information DLV. That is, the processor 140 controls the logistics robot 10 by providing the distribution information DLV to the logistics robot 10. The logistics robot 10 performs autonomous travel control in accordance with the distribution information DLV, and distributes the goods.

[0139] As another example, the processor 140 can also communicate with the logistics robot 10 via the communication device 120, and provide the route candidate information CAN and the reference information REF to the logistics robot 10. In this case, the logistics robot 10 performs distribution route decision processing in accordance with the route candidate information CAN and the reference information REF.

Claims

1. A logistics system that provides a logistics service using a logistics robot that delivers a package by autonomous travel, wherein the logistics system has one or more processors that execute a delivery route decision process that decides a delivery route for the logistics robot to deliver the package, in a case where a plurality of delivery route candidates exist from a position of the logistics robot to a delivery address of the package, the one or more processors select the delivery route from among the plurality of delivery route candidates in accordance with a congestion degree and a time period of each of the plurality of delivery route candidates, the one or more processors in a first time period, decide a delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates as the delivery route, in a second time period different from the first time period, decide a delivery route candidate with the highest congestion degree among the plurality of delivery route candidates as the delivery route, the first time period is a daytime, and the second time period is a nighttime.

2. The logistics system according to claim 1, wherein the plurality of delivery route candidates include an overground route and an underground route, the one or more processors in the first time period, select the overground route as the delivery route, in the second time period, select the underground route as the delivery route.

3. The logistics system according to claim 1, wherein the plurality of delivery route candidates include an overground route and an underground route, a parameter associated with a weather condition includes at least one of a rainfall amount, a snowfall amount, a dustfall amount, a wind speed, a fog concentration, and an air temperature, in a case where the parameter is equal to or greater than a threshold value, the one or more processors select the underground route as the delivery route.

4. The logistics system according to claim 2 or 3, wherein a distance to the delivery address along the underground route is longer than a distance to the delivery address along the overground route.

5. The logistics system according to claim 1, wherein the one or more processors select a delivery route candidate with a minimum amount of energy consumption of the logistics robot among the plurality of delivery route candidates as the delivery route.

6. The logistics system according to claim 1, wherein the plurality of delivery route candidates include a past delivery route that the logistics robot has traveled in the past, the one or more processors select the past delivery route as the delivery route.

7. The logistics system according to any one of claims 1 to 3, wherein the one or more processors further execute a logistics robot control process in which the logistics robot is controlled so as to deliver the package in accordance with the delivery route.

8. A logistics robot control method that controls a logistics robot that delivers a package by autonomous travel, wherein the logistics robot control method includes a delivery route decision process that decides a delivery route for the logistics robot to deliver the package, and a logistics robot control process that controls the logistics robot so as to deliver the package in accordance with the delivery route. In a case where a plurality of delivery route candidates exist from a position of the logistics robot to a delivery address of the goods, the delivery route decision process includes a process of selecting the delivery route from the plurality of delivery route candidates in accordance with a congestion degree and a time period of each of the plurality of delivery route candidates, wherein, in a first time period, a delivery route candidate with the lowest congestion degree among the plurality of delivery route candidates is decided as the delivery route, and in a second time period different from the first time period, a delivery route candidate with the highest congestion degree among the plurality of delivery route candidates is decided as the delivery route, the first time period being daytime, and the second time period being nighttime.

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