Delivery system, delivery method, and computer-readable program storage medium

Abstract

The present disclosure relates to a distribution system, a distribution method, and a computer-readable program storage medium. A distribution system is provided that performs event-oriented cargo distribution by an autonomously driven mobile body, and can flexibly cope with the situation without causing trouble to the user even if the schedule of the event is changed during the delivery of the cargo. The distribution system obtains the schedule of the target event that is the target of cargo delivery from a database in which users can register events. Furthermore, based on the obtained schedule, a distribution plan is prepared for delivering the cargo to the target event by the mobile body. The movement of the mobile body under autonomous driving is carried out in accordance with the distribution plan. When it is confirmed that the schedule has been changed during the delivery of the cargo, the distribution system corrects the distribution plan based on the changed schedule and the current position of the mobile body, and causes the mobile body to move in accordance with the corrected distribution plan.

Description

Technical Field

[0001] The present disclosure relates to a technology for delivering goods to a designated delivery destination using an autonomously driven mobile vehicle. Background Art

[0002] Patent Document 1 discloses a technology related to cargo delivery processing, which involves delivering cargo requested by a consignor to a consignee. According to this prior art, in the absence of the consignee, a delivery processing terminal held by the distributor selects a delivery schedule for re-delivery from a set of delivery schedules that include the delivery destination and scheduled delivery time. Then, based on the customer information included in the selected delivery schedule, re-delivery information, including information about available re-delivery time periods, is sent to the consignee's communication terminal. Upon receiving re-delivery information including the consignee's designated time period from the consignee's communication terminal, the delivery processing terminal re-arranges the selected delivery schedule based on the received delivery information.

[0003] However, in the delivery of goods, it is sometimes necessary to deliver the goods precisely to the location and time they are needed. However, depending on the content of the goods, the delivery location and time may suddenly change. An example of this is coffee at a meeting. If the meeting room or meeting time changes, the location and time of coffee delivery will also need to change.

[0004] Currently, research is underway into the use of autonomous vehicles for cargo delivery. However, as in the case of conferences, the location, time, and number of attendees of an event to which goods are delivered may change depending on the user's circumstances. Furthermore, the event schedule may also change while the goods are being delivered.

[0005] The conventional technology described in Patent Document 1 is a technology related to re-delivery of goods after the consignee is unable to receive the goods. Even if this conventional technology is used for the delivery of goods to an event, it cannot cope with sudden changes in the event schedule.

[0006] Furthermore, as documents indicating the technical level at the time of filing the application in the technical field of the present disclosure or related technical fields, in addition to Patent Document 1, Patent Document 2 and Patent Document 3 listed below can be cited.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Publication No. 2018-142062

[0010] Patent Document 2: Japanese Patent Application Publication No. 2019-095865

[0011] Patent Document 3: Japanese Patent Application Laid-Open No. 2020-160708 Summary of the Invention

[0012] The present disclosure is made in view of the above-mentioned problems and aims to provide a delivery system that uses autonomous vehicles to perform event-based cargo delivery and can flexibly handle changes in the schedule of events during cargo delivery without causing any inconvenience to the user.

[0013] The present disclosure provides a delivery system. The delivery system comprises: a mobile device that delivers goods through autonomous driving; and a management server connected to the mobile device via a communication network. The delivery system comprises: at least one memory storing at least one program; and at least one processor coupled to the at least one memory. The at least one program is configured to cause the at least one processor to execute the following.

[0014] Obtaining a schedule of target events that are targets of goods delivery from a database in which users can register events;

[0015] Based on the obtained arrangement, a delivery plan is prepared for delivering goods to the event via a mobile object;

[0016] Make the mobile body move according to the delivery plan;

[0017] In response to a change in the schedule of a target event during the delivery of goods, the delivery plan is modified based on the changed schedule of the target event and the current position of the mobile object; and

[0018] Make the moving object move according to the revised delivery plan.

[0019] The delivery system of the present disclosure, having the above-described structure, allows for delivery of goods in accordance with the changed schedule even if the schedule of the target event is changed after the mobile object has begun delivering goods. Furthermore, if the schedule of the target event is changed, the delivery plan is modified accordingly, thereby eliminating the need for the user to communicate changes to the delivery destination or time.

[0020] In the delivery system disclosed herein, the at least one program may be configured to cause the at least one processor to execute a modification of the delivery plan by canceling the delivery of the goods in response to the cancellation of the target event. Thus, if the target event is canceled, the delivery of the goods is also canceled, thereby preventing the delivery of unnecessary goods.

[0021] In the delivery system disclosed herein, the at least one program may be configured to cause the at least one processor to execute a procedure to confirm with the user whether to cancel the target event and cancel the delivery of the goods. Thus, even if the target event is canceled, the goods can be delivered directly if the user needs them.

[0022] Furthermore, in the delivery system of the present disclosure, the at least one program may be configured to cause the at least one processor to execute the following processing.

[0023] Notifying the user in response to a predicted delivery delay for goods delivered to the target event; and

[0024] The delivery plan is modified based on the user's instructions in response to the notification.

[0025] According to the above process, when the delivery of goods cannot keep up with the schedule of the changed target event, the delivery of unnecessary goods can be prevented by notifying the user of a request instruction instead of directly delivering the goods.

[0026] The present disclosure also provides a delivery method. In the delivery method, a computer is used to control the movement of a mobile object, causing the mobile object to autonomously drive to a designated delivery destination to deliver goods. The delivery method includes the following steps.

[0027] Obtaining a schedule of target events that are targets of goods delivery from a database in which users can register events;

[0028] Based on the obtained arrangement, a delivery plan is prepared for delivering goods to the event via a mobile object;

[0029] Make the mobile body move according to the delivery plan;

[0030] In response to a change in the schedule of a target event during the delivery of goods, the delivery plan is modified based on the changed schedule of the target event and the current position of the mobile object; and

[0031] The mobile object is moved according to the revised delivery plan.

[0032] According to the delivery method of the present disclosure, including the above-described steps, even if the schedule of the target event is changed after the mobile body has begun delivering the goods, the goods can be delivered in accordance with the changed schedule. Furthermore, if the schedule of the target event is changed, the delivery plan is revised to match it, thereby eliminating the need for the user to communicate changes to the delivery destination or delivery time.

[0033] The present disclosure also provides a program. The program is stored in a computer-readable program storage medium. The program causes a computer to execute actions to control a mobile device that autonomously delivers goods to a designated delivery destination. The program is configured to cause a computer to execute the following.

[0034] Obtaining a schedule of target events that are targets of goods delivery from a database in which users can register events;

[0035] Based on the obtained arrangement, a delivery plan is prepared for delivering goods to the event via a mobile object;

[0036] Make the mobile body move according to the delivery plan;

[0037] In response to a change in the schedule of a target event during the delivery of goods, the delivery plan is modified based on the changed schedule of the target event and the current position of the mobile object; and

[0038] The mobile object is moved according to the revised delivery plan.

[0039] According to the program of the present disclosure configured as described above, even if the schedule of the target event is changed after the mobile body has begun delivering goods, the computer can control the behavior of the mobile body so that the goods can be delivered in accordance with the changed schedule. Furthermore, if the schedule of the target event is changed, the computer operates to modify the delivery plan to match it. This provides the advantage of eliminating the need for the user to communicate changes to the delivery destination or delivery time.

[0040] As described above, according to the technology of the present disclosure, even when the schedule of a target event in the delivery process of goods by a mobile body is changed, it is possible to flexibly cope with the change without causing any trouble to the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural diagram of a delivery system according to an embodiment of the present disclosure.

[0042] Figure 2 This is a block diagram showing an example of the structure of a delivery robot.

[0043] Figure 3 This is a block diagram showing an example of the configuration of a management server.

[0044] Figure 4 It is a diagram for explaining the operation of cargo delivery of the delivery system according to the embodiment of the present disclosure.

[0045] Figure 5This is a sequence diagram illustrating an example of a process flow among a user, an online calendar, a management server, and a delivery robot in a delivery system according to an embodiment of the present disclosure.

[0046] Figure 6 This is a sequence diagram illustrating another example of the process flow among the user, the online calendar, the management server, and the delivery robot in the delivery system according to the embodiment of the present disclosure.

[0047] (Explanation of Symbols)

[0048] 10: Communication network; 20: Delivery robot (mobile); 21: Control device; 21a: Processor; 21b: Memory; 32: Management server; 32a: Processor; 32b: Memory; 36: Operator; 40: Internet; 42: Cloud database; 44: Online calendar; 50: User; 60: Goods; 80: Delivery source; 100: Delivery system; R1, R2, R3: Driving path DETAILED DESCRIPTION

[0049] The following describes embodiments of the present disclosure with reference to the accompanying drawings. However, when the number, quantity, amount, range, or other numerical values of various elements are mentioned in the embodiments shown below, the concepts of the present disclosure are not limited to the numerical values mentioned, unless otherwise specifically stated or clearly determined in principle. In addition, the structures and the like described in the embodiments shown below are not necessarily essential to the concepts of the present disclosure, unless otherwise specifically stated or clearly determined in principle.

[0050] 1. Distribution system structure

[0051] Figure 1 This is a structural diagram of the delivery system involved in the first embodiment of the present disclosure. The delivery system 100 is a system that uses a delivery robot 20 to deliver goods 60. The delivery robot 20 is a small mobile body that can drive autonomously. The delivery robot 20 is configured, for example, to have a chassis with multiple wheels and a container for storing goods 60. The types of goods 60 delivered by the delivery system 100 are not limited as long as they can be physically delivered by the delivery robot 20 and are also legally permitted. For example, various commodities such as daily necessities, food, alcohol, books, electrical products, and dishes can be delivered as goods 60. If the container of the delivery robot 20 has an insulation function, refrigerated and frozen foods, and hot dishes can also be delivered.

[0052] In the delivery system 100, multiple delivery robots 20 are used. All delivery robots 20 are connected to a management server 32 via a communication network 10 including 4G and 5G. When the delivery system 100 is used in a limited area, local 5G can also be used as the communication network 10. The management server 32 is set in a monitoring center 30 that monitors the operating status of the delivery robots 20. In the monitoring center 30, multiple operators 36 work. The operators 36 monitor the operating status of the delivery robots 20 on the monitoring terminal 34 and can also operate the monitoring terminal 34 to provide remote support to the delivery robots 20 when necessary.

[0053] The delivery system 100 can be used for various purposes. One of its uses is to deliver goods 60 to events. The scale and content of an event in this specification are not limited as long as it is an event that may become a delivery target of the goods 60 that can be delivered by the delivery robot 20. For example, a meeting where coffee and fast food are delivered as goods 60 is an example of an event. In addition to food and beverages, conference equipment such as PCs, recorders, and projectors can also be delivered as goods 60. In addition, parties can be included in events that become a delivery target of the goods 60 delivered by the delivery system 100 because they envision the delivery of gifts and dishes. Furthermore, personal meals such as lunch and dinner can be included in events that become a delivery target of the goods 60 delivered by the delivery system 100 because they envision the delivery of food and beverages by takeout.

[0054] When the delivery system 100 is used to deliver goods 60 to an event, the user 50 registers the schedule of the event in the online calendar 44 of the cloud database 42 on the Internet 40. The "schedule of the event" in this specification refers to information including the date and time of the event, the venue, the goods to be delivered, and their quantity. In addition, when the time and time period within the event to which the goods are to be delivered are determined, this information is also included in the schedule. The user 50 can use a portable terminal 52 such as a smartphone to register this information related to the schedule of the event in the online calendar 44. In addition, the user 50 can also change the schedule registered to the online calendar 44 from the portable terminal 52 at one time. In addition, the cloud database 42 and the online calendar 44 can be products operated by the operator operating the delivery system 100 or products operated by other operators.

[0055] The management server 32 cooperates with the online calendar 44. When an event is registered in the online calendar 44, information related to the schedule is automatically notified to the management server 32. However, the events whose schedules are notified to the management server 32 are limited to those that are subject to goods delivery (target events). The user 50 can arbitrarily decide whether to include an event as a target event for goods delivery. For example, the user 50 can also choose to include a target event in a goods delivery reservation site that cooperates with the online calendar 44.

[0056] If an event registered in the online calendar 44 is a target event and its schedule is changed, information about the changed schedule is automatically notified to the management server 32. The notified schedule changes include canceling an event, that is, deleting the event from the online calendar 44. The management server 32 is configured to create a delivery plan for the goods 60 based on the event schedule obtained from the online calendar 44. The delivery plan specifies what will be delivered, from where, to where, and when.

[0057] Management server 32 is configured to create a driving plan for delivery robot 20 based on the delivery plan. The driving plan includes, for example, a departure point, a destination, an arrival time, and a driving route. The departure point is the location where goods 60 are received. The destination is the location where goods 60 are delivered, i.e., the venue of the event. The arrival time is the event time, or a specific time or time period within the event. Management server 32 is configured to notify delivery robot 20 of the created driving plan. Delivery robot 20 is configured to autonomously drive according to the notified driving plan and deliver goods 60 to the delivery destination.

[0058] Figure 2 This is a block diagram showing an example of the structure of a delivery robot 20. The delivery robot 20 includes a control device 21. The control device 21 is a computer, more specifically, a collection of multiple ECUs (Electronic Control Units) mounted on the delivery robot 20. The delivery robot 20 also includes external sensors 22, internal sensors 23, actuators 24, and a communication device 25. These are connected to the control device 21.

[0059] The control device 21 includes at least one processor 21a (hereinafter referred to as processor 21a) and at least one memory 21b (hereinafter referred to as memory 21b) coupled to the processor 21a. The memory 21b stores at least one program 21c (hereinafter referred to as program 21c) executable by the processor 21a and various data 21d associated therewith.

[0060] By executing program 21c on processor 21a, various processes performed by processor 21a are realized. Program 21c includes, for example, a program for autonomously driving delivery robot 20 according to a driving plan. Data 21d includes, for example, map data used for autonomous driving. Memory 21b includes a main storage device and an auxiliary storage device. Program 21c can be stored in either the main storage device or a computer-readable recording medium serving as the auxiliary storage device.

[0061] The external sensor 22 includes an identification sensor that obtains information for identifying the surrounding conditions of the delivery robot 20. The identification sensor includes a camera that captures the surroundings of the delivery robot 20, in particular, the front of the delivery robot 20. As identification sensors other than cameras, LiDAR (Laser Imaging Detection and Ranging) and millimeter wave radar are exemplified. In addition, the external sensor 22 includes a position sensor that detects the position and orientation of the delivery robot 20. As a position sensor, a GPS (Global Positioning System) sensor is exemplified. The information obtained by the external sensor 22 is sent to the control device 21.

[0062] Internal sensors 23 include state sensors that acquire information related to the movement of the delivery robot 20. Examples of these state sensors include wheel speed sensors, acceleration sensors, angular velocity sensors, and steering angle sensors. The acceleration sensors and angular velocity sensors may also be IMUs. Information acquired by the internal sensors 23 is transmitted to the control device 21. The information acquired by the internal sensors 23 and the information acquired by the external sensors 22 are used as information for autonomous driving.

[0063] The actuator 24 includes a steering device for steering the delivery robot 20, a drive device for driving the delivery robot 20, and a brake device for braking the delivery robot 20. For example, the actuator 24 may be an electric motor provided for each wheel. In this case, by independently controlling the rotation of each wheel of the delivery robot 20, steering, driving, and braking of the delivery robot 20 can be achieved. In other words, the electric motor serving as the actuator 24 can also function as a steering device, a drive device, and a brake device. The actuator 24 is activated by a control signal sent from the control device 21.

[0064] The communication device 25 is a device that controls wireless communications with the outside of the delivery robot 20. The communication device 25 communicates with the management server 32 via the communication network 10. The information processed by the control device 21 is sent to the management server 32 using the communication device 25. The information sent to the management server 32 includes monitoring information for monitoring the operating status of the delivery robot 20. The monitoring information includes, in addition to the information obtained by the external sensor 22 and the internal sensor 23, information obtained in the calculation using the autonomous driving program (such as the target trajectory). The information processed by the management server 32 is taken into the control device 21 using the communication device 25. In addition, when vehicle-to-vehicle communication with other delivery robots or road-to-vehicle communication with infrastructure is required, communication with these external devices is also performed through the communication device 25.

[0065] Figure 3 This is a block diagram showing an example of the configuration of the management server 32. The management server 32 is installed in the monitoring center 30 along with a monitoring terminal 34 and a communication device 38. The communication device 38 controls communications with the outside of the monitoring center 30. The communication device 38 relays communications between the management server 32 and multiple delivery robots 20. Furthermore, the communication device 38 retrieves the schedule of events automatically notified from the collaborative online calendar 44. Information processed by the management server 32 is transmitted to the delivery robots 20 using the communication device 38. Information processed by the delivery robots 20 is also retrieved into the management server 32 using the communication device 38.

[0066] The management server 32 is a single computer or a collection of multiple computers connected via a communication network. The management server 32 includes at least one processor 32a (hereinafter referred to as processor 32a) and at least one memory 32b (hereinafter referred to as memory 32b) coupled to the processor 32a. The memory 32b stores at least one program 32c (hereinafter referred to as program 32c) executable by the processor 32a and various data 32d associated with the program.

[0067] By executing program 32c by processor 32a, various processing using processor 32a is realized. Program 32c includes a distribution plan program for making a distribution plan based on the schedule of an event, and a driving plan program for making a driving plan for the distribution robot 20 based on the distribution plan. In addition, program 32c includes a distribution plan correction program for correcting the distribution plan when a change in the schedule of an event is notified. Data 32d includes various information such as information for making distribution plans and driving plans, such as inventory information of goods in stores or warehouses, waiting time until the goods to be distributed are ready, map information, and working information of the distribution robot 20. Memory 32b includes a main storage device and an auxiliary storage device. Program 32c can be stored in either a main storage device or a computer-readable recording medium serving as an auxiliary storage device.

[0068] Monitoring terminal 34 includes a display. This display can display the operating status of all delivery robots 20, as well as the operating status of a specific delivery robot 20. Furthermore, the display can also display images captured by a camera of a specific delivery robot 20. Monitoring terminal 34 also includes input devices for operators 36 to remotely support delivery robots 20. Specific examples of the input devices include buttons, joysticks, and touch panels.

[0069] 2. Use of distribution system for goods delivery

[0070] Next, use Figure 4 The following describes the operation of cargo delivery using the delivery system 100. The delivery system 100 is a system that uses a delivery robot 20 to deliver cargo 60 to an event (target event that is a target of cargo delivery) registered to an online calendar 44 by a user 50. Figure 4 In the illustrated example, a building 70 is illustrated having conference rooms 74 and 76. In the online calendar 44, a meeting held in the conference room 74 is registered as an event by the user 50.

[0071] The meeting schedule registered to the online calendar 44 includes the venue, conference room 74 in building 70, the meeting time, and the number of attendees. In the delivery planning program executed by the management server 32, if the event is a meeting, a number of cups corresponding to the number of attendees and a pot of coffee corresponding to the number of attendees are automatically determined as the goods 60 to be delivered. However, if coffee delivery is not required, the user 50 can specify this when registering the meeting on the online calendar 44. Furthermore, the user 50 can specify beverages other than coffee, such as tea, as goods 60, or even fast food such as sandwiches.

[0072] The management server 32 creates a delivery plan for delivering coffee to the conference room 74. The delivery plan includes a coffee shop 80 where the delivery robot 20 receives a pot and cups of coffee. Based on the delivery plan, the management server 32 creates a driving plan for the delivery robot 20 and notifies the delivery robot 20 of the driving plan. The driving plan includes a driving route R1 for departing from the coffee shop 80 and arriving at the conference room 74 at the time of the meeting. The driving route R1 is a pre-specified basic route from the coffee shop 80 to the building 70. The delivery robot 20 delivers the goods 60 to the conference room 74 by autonomous driving along the driving route R1. In addition, the loading of the goods 60 onto the delivery robot 20 in the coffee shop 80 can be done by the delivery robot 20 itself using a robotic arm or by a store clerk at the coffee shop 80.

[0073] Here, assume that the venue of the meeting has been changed from conference room 74 to another conference room 76. User 50 accepts this change and changes the meeting schedule registered in online calendar 44. When the registered content in online calendar 44 is changed, online calendar 44 automatically notifies management server 32 of the changed schedule. Upon receiving the notification of the meeting schedule change, management server 32 executes a delivery plan revision program.

[0074] If management server 32 obtains the modified schedule before the delivery of item 60 begins, management server 32 creates a new delivery plan based on the modified schedule. Management server 32 then notifies delivery robot 20 of the driving plan created based on the modified delivery plan. The driving plan notified to delivery robot 20 specifies driving route R1, the basic route for delivering item 60 from cafe 80 to conference room 76. Delivery robot 20 autonomously drives along driving route R1 and delivers item 60 to conference room 76.

[0075] However, depending on the timing at which the user changes the contents of the online calendar 44, the management server 32 may be notified of the changed schedule while the delivery robot 20 is in the process of delivering the goods 60. In this case, the management server 32 temporarily stops the delivery robot 20 in the process of delivering the goods 60 and adjusts the delivery plan based on the changed schedule and the current location of the delivery robot 20.

[0076] exist Figure 4In the example shown, the meeting venue has been changed from conference room 74 on the first floor of building 70 to conference room 76 on the third floor. In this case, the route within building 70 includes elevator 72, so the predicted arrival time is delayed by the waiting time for elevator 72. Based on this prediction, management server 32 searches for a route from map information that can reach building 70 earlier than route R1. If the search results in route R2, management server 32 adjusts the delivery plan so that cargo 60 is delivered to conference room 76 via route R2.

[0077] Management server 32 calculates whether the revised delivery plan allows the delivery of item 60 to coincide with the meeting in conference room 76. If so, management server 32 creates a travel plan for delivery robot 20 from its current location based on the revised delivery plan. It then notifies delivery robot 20 of the newly created travel plan. Following the notified travel plan, delivery robot 20 travels along route R2 to building 70 and uses elevator 72 to reach conference room 76.

[0078] On the other hand, if the delivery of goods 60 still cannot be made in time for the meeting in conference room 76 even if travel route R2 is selected, management server 32 notifies user 50 that the delivery of goods 60 cannot be made in time for the meeting. Management server 32 issues this notification to mobile terminal 52 owned by user 50. If the delivery of goods 60 cannot be made in time for the changed meeting schedule, the notification to user 50 requests instructions rather than directly delivering the goods 60. This prevents the delivery of unnecessary goods 60. Management server 32 receives instructions from user 50 in response to the notification and adjusts the delivery plan.

[0079] For example, if user 50 cancels the delivery of item 60, management server 32 revises the delivery plan by returning delivery robot 20 to coffee shop 80, the delivery source. Based on this revised delivery plan, management server 32 creates a travel plan that includes route R3 from the current location to coffee shop 80, and notifies delivery robot 20 of this newly created travel plan. Delivery robot 20 returns to coffee shop 80 along route R3 in accordance with the notified travel plan. Furthermore, if delivery is delayed due to a schedule change implemented by user 50, even if delivery of item 60 is canceled, the coffee fee and delivery fee will not be refunded to user 50.

[0080] It is also assumed that, in response to a notification that the delivery of the goods 60 will not be in time for the meeting, the delivery robot 20 receives an instruction from the user 50 to directly deliver the goods 60. In this case, the management server 32 revises the delivery plan so that the delivery robot 20 can travel to the building 70 via the driving route R1, which is the basic route, and notifies the delivery robot 20 of the driving plan created based on the revisited delivery plan.

[0081] The above example describes a change in the meeting location, but changes to meeting schedules aren't limited to the venue. Changes to the meeting time and the number of attendees can also occur. If the change in meeting schedule involves a change in the meeting time, the meeting time may be later or earlier. If the meeting time is later, management server 32 calculates whether there's time for delivery robot 20 to return to coffee shop 80, the delivery source. If there's no such time, management server 32 adjusts the delivery plan by placing delivery robot 20 in a safe location until the meeting time.

[0082] If delivery robot 20 has time to return to coffee shop 80, the delivery source, management server 32 adjusts the delivery schedule so that delivery robot 20 temporarily returns to coffee shop 80. In this case, the coffee can be replaced with a new one, but the user 50 will incur an additional fee for the replacement. If user 50 is unwilling to pay the additional fee, management server 32 adjusts the delivery schedule so that delivery robot 20 waits in a safe location, regardless of the amount of time left until the meeting, if the meeting is delayed.

[0083] If a meeting is scheduled earlier due to a change in meeting time, management server 32 retrieves a route from the map information that will allow it to reach the meeting room sooner and adjusts the delivery plan based on the retrieved route. If the adjusted delivery plan allows it to arrive in time for the meeting, management server 32 creates a new travel plan for delivery robot 20 based on the adjusted delivery plan.

[0084] On the other hand, if the revised delivery plan still fails to make it to the meeting, management server 32 notifies user 50 that the delivery will not be able to make it. If user 50 cancels the delivery of item 60 in response to this notification, management server 32 revises the delivery plan by returning delivery robot 20 to coffee shop 80, the source of the delivery. User 50 will be responsible for the coffee and delivery fees associated with this cancellation.

[0085] If the change in the meeting schedule involves a change in the number of attendees, the number of attendees may decrease or increase. If the number of attendees decreases, there is no problem even if there are no extra cups. Therefore, in this case, management server 32 does not modify the delivery plan and directly causes delivery robot 20 to deliver goods 60.

[0086] If the number of attendees increases due to a change in the meeting schedule, management server 32 determines whether the delivery robot 20 is currently delivering a sufficient number of cups. If, even after accounting for the delivery robot 20's reserve cups, the number of cups still falls short of the number of attendees, management server 32 adjusts the delivery plan by returning to coffee shop 80 to retrieve the remaining cups. If the revised delivery plan allows for the meeting, management server 32 creates a new travel plan for delivery robot 20 based on the revised delivery plan.

[0087] On the other hand, if the revised delivery plan does not allow for the meeting, management server 32 notifies user 50 that the delivery will not be able to meet the meeting if the delivery robot 20 returns to retrieve the missing cups. If user 50 accepts a delay in delivery to the meeting in response to this notification, management server 32 creates a travel plan based on the revised delivery plan, causing delivery robot 20 to return to retrieve the missing cups. If user 50 does not accept a delay in delivery, management server 32 instructs delivery robot 20 to continue delivering goods 60 according to the original delivery plan. Furthermore, if there is no space on a delivery robot 20, another delivery robot 20 can be used to deliver the missing cups.

[0088] 3. Processing between users, online calendars, management servers, and delivery robots in the delivery system

[0089] Able to use Figure 5 The sequence diagram shown here illustrates the operation of goods delivery using the delivery system 100 described above. This sequence diagram illustrates an example of the process flow between the user 50, the online calendar 44, the management server 32, and the delivery robot 20 in the delivery system 100. Furthermore, this sequence diagram illustrates the delivery method according to this embodiment.

[0090] exist Figure 5 In the example shown, user 50 first registers a meeting schedule in online calendar 44 (step S101). After registering the meeting schedule, coffee is automatically reserved from online calendar 44 to management server 32 (step S201). The coffee reservation includes the time, place, and number of people.

[0091] The management server 32 creates a delivery plan for delivering coffee according to the order (step S301). Next, the management server 32 creates a travel plan for the delivery robot 20 based on the created delivery plan and notifies the delivery robot 20 of the created travel plan (step S302).

[0092] Upon receiving the driving plan, the delivery robot 20 first loads a coffee pot and a number of cups corresponding to the number of people at the coffee shop 80 serving as the delivery source (step S401). After loading, the delivery robot 20 begins delivering the coffee as the cargo 60 according to the driving plan (step S402).

[0093] Next, the user 50 changes the meeting schedule registered in the online calendar 44 (step S102). When the meeting schedule is changed, the online calendar 44 notifies the management server 32 of the schedule change (step S202).

[0094] Upon receiving the notification of the schedule change, the management server 32 instructs the delivery robot 20 to stop delivery (step S302). The delivery plan is then revised based on the schedule change (step S303). The delivery robot 20 instructed to stop delivery waits until instructed again (step S403).

[0095] As a result of the revised delivery plan, if it is predicted that the coffee delivery to the meeting will be delayed, the management server 32 notifies the user 50 of this fact (step S304). In response to the notification from the management server 32, the user 50 instructs to take action (step S103). The management server 32 receives the instruction from the user 50 and revises the delivery plan (step S305).

[0096] Management server 32 creates a new driving plan based on the delivery plan revised in step S303 or the delivery plan revised again in step S305, and notifies delivery robot 20 of the created driving plan (step S306). Delivery robot 20 returns to coffee shop 80, the delivery source, using the revised delivery plan (step S404) and replaces the coffee to be delivered with a new one (step S405).

[0097] The delivery robot 20 resumes coffee delivery according to the newly notified driving plan (step S406). Then, upon arriving at the conference room as the delivery destination, the delivery robot 20 notifies the user 50 of its arrival (step S407). Alternatively, the management server 32 may provide this arrival notification.

[0098] As can be seen from the above sequence diagram, delivery system 100 allows for delivery of goods 60 to be coordinated with the changed meeting schedule even if the meeting schedule is changed after delivery robot 20 begins delivering goods 60. Furthermore, if the meeting schedule is changed, the delivery plan is automatically revised to match it, thus eliminating the need for user 50 to contact the user regarding changes to the delivery destination or time.

[0099] In addition, although the use Figure 4The operation of goods delivery is described, but the meeting as an event may be canceled depending on the situation of the user 50 who is the organizer. Figure 6 The sequence diagram of FIG. 1 shows an example of the processing flow between the user 50, the online calendar 44, the management server 32, and the delivery robot 20 in the delivery system 100 when a meeting is canceled. Figure 6 In the timing diagram, Figure 5 The common processing in the timing diagram uses common step numbers.

[0100] exist Figure 6 In the example shown, after coffee delivery starts, the user 50 cancels the meeting schedule registered in the online calendar 44 (step S111). After the meeting schedule is canceled, the online calendar 44 notifies the management server 32 of the cancellation of the meeting (step S211).

[0101] Upon receiving the meeting cancellation notification, management server 32 instructs delivery robot 20 to return the goods to coffee shop 80, the source of the delivery (step S313). Upon receiving the return instruction, delivery robot 20 halts delivery and returns the goods to coffee shop 80 (step 412). If the meeting is canceled, the delivery of goods 60 is also canceled, thus preventing the delivery of unnecessary goods 60.

[0102] Furthermore, when a meeting is canceled, the following variation exists in the processing performed by the delivery system 100. In this variation, upon receiving a meeting cancellation notification from the online calendar 44, the management server 32 does not immediately return the delivery robot 20, but instead instructs the delivery robot 20 to stop delivery (step S311). The delivery robot 20 instructed to stop delivery then waits until another instruction is given (step S411).

[0103] While the delivery robot 20 is on standby, the management server 32 confirms the cancellation of the coffee delivery with the user 50 (step S312). For the user 50, even if the meeting is canceled, there is a possibility that he or she will want to drink the ordered coffee. In this case, the management server 32 instructs the delivery robot 20 to deliver the goods 60 directly. If the coffee is no longer needed due to the cancellation of the meeting, the user 50 instructs the cancellation in response to the cancellation confirmation from the management server 32 (step S112). Receiving the cancellation instruction from the user 50, the management server 32 instructs the delivery robot 20 to return the goods to the coffee shop 80 (step S313). The delivery robot 20 in the standby state receives the return instruction and returns the goods to the coffee shop 80 (step 412).

[0104] 3. Other Implementation Methods

[0105] While the above embodiment illustrates a meeting as an example of an event, this example discusses individual meals such as lunch. In the case of an individual meal, the goods 60 delivered by the delivery robot 20 are takeout items such as hamburgers, pizza, and ramen. Examples of changes to the event schedule include a change in dining location or a change in dining time. Changing the dining location also includes moving from one's own home to a friend's home. Furthermore, the following are possible responses to schedule changes.

[0106] If the change in schedule involves a change in dining location, management server 32 adjusts the delivery plan for delivery robot 20 and delivers food to the changed dining location. If the change in dining location means that the delivery will not be ready in time for the meal, management server 32 notifies user 50 of the delay. If user 50 cancels the delivery in response to the notification, management server 32 returns delivery robot 20 to the delivery source.

[0107] If the schedule change involves a change in meal times, different responses are taken depending on whether the meal time is earlier or later. If the meal time is earlier, management server 32 causes delivery robot 20 to deliver goods 60 directly to user 50's dining location. If the delivery is delayed, management server 32 notifies user 50 of the delay. If user 50 cancels the delivery in response to the notification, the delivery robot returns to the delivery source.

[0108] If meal times become late, the management server 32 calculates whether the delivery robot 20 has time to return to the delivery source. If the delivery robot 20 has time to return to the delivery source, the management server 32 causes the delivery robot 20 to return to the delivery source. By causing the delivery robot 20 to return to the delivery source, for example, a cold meal can be replaced with a hot one. However, in this case, an additional fee is required from the user 50. If the delivery robot 20 does not have time to return to the delivery source, the management server 32 causes the delivery robot 20 to deliver the goods 60 directly. However, it is preferable to notify the user 50 before the goods 60 are delivered to confirm that the goods 60 can be delivered directly.

[0109] Another example of an event is a party. At a party, gifts are delivered and dishes or desserts are prepared according to a schedule. However, depending on the progress of the party, the schedule may change. Even in such a situation, the delivery system 100 can flexibly handle it without causing any trouble to the user.

[0110] Furthermore, in the above embodiment, the schedule of the event is registered in the online calendar 44 of the cloud database 42 , but it may also be registered in an online calendar stored in the database of the management server 32 .

[0111] In the above embodiment, delivery system 100 is configured as a centralized management system in which a delivery plan is created by management server 32 and delivery robots 20 deliver goods 60 based on the created plan. However, the delivery system of the present disclosure may also be a decentralized system in which a management server arranges delivery robots for scheduled delivery of goods and the delivery robots create and modify delivery plans.

Claims

1. A distribution system comprising: Mobile objects, delivering goods through autonomous driving; and A management server is connected to the mobile body via a communication network, The distribution system is characterized by comprising: at least one memory storing at least one program; and at least one processor, in combination with the at least one memory, The at least one program is configured to cause the at least one processor to execute: Obtaining a schedule of target events to be delivered to the goods from a database in which events can be registered by users; creating a delivery plan for delivering the goods to the target event by the mobile object based on the arrangement; causing the mobile body to move according to the delivery plan; In response to a change in the schedule during delivery of the goods, the delivery plan is modified based on the changed schedule and the current position of the mobile object; determining whether the change in the schedule results in a later arrival time at the scheduled destination or an earlier arrival time at the scheduled destination; If the change in the schedule results in a delay in the time of arrival at the scheduled destination, the delivery plan is modified based on whether the mobile body has time to return to the delivery source; If the change in schedule is to arrive at the scheduled destination earlier, the delivery plan is modified based on whether there is a travel route that can reach the scheduled destination earlier; as well as The movable body is moved according to the revised delivery plan.

2. The distribution system according to claim 1, characterized in that The at least one program is configured to cause the at least one processor to modify the delivery plan so that delivery of the goods is canceled in response to cancellation of the target event.

3. The distribution system according to claim 1, characterized in that The at least one program is configured to cause the at least one processor to execute the step of confirming with the user whether or not to respond to the cancellation of the target event and cancel the delivery of the item.

4. The distribution system according to claim 1, wherein: The at least one program is configured to cause the at least one processor to execute: In response to a predicted delivery delay of the goods to the target event, notifying the user; and The delivery plan is modified according to an instruction from the user in response to the notification.

5. The distribution system according to any one of claims 1 to 4, characterized in that: The database is stored in the management server.

6. The distribution system according to any one of claims 1 to 4, characterized in that: The database is a cloud database.

7. A delivery method, wherein a computer is used to control the movement of a mobile body so that the mobile body autonomously drives to a designated delivery destination to deliver goods, characterized in that: The delivery methods include: Obtaining a schedule of target events to be delivered to the goods from a database in which events can be registered by users; creating a delivery plan for delivering the goods to the target event by the mobile object based on the arrangement; causing the mobile body to move according to the delivery plan; In response to a change in the schedule during delivery of the goods, the delivery plan is modified based on the changed schedule and the current position of the mobile object; determining whether the change in the schedule results in a later arrival time at the scheduled destination or an earlier arrival time at the scheduled destination; If the change in the schedule results in a delay in the time of arrival at the scheduled destination, the delivery plan is modified based on whether the mobile body has time to return to the delivery source; If the change in the schedule is such that the time of arrival at the scheduled destination is shortened, revising the delivery plan based on whether there is a travel route that can reach the scheduled destination earlier; and The movable body is moved according to the revised delivery plan.

8. A computer-readable program storage medium storing a program for causing a computer to execute an action of controlling a mobile body that delivers goods to a designated delivery destination by autonomous driving, characterized in that: The program storage medium is configured to cause the computer to execute: Obtaining a schedule of target events to be delivered to the goods from a database in which events can be registered by users; creating a delivery plan for delivering the goods to the target event by the mobile object based on the arrangement; causing the mobile body to move according to the delivery plan; In response to a change in the schedule during delivery of the goods, the delivery plan is modified based on the changed schedule and the current position of the mobile object; determining whether the change in the schedule results in a later arrival time at the scheduled destination or an earlier arrival time at the scheduled destination; If the change in the schedule results in a delay in the time of arrival at the scheduled destination, the delivery plan is modified based on whether the mobile body has time to return to the delivery source; If the change in schedule is to arrive at the scheduled destination earlier, the delivery plan is modified based on whether there is a travel route that can reach the scheduled destination earlier; as well as The movable body is moved according to the revised delivery plan.

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