Management device, management method, management program, and collection and distribution system

Abstract

According to the management device, the parcel collecting and distributing efficiency of the robot can be improved. The management apparatus includes: a first identification information acquisition unit configured to acquire identification information associated with information indicating height positions of a plurality of support members capable of supporting parcels in a collection delivery rack; a second identification information acquisition unit configured to acquire identification information of a first support member supporting a pickup package to be picked up by the robot; a calculation unit configured to calculate an interval between the first support member and a second support member disposed directly above the first support member; and a planning unit configured to create, based on the information indicating the interval, a collection plan for collecting the parcel that enables the robot to collect the collected parcel.

Description

Technical Field

[0001] The present disclosure relates to a management device, a management method, a management program, and a collection and delivery system. For example, the present disclosure relates to a management device, a management method, a management program, and a collection and delivery system for a collection and delivery system in which a robot collects a package stored in a collection and delivery rack and moves it to a collection and delivery base, or a robot delivers a package from a collection and delivery base to a collection and delivery rack. Background Art

[0002] For example, Japanese Unexamined Patent Application Publication No. 2004-83148 discloses a mailing device for specifying the vertical size, horizontal size, and height size of a package stored by a deliverer in a storage unit based on a scanned image of the package, allowing the deliverer to pay a delivery fee calculated based on the size of the specified package, and allowing the recipient to take out the package when the recipient authentication is successful. Summary of the invention

[0003] The applicant has found the following problems: The technology of Japanese Unexamined Patent Application No. 2004-83148 relates to a human collector, and is not a technology for improving the efficiency of collecting packages by a robot.

[0004] The present disclosure is made to solve such problems, and realizes a management device, a management method, a management program, and a collection and delivery system that can improve the efficiency of robots collecting packages.

[0005] Another aspect of the present disclosure is a management device for a collection and delivery system, wherein the collection and delivery system uses a robot to collect parcels stored in a collection and delivery rack and move the parcels to a collection and delivery base, or uses a robot to deliver the parcels from the collection and delivery base to the collection and delivery rack, and the management device includes:

[0006] a first identification information acquisition unit configured to acquire identification information associated with information indicating height positions of a plurality of support members that are provided in the receiving and delivery rack and have adjustable height positions and are capable of supporting a package;

[0007] a second identification information acquisition unit configured to acquire identification information of a first supporting component supporting a collection package to be collected by the robot among the plurality of supporting components;

[0008] a calculation unit configured to calculate a distance in a vertical direction of the receiving and delivery rack between the first support component and a second support component disposed directly above the first support component among the plurality of support components; and

[0009] A planning unit is configured to create a collection plan for collecting the package that enables the robot to collect the package based on the information indicating the interval.

[0010] The management device may further include an idle height information acquisition unit configured to acquire information indicating an idle height of a storage unit for storing packages in the robot, and

[0011] The planning unit may create a collection plan for collecting the package that enables the robot that collects the collection package to collect the collection package based on the information indicating the interval and the information indicating the free height of the storage unit in the robot.

[0012] The management device may further include:

[0013] a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state within the receiving delivery rack; and

[0014] The control unit is configured to control the robot. When the parcels are stored in the receiving and delivery rack, while the robot lifts the delivery parcel in order to store the delivery parcel, which is a parcel to be delivered by the robot, above the parcels stored in the receiving and delivery rack, the control unit may control the robot to detect the parcels stored in the receiving and delivery rack using the detection sensor.

[0015] The management device may further include:

[0016] a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state in the receiving delivery rack;

[0017] a second height information acquisition unit configured to acquire information indicating a height of a delivery package to be delivered by the robot;

[0018] a reception completion information acquisition unit configured to acquire information indicating that reception of the delivery package is completed, input by a requester who requested the delivery of the delivery package;

[0019] a storage status information acquisition unit configured to acquire information indicating a storage status of a package in the receiving and delivery rack based on identification information of a support member provided in the receiving and delivery rack, information indicating a height of the delivery package, and information indicating completion of receiving the delivery package; and

[0020] The storage status information updating unit is configured to update information indicating the storage status of the packages in the delivery rack based on the detection information of the detection sensor.

[0021] In the above management device, the planning unit can create a delivery plan for the delivery parcel that enables the delivery parcel to be stored in the receiving delivery rack together with the third supporting member supporting the delivery parcel based on the updated information indicating the storage status of the parcel in the receiving delivery rack.

[0022] The management device may further include:

[0023] a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state within the receiving delivery rack; and

[0024] A second height information acquisition unit is configured to acquire information indicating a height of a collection package input by a requester who requested collection of the collection package. The planning unit may create a collection plan for the next collection of the collection package by changing a ratio reflected by information indicating an interval when the collection package is collected relative to information indicating the height of the collection package input by the requester based on a difference between the height of the collection package based on the detection information of the detection sensor and the height of the collection package input by the requester.

[0025] The management device may further include a control unit configured to control the robot. When a delivery package to be delivered by the robot is stored in the receiving and delivering rack, if there are other support members in an area lower than the height position where the third support member for supporting the delivery package in the receiving and delivering rack is set, the control unit may control the robot to detect the state around the height position where the third support member in the receiving and delivering rack is set using a detection sensor installed on the robot for detecting the state in the receiving and delivering rack, and if there are no other support members in an area lower than the height position where the third support member in the receiving and delivering rack is set, the detection of the state around the height position where the third support member in the receiving and delivering rack is set using the detection sensor is omitted.

[0026] Another aspect of the present disclosure is a collection and delivery system, comprising:

[0027] the above-mentioned management device;

[0028] Robots; and

[0029] Collect the delivery rack.

[0030] Another aspect of the present disclosure is a management method for a collection and delivery system, wherein the collection and delivery system uses a robot to collect parcels stored in a collection and delivery rack and move the parcels to a collection and delivery base, or uses a robot to deliver the parcels from the collection and delivery base to the collection and delivery rack, and the management method includes:

[0031] acquiring identification information associated with information indicating height positions of a plurality of support members provided in the receiving and delivery rack and having adjustable height positions and capable of supporting a package;

[0032] acquiring identification information of a first supporting component among a plurality of supporting components that supports a package to be collected by the robot;

[0033] calculating an interval in a height direction between the first supporting member and a second supporting member disposed directly above the first supporting member among the plurality of supporting members; and

[0034] Based on the information indicating the interval, a pick-up plan for picking up the package is created that enables the robot to pick up the package.

[0035] Another aspect of the present disclosure is a management program for a collection and delivery system, wherein the collection and delivery system uses a robot to collect parcels stored in a collection and delivery rack and move the parcels to a collection and delivery base, or uses a robot to deliver the parcels from the collection and delivery base to the collection and delivery rack, and the management program causes a computer to execute:

[0036] a process of acquiring identification information associated with information indicating height positions of a plurality of support members provided in the receiving delivery rack and having adjustable height positions and capable of supporting a package;

[0037] a process of acquiring identification information of a first supporting component among a plurality of supporting components that supports a collection package to be collected by the robot;

[0038] a process of calculating an interval in a height direction between a first supporting member and a second supporting member disposed immediately above the first supporting member among a plurality of supporting members; and

[0039] A process for creating a collection plan for collecting a package that enables a robot to collect the package based on the information indicating the interval.

[0040] According to the present disclosure, a management device, a management method, a management program, and a collection and delivery system that can improve the efficiency of robots collecting packages can be provided.

[0041] The above and other objects, features and advantages of the present disclosure will become more fully understood from the detailed description and accompanying drawings given below, which are given by way of example only and thus should not be construed as limiting the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a block diagram showing the configuration of a control system of a collection delivery system according to a first embodiment;

[0043] Figure 21. It shows a state in which a robot delivers a package to a receiving and delivering rack and a robot receives a package from the receiving and delivering rack in the receiving and delivering system according to the first embodiment;

[0044] Figure 3 The figure shows a state where a pallet supporting a package is supported by a guide rail of a receiving and delivery rack;

[0045] Figure 4 is a side view showing the robot according to the first embodiment;

[0046] Figure 5 is a flowchart showing the process of collecting and delivering a package using the collection and delivery system according to the first embodiment;

[0047] Figure 6 is a flowchart showing the flow of a process for storing a delivery parcel in a receiving and delivery rack in the receiving and delivery system according to the first embodiment;

[0048] Figure 7 1. A state in which a robot detection sensor detects a parcel stored on a receiving and delivery rack in a receiving and delivery system according to a second embodiment is shown;

[0049] Figure 8 is a flow chart showing the delivery of a package using the pickup delivery system according to the third embodiment; and

[0050] Fig. 9 is a block diagram showing the configuration of a control system of a pickup delivery system according to a fourth embodiment. DETAILED DESCRIPTION

[0051] The specific embodiments to which the present disclosure is applied will now be described in detail with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. The following description and drawings are simplified as appropriate.

[0052] <First Embodiment>

[0053] According to the receiving and delivering system of this embodiment, it is suitable for the robot to collect the parcels stored in the receiving and delivering rack to the receiving and delivering base, or for the robot to deliver the parcels from the receiving and delivering base to the receiving and delivering rack. Figure 1 : is a block diagram showing the configuration of a control system of the collection delivery system according to the present embodiment. Figure 2 1 is a diagram showing how a package is delivered to a receiving and delivery rack by a robot and a package is received from the receiving and delivery rack by the robot in the receiving and delivery system according to the present embodiment. Figure 3 It shows the state where the pallet supporting the packages is supported by the guide rails of the receiving and delivery rack.

[0054] exist Figure 2In the figure, the pallets and packages are shown as dotted lines. Here, the "collection and delivery base" is the place where the delivered and collected packages are stored. "Collection and delivery" means delivering or collecting packages.

[0055] like Figures 1 to 3 As shown in FIG. 1 , the receiving and delivery system 1 according to the present embodiment includes a tray (support member) 2, a receiving and delivery rack 3, a mobile terminal 4, a robot 5, a management device 6, and a database (DB) 7. The receiving and delivery rack 3, the mobile terminal 4, the robot 5, the management device 6, and the DB 7 are connected via a network 8. The network 8 is a wired or wireless communication line, such as the Internet.

[0056] like Figure 2 or Figure 3 As shown in FIG. 1 , for example, the pallet 2 has a flat plate shape capable of supporting the package 9 as a basic configuration, and a flange 21 protruding at the side of the pallet 2. A label 22 storing identification information assigned to each pallet 2 is provided on the side of the pallet 2.

[0057] The tag 22 may be, for example, an NFC (Near Field Communication) tag whose identification information can be read by a reading device. The tray 2 is repeatedly used to receive and deliver the parcel 9 , and is received and delivered together with the parcel 9 .

[0058] The receiving and delivering rack 3 is provided, for example, at the residence of a requester who requests to receive and deliver the parcel 9 as a representative example of a delivery or receiving location of the parcel 9. The receiving and delivering rack 3 includes, for example, a frame 31 and a reading unit 32. Figure 1 , Figure 2 and Figure 3 For example, the frame 31 has a substantially rectangular frame shape as a basic form when viewed from the front side of the frame 31, and the front side and the back side of the frame 31 are opened.

[0059] like Figure 2 and Figure 3 As shown in FIG. 1 , a plurality of pairs of guide rails 33 are arranged on the inner surface of the frame 31 in the up-down direction of the frame 31. The pair of guide rails 33 extend in the front-rear direction of the frame 31 and support the tray 2 by placing the flange 21 of the tray 2 on the pair of guide rails 33.

[0060] That is, the height position at which the tray 2 is supported can be changed by appropriately selecting a pair of guide rails 33 from among the plurality of pairs of guide rails 33. Each of the plurality of pairs of guide rails 33 has identification information by which information indicating the height position of the guide rails 33 is associated with the corresponding pair of guide rails 33.

[0061] The reading unit 32 reads the identification information of the tray 2 from the tag 22 of the tray 2 while the tray 2 is supported by the pair of guide rails 33. Therefore, the reading unit 32 is fixed to the frame 31 of each pair of guide rails 33, for example Figure 2 and Figure 3 as shown in .

[0062] The reading unit 32 associates the read identification information of the pallet 2 with the information indicating the height position of the guide rail 33 supporting the pallet 2 (ie, the information indicating the height position of the pallet 2 in the receiving and delivery rack 3 ), and transmits it to the DB 7 .

[0063] The mobile terminal 4 is owned by a requester who requests the collection and delivery of the package 9, and receives, for example, information indicating the collection and delivery request for the package 9 and information indicating the completion of the reception of the package 9 input by the requester. The mobile terminal 4 transmits the information indicating the collection and delivery request for the package 9 and the information indicating the completion of the reception of the package 9 to the DB 7.

[0064] Here, the information indicating the collection and delivery request for the parcel 9 includes information indicating the request for the collection of the parcel 9 and information indicating the request for the delivery of the parcel 9. When the requester requests the collection of the parcel 9, the identification information of the tray 2 supporting the parcel 9 is read by the mobile terminal 4 when the requester stores the parcel 9 in the collection and delivery rack 3, and the mobile terminal 4 associates the identification information with the information indicating the request for the collection of the parcel 9 and transmits the associated information to the DB 7.

[0065] The robot 5 is a moving body for collecting and delivering the package 9 together with the tray 2 between the collecting and delivering base and the collecting and delivering rack 3. In the collecting and delivering system 1 according to the present embodiment, a plurality of robots 5 are working, and each robot 5 has identification information.

[0066] Figure 4 is a side view showing the robot according to this embodiment. Figure 1 and Figure 4 As shown in FIG. 5 , the robot 5 includes a moving unit 51, a storage unit 52, a conveying mechanism 53, a detection sensor 54, and a control unit 55. The moving unit 51 is a base that is moved by a driving source such as a motor.

[0067] The storage unit 52 is, for example, a box capable of storing the packages 9 and the tray 2, and is fixed to the mobile unit 51, such as Figure 4 The conveying mechanism 53 can lift the top plate 56 in the up-down direction of the robot 5, and the package 9 together with the tray 2 can be taken out from the storage unit 52 to the top plate 56 and stored in the receiving and delivery rack 3, or taken out from the receiving and delivery rack 3 to the top plate 56 and stored in the storage unit 52.

[0068] A detection sensor 54 is provided on the top plate 56 of the robot 5 for detecting the state in the receiving and delivery rack 3. The detection sensor 54 may be formed of a scanning sensor such as a Lidar. The detection sensor 54 detects the package 9 and measures its height by using the reflected light from the package 9 obtained as the top plate 56 moves in the up and down direction of the robot 5. The detection sensor 54 transmits information indicating the height of the package 9, including information indicating the height position at which the package 9 is set, to the DB 7. The control unit 55 controls the moving unit 51 and the conveying mechanism 53.

[0069] The management device 6 manages the collection and delivery of the package 9. Figure 1 As shown in the figure, the management device 6 includes: a first identification information acquisition unit 61, a second identification information acquisition unit 62, a third identification information acquisition unit 63, a delivery request information acquisition unit 64, a reception completion information acquisition unit 65, a first height information acquisition unit 66, a second height information acquisition unit 67, a storage status information acquisition unit 68, a storage status information update unit 69, an idle height information acquisition unit 70, a calculation unit 71, a planning unit 72 and a control unit 73.

[0070] The first identification information acquisition unit 61 acquires identification information of the pallet 2 in association with information indicating the height position of the pallet 2 in the receiving and delivery rack 3. Therefore, the management device 6 can always recognize which pallet 2 is supported by which pair of guide rails 33 in the receiving and delivery rack 3.

[0071] The second identification information acquisition unit 62 acquires identification information of the receiving tray 2 a in association with information indicating the height position of the receiving tray 2 a supporting the parcel 9 to be received among the respective trays 2 within the receiving delivery rack 3 .

[0072] The third identification information acquisition unit 63 acquires identification information of the delivery pallet 2b associated with information indicating the height position of the delivery pallet 2b supporting the package 9 to be delivered among the respective trays 2 in the receiving and delivery rack 3. In the following description, for clarification, the package to be collected is referred to as a collection package 9a, the package to be delivered is referred to as a delivery package 9b, and they are collectively referred to as a package 9.

[0073] The collection delivery request information acquisition unit 64 acquires information input by the requester indicating the collection and delivery request for the package 9. The reception completion information acquisition unit 65 acquires information input by the requester indicating the reception completion of the delivery package 9b when he / she has received the delivery package 9b. The first height information acquisition unit 66 acquires information indicating the height of the package 9 detected by the detection sensor 54 mounted on the robot 5, including information indicating the height position at which the package 9 is set.

[0074] The second height information acquisition unit 67 acquires height information of the delivery package 9b. Here, the information indicating the height of the delivery package 9b can be input by the operator using an input device at the receiving delivery base, for example. However, the method of acquiring the information indicating the height of the delivery package 9b is not limited.

[0075] The storage status information acquisition unit 68 creates and acquires information indicating the storage status of the package 9 in the receiving and delivery rack 3 based on the identification information of the tray 2 including the receiving tray 2a and the delivery tray 2b in the receiving and delivery rack 3, the information indicating the height of the delivery package 9b, and the information indicating that the delivery package 9b has been received.

[0076] At this time, the storage status information acquisition unit 68 may create information indicating the storage status of the parcel 9 in the receiving and delivery rack 3 based on the identification information of the receiving tray 2a supporting the received parcel 9a associated with the information indicating the collection and delivery request for the parcel 9, assuming that the received parcel 9a exists between the receiving tray 2a and the tray 2 disposed just above the receiving tray 2a. The storage status information acquisition unit 68 transmits the information indicating the storage status of the parcel 9 in the receiving and delivery rack 3 to the DB 7.

[0077] The storage status information updating unit 69 updates the information indicating the storage status of the parcel 9 in the receiving delivery rack 3 based on the information indicating the height of the parcel 9 detected by the detection sensor 54 mounted on the robot 5, including the height position where the parcel 9 is set.

[0078] That is, when the requester has stored the received parcel 9a in the receiving delivery rack 3 but forgets to input information indicating the request for receiving the received parcel 9a, or when the requester has received the delivered parcel 9b but forgets to input information indicating the completion of the reception, the information indicating the storage status of the parcel 9 in the receiving delivery rack 3 is updated. The storage status information updating unit 69 transmits the updated information indicating the storage status of the parcel 9 in the receiving delivery rack 3 to the DB 7.

[0079] The idle height information acquisition unit 70 acquires information indicating the idle height of the storage unit 52 of each robot 5. The calculation unit 71 calculates the interval between the pallets 2 arranged adjacent to each other in the up-and-down direction in the receiving and delivery rack 3 based on the information indicating the height position of the pallet 2 in the receiving and delivery rack 3 associated with the identification information of the pallet 2.

[0080] At this time, the calculation unit 71 calculates the interval in the vertical direction in the receiving delivery rack 3 between the receiving tray 2a supporting the received package 9a and the tray 2 disposed just above the receiving tray 2a. The calculation unit 71 transmits information indicating the interval between the trays 2 to the DB 7.

[0081] The planning unit 72 creates a collection and delivery plan for the package 9. At this time, the planning unit 72 selects a robot 5 capable of collecting the collection package 9a together with the collection tray 2a based on the identification information of the trays 2 including the collection tray 2a in the collection and delivery rack 3 (such a rack will be referred to as the collection destination rack hereinafter) from which the package is to be collected, the information indicating the intervals between the trays 2 in the collection and delivery rack 3 (collection destination rack), the identification information of the robots 5, and the information indicating the free height of the storage unit 52 of each robot 5, and creates a collection plan for the selected robot 5 to collect the collection package 9a, or makes an appointment for the selected robot 5.

[0082] The planning unit 72 selects a guide rail 33 in the receiving and delivery rack 3 that can store the delivery package 9b together with the delivery pallet 2b based on information indicating the storage status of the package 9 in the receiving and delivery rack 3 (such a rack will be referred to as the delivery destination rack hereinafter) to which the package is to be delivered, the identification information of the guide rail 33 of the receiving and delivery rack 3 at the delivery destination, the identification information of the pallet 2 in the receiving and delivery rack 3 (delivery destination rack), and the information indicating the height of the delivery package 9b, and creates a delivery plan in which the delivery pallet 2b is supported by the selected guide rail 33 together with the delivery package 9b, or makes a reservation for the selected guide rail 33.

[0083] At this time, the planning unit 72 creates a travel route of the robot 5's outbound and return routes when it moves between the collection delivery base and the collection delivery rack 3 based on the map information, the information indicating the location of the collection delivery base, and the information indicating the address included in the personal information of the requester. The planning unit 72 includes the information on the travel route of the robot 5 in the information indicating the collection delivery plan for the package 9, and transmits it to the DB 7.

[0084] The planning unit 72 transmits the identification information of the selected robot 5 and the identification information of the selected guide rail 33 to the DB 7. Here, the planning unit 72 may update the information indicating the free height of the storage unit 52 of each robot 5 each time it creates a collection and delivery plan for the package 9. The control unit 73 controls the robot 5 to collect and deliver the package 9 based on the information indicating the collection and delivery plan for the package 9.

[0085] DB 7 stores identification information of pallets 2 including receiving pallet 2a and delivery pallet 2b in receiving and delivering rack 3, identification information of guide rail 33 of receiving and delivering rack 3, identification information of selected guide rail 33 of receiving and delivering rack 3, information indicating the interval between pallets 2 in receiving and delivering rack 3, information indicating the height of delivery package 9b, and information indicating a collection and delivery request for package 9.

[0086] DB 7 stores information indicating completion of reception of delivery package 9b, identification information of robot 5, identification information of the selected robot 5, information indicating the height of package 9 stored in the receiving and delivery rack 3 detected by the detection sensor 54 of robot 5, information indicating the idle height of robot 5, information indicating the storage status of package 9 in the receiving and delivery rack 3, information indicating a receiving and delivery plan for package 9, map information, and personal information of the requester.

[0087] Next, a procedure for collecting and delivering the parcel 9 using the collecting and delivering system 1 according to the present embodiment will be described. Figure 5 Detailed description is a flowchart showing the flow of collecting and delivering a package using the collection and delivery system according to the present embodiment.

[0088] Here, it is assumed that the requester inputs information indicating a collection and delivery request for the package 9, and the storage status information acquisition unit 68 of the management device 6 creates information indicating the storage status of the package 9 in the collection and delivery rack 3. First, the planning unit 72 of the management device 6 creates a collection and delivery plan for the package 9, creates a travel route for the robot 5, includes information indicating the travel route of the robot 5 in the information indicating the collection and delivery plan for the package 9, and transmits the information to the DB 7 (S1).

[0089] Specifically, when delivering delivery package 9b, the planning unit 72 of the management device 6 selects the guide rail 33 in the receiving delivery rack 3 (delivery destination rack) that can store delivery package 9b together with the delivery pallet 2b based on the identification information of the guide rail 33 of the receiving delivery rack 3 (delivery destination rack) obtained from DB 7, the information indicating the storage status of package 9 in the receiving delivery rack 3 (delivery destination rack), the identification information of the pallet 2 in the receiving delivery rack 3 (delivery destination rack), and the information indicating the height of delivery package 9b, and creates a delivery plan in which the delivery pallet 2b is supported on the selected guide rail 33 together with the delivery package 9b.

[0090] That is, the planning unit 72 of the management device 6 selects the guide rail 33 for supporting the delivery pallet 2b together with the delivery package 9b so that the delivery package 9b is stored in the area within the interval of the pallet 2 in the receiving delivery rack 3 (i.e., where the delivery destination rack does not store the package 9).

[0091] On the other hand, when collecting the collection package 9a, the planning unit 72 of the management device 6 selects a robot 5 that can collect the collection package 9a together with the collection pallet 2a based on the identification information of the pallet 2 in the collection delivery rack 3 (delivery destination rack) obtained from DB 7, the information indicating the interval of the pallet 2 in the collection delivery rack 3 (collection destination rack), the identification information of the robot 5, and the information indicating the idle height of the robot 5, and creates a collection plan for the selected robot 5 to collect the collection package 9a.

[0092] That is, the planning unit 72 of the management device 6 selects a robot 5 whose free height in the storage unit 52 is higher than the interval between the receiving tray 2a and the tray 2 disposed just above the receiving tray 2a from among the plurality of robots 5. At this time, the free height of the storage unit 52 should be sufficient, for example, at least sufficient to accommodate the height of the receiving tray 2a added to the interval.

[0093] At this time, the planning unit 72 of the management device 6 creates a travel route of the robot 5's outbound and return routes when it moves between the collection delivery base and the collection delivery rack 3 based on the map information, the information indicating the location of the collection delivery base, and the information indicating the address included in the personal information of the requester. The planning unit 72 includes the information on the travel route of the robot 5 in the information indicating the collection delivery plan for the package 9, and transmits it to the DB 7.

[0094] Next, when delivering the delivery package 9b, the planning unit 72 of the management device 6 transmits the identification information of the selected rail 33 to the DB 7 to reserve the rail 33 (S2). When receiving the collection package 9a, the planning unit 72 transmits the identification information of the selected robot 5 to the DB 7 to reserve the robot 5 (S3).

[0095] Next, the control unit 73 of the management device 6 controls the moving unit 51 through the control unit 55 of the robot 5 based on the information indicating the travel route of the robot 5 included in the information indicating the collection and delivery plan for the package 9, so that the robot 5 arrives at the collection and delivery rack 3 (S4). At this time, when delivering the delivery package 9b, the robot 5 delivers the delivery package 9b together with the delivery pallet 2b while the delivery package 9b is stored in the storage unit 52 of the robot 5.

[0096] Next, the control unit 73 of the management device 6 controls the conveying mechanism 53 to lift the top plate 56 through the control unit 55 of the robot 5, and controls the detection sensor 54 to detect the parcel 9 in the receiving and delivery rack 3 (S5). In other words, the parcel 9 is scanned from the lower side to the upper side of the receiving and delivery rack 3 by the detection sensor 54. The robot 5 transmits information indicating the height of the parcel 9 to the DB 7, including information indicating the height position at which the detected parcel 9 is set.

[0097] Next, the storage status information update unit 69 of the management device 6 updates the information indicating the storage status of the package 9 in the receiving and delivery rack 3 based on the information indicating the height of the package 9 detected by the detection sensor 54 of the robot 5 obtained from DB 7, including the information indicating the height position at which the package 9 is set (S6).

[0098] Therefore, for example, when the requester has stored the received parcel 9a in the receiving delivery rack 3 but forgets to input information indicating the request for receiving the received parcel 9a, or when the requester has received the delivered parcel 9b but forgets to input information indicating the completion of the reception, the information indicating the storage status of the parcel 9 in the receiving delivery rack 3 is accurately understood. The storage status information updating unit 69 transmits the updated information indicating the storage status of the parcel 9 in the receiving delivery rack 3 to the DB 7.

[0099] Next, the control unit 73 of the management device 6 determines whether there is a delivery package 9b (S7). That is, the control unit 73 determines whether there is a delivery of the delivery package 9b in the request of the requester. If there is a delivery of the delivery package 9b in the request of the requester (Yes in S7), a process for storing the delivery package 9b in the receiving delivery rack 3 is performed (S8).

[0100] Figure 6 It is a flowchart showing the process of storing and processing the delivery package in the receiving and delivery rack in the receiving and delivery system according to the present embodiment. First, the planning unit 72 of the management device 6 determines whether the selected guide rail 33 can support the delivery pallet 2b together with the delivery package 9b based on the updated information indicating the storage state of the package 9 in the receiving and delivery rack 3 (delivery destination rack) obtained from the DB 7, the identification information of the guide rail 33 of the receiving and delivery rack 3 (delivery destination rack), the identification information of the pallet 2 in the receiving and delivery rack 3 (delivery destination rack), and the identification information of the selected guide rail 33 (S81).

[0101] If the selected guide rail 33 is capable of supporting the delivery pallet 2b together with the delivery package 9b (yes in S81), the control unit 73 of the management device 6 controls the conveying mechanism 53 through the control unit 55 of the robot 5 based on the information indicating the height position of the guide rail 33 associated with the identification information of the selected guide rail 33, and causes the conveying mechanism 53 to take the delivery pallet 2b together with the delivery package 9b out of the storage unit 52 of the robot 5 to the top plate 56.

[0102] The control unit 73 of the management device 6 controls the conveying mechanism 53 through the control unit 55 of the robot 5, lifts the top plate 56, and allows the delivery package 9b and the delivery pallet 2b to be stored in the receiving delivery rack 3, so that the delivery pallet 2b is supported from the top plate 56 to the selected guide rail 33 of the receiving delivery rack 3 (S82).

[0103] On the other hand, when the selected guide rail 33 cannot support the delivery pallet 2b together with the delivery package 9b (No in S81), the planning unit 72 of the management device 6 determines whether the guide rail 33 of the receiving delivery rack 3 that can store the delivery package 9b together with the delivery pallet 2b can be selected again (S83) based on the updated information indicating the storage state of the package 9 in the receiving delivery rack 3 (delivery destination rack), the identification information of the guide rail 33 in the receiving delivery rack 3 (delivery destination rack), the identification information of the pallet 2 in the receiving delivery rack 3 (delivery destination rack), and the information indicating the height of the delivery package 9b obtained from the DB 7. In other words, the planning unit 72 determines whether the delivery plan for the delivery package 9b can be created again.

[0104] If the rail 33 of the delivery rack 3 can be selected again (Yes in S83), the planning unit 72 of the management device 6 transmits the identification information of the selected rail 33 to the DB 7. Then, the control unit 73 shifts to the processing in S82. On the other hand, if the rail 33 of the delivery rack 3 cannot be selected again (No in S83), the control unit 73 abandons the delivery of the delivery package 9b and controls the robot 5 to bring the delivery package 9b back to the delivery base (S84).

[0105] Back to Figure 5 , if there is no delivery package 9b (No in S7), or after the delivery of the delivery package 9b is completed, the control unit 73 of the management device 6 determines whether there is a collection package 9a (S9). That is, the control unit 73 determines whether there is a collection of the collection package 9a in the request of the requester. When the request of the requester includes the collection of the collection package 9a (Yes in S9), a process for collecting the collection package 9a from the collection delivery rack 3 is performed (S10).

[0106] In other words, the control unit 73 of the management device 6 controls the conveying mechanism 53 through the control unit 55 of the selected robot 5 based on the information indicating the height position of the receiving pallet 2a associated with the identification information of the receiving pallet 2a obtained from the DB 7, so that the conveying mechanism 53 takes the receiving pallet 2a together with the receiving package 9a from the receiving and delivery rack 3 to the top plate 56, and controls the top plate 56 to descend so as to store the receiving package 9a together with the receiving pallet 2a from the top plate 56 to the storage unit 52.

[0107] At this time, since the received package 9a in the receiving and delivery rack 3 is always stored between the receiving tray 2a and the tray 2 set directly above the receiving tray 2a, if the free height in the storage unit 52 of the robot 5 is large enough compared to the interval between the receiving tray 2a and the tray 2 directly above it, the robot 5 can reliably store the receiving tray 2a together with the received package 9a in the storage unit 52.

[0108] Thereafter, the control unit 73 of the management device 6 controls the moving unit 51 through the control unit 55 of the robot 5 based on the information indicating the travel route of the robot 5 included in the information indicating the collection and delivery plan for the package 9, and returns the robot 5 to the collection and delivery base. Thus, the collection and delivery process of the package 9 is completed.

[0109] In this way, when collecting the collection package 9a, according to the collection and delivery system 1, management device 6 and management method of the present embodiment, a robot 5 is selected whose idle height in the storage unit 52 is higher than the interval between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a.

[0110] At this time, since the received parcel 9a is always stored between the received tray 2a and the tray 2 disposed just above the received tray 2a in the receiving and delivery rack 3, if the free height in the storage unit 52 of the robot 5 is sufficiently large compared to the interval between the received tray 2a and the tray 2 just above it, the robot 5 can reliably store the received tray 2a together with the received parcel 9a in the storage unit 52. Therefore, for example, it is possible to prevent the robot 5 from returning to the receiving and delivery base without receiving the received parcel 9a at the receiving destination rack, thereby improving the efficiency of the robot 5 in receiving and delivering the parcel 9.

[0111] Furthermore, according to the collection delivery system 1, the management device 6, and the management method of the present embodiment, the information indicating the storage state of the parcel 9 in the collection delivery rack 3 is updated based on the detection result of the detection sensor 54 of the robot 5. Therefore, for example, even when the requester has stored the collection parcel 9a in the collection delivery rack 3 but forgets to input the information indicating the request for collecting the collection parcel 9a, the robot 5 can refrain from attempting to store the delivery parcel 9b in the area of ​​the collection delivery rack 3 where the collection 9a is stored.

[0112] In the above embodiment, although the storage status information acquisition unit 68 of the management device 6 acquires the information indicating the storage status of the package 9 in the delivery rack 3, and the storage status information update unit 69 updates the information indicating the storage status of the package 9 in the delivery rack 3 based on the detection information of the detection sensor 54 of the robot 5, the storage status information acquisition unit 68, the storage status information update unit 69 and the detection sensor 54 of the robot 5 of the management device 6 can be omitted.

[0113] Further, the order of steps S2 and S3 in the above embodiment may be reversed, and the order of steps S7 and S8 as well as steps S9 and S10 may be reversed. Further, although the process of receiving and delivering the parcel 9 is described in the above embodiment, the process of receiving the received parcel 9a and the process of delivering the delivered parcel 9b may be different.

[0114] <Second Embodiment>

[0115] Figure 7 The diagram shows a state in which a package stored in a receiving and delivery rack is detected by a detection sensor of a robot in the receiving and delivery system according to the present embodiment. Figure 7 A simplified view is shown, and the reading unit 32 and the guide rail 33 are omitted. In this embodiment, the detection sensor 54 of the robot 5 improves the efficiency when detecting the parcel 9 in the delivery rack 3.

[0116] Specifically, for example, while the parcel 9 is stored in the receiving and delivery rack 3, when the delivery parcel 9b is stored in the receiving and delivery rack 3 above the parcel 9 stored in the receiving and delivery rack 3, as shown in FIG. Figure 7 As shown in FIG. 7 , the control unit 73 of the management device 6 controls the conveying mechanism 53 through the control unit 55 of the robot 5 while the robot 5 lifts the delivery package 9 b so that the detection sensor 54 detects the package 9 stored in the delivery rack 3 .

[0117] As a result, it becomes possible to simultaneously detect the parcel 9 stored in the receiving delivery rack 3 as the delivery parcel 9b rises. This improves the efficiency of the detection sensor 54 of the robot 5 in detecting the parcel 9 in the receiving delivery rack 3. At this time, a delivery plan for the delivery parcel 9b can be created so that the delivery parcel 9b is set above the parcel 9 stored in the receiving delivery rack 3.

[0118] <Third Embodiment>

[0119] Figure 8 1 is a flow chart showing the process of delivering a parcel using the receiving and delivering system according to the present embodiment. In the present embodiment, the detection sensor 54 of the robot 5 also improves the efficiency of detecting the parcel 9 in the receiving and delivering rack 3.

[0120] Specifically, in this embodiment, the process until the management device 6 creates a delivery plan for delivering the package 9b (S21), makes an appointment to receive the guide rail 33 in the delivery rack 3 for supporting the delivery pallet 2b together with the delivery package 9b (S22), and moves the robot 5 to the delivery rack 3 (S23) is the same as that according to the first embodiment.

[0121] Next, the control unit 73 of the management device 6 determines whether there is a pallet 2 in the lower area of ​​the reserved guide rail 33 in the receiving and delivery rack 3 based on the identification information of the pallet 2 in the receiving and delivery rack 3 (delivery destination rack), the identification information of the guide rail 33 in the receiving and delivery rack 3 at the delivery destination, and the identification information of the reserved guide rail 33 (S24).

[0122] When there is no pallet 2 in the area below the reserved guide rail 33 (No in S24), the control unit 73 of the management device 6 omits the detection of the package 9 in the receiving and delivery rack 3 by the detection sensor 54 of the robot 5, and controls the conveying mechanism 53 through the control unit 55 of the robot 5 based on the information indicating the height position of the guide rail 33 associated with the identification information of the selected guide rail 33, and causes the conveying mechanism 53 to store the delivery package 9b in the receiving and delivery rack 3 so that the delivery pallet 2b together with the delivery package 9b is supported by the reserved guide rail 33 (S25).

[0123] That is, when there is no tray 2 in the area below the reserved guide rail 33, it is obvious that there is no package 9 in the area below the reserved guide rail 33, and it is also obvious that the delivery package 9b can be stored in the receiving delivery rack 3. Therefore, the detection sensor 54 of the robot 5 can be omitted to perform the detection of the package 9 in the receiving delivery rack 3, thereby improving the efficiency of the detection sensor 54 of the robot 5 in detecting the package 9 in the receiving delivery rack 3.

[0124] On the other hand, when there is a pallet 2 in the area below the reserved guide rail 33 (yes in S24), the control unit 73 of the management device 6 controls the conveying mechanism 53 through the control unit 55 of the robot 5, and enables the detection sensor 54 to detect the state around the height position of the reserved guide rail 33 in the receiving delivery rack 3 (S26).

[0125] Then, the control unit 73 of the management device 6 determines whether there is a pallet 2 or a package 9 around the height position of the reserved rail 33 in the receiving delivery rack 3, that is, whether the height position of the reserved rail 33 is free (S27). When the height position of the reserved rail 33 is free (Yes in S27), the control unit 73 transfers to the processing in S25.

[0126] On the other hand, when the height position of the reserved guide rail 33 is not free (No in S27), the planning unit 72 of the management device 6 determines whether the guide rail 33 of the receiving delivery rack 3 that can store the delivery package 9b together with the delivery pallet 2b can be selected again (S28) based on the information indicating the storage state of the package 9 in the receiving delivery rack 3 (delivery destination rack), the identification information of the guide rail 33 in the receiving delivery rack 3 (delivery destination rack), the identification information of the pallet 2 in the receiving delivery rack 3 (delivery destination rack), and the information indicating the height of the delivery package 9b acquired from the DB 7. In other words, the planning unit 72 determines whether the delivery plan for the delivery package 9b can be created again.

[0127] If the rail 33 of the delivery rack 3 can be selected again (Yes in S28), the planning unit 72 of the management device 6 transmits the identification information of the selected rail 33 to the DB 7. Then, the control unit 73 transfers to the processing in S25. On the other hand, if the rail 33 of the delivery rack 3 cannot be selected again (No in S28), the control unit 73 abandons the delivery of the delivery package 9b and controls the robot 5 to bring the delivery package 9b back to the delivery base (S29).

[0128] As described above, when there is no tray 2 in the area below the reserved rail 33, it is obvious that there is no package 9 in the area below the reserved rail 33, and it is also obvious that the delivery package 9b can be stored in the receiving delivery rack 3.

[0129] Therefore, the detection of the parcel 9 in the receiving and delivery rack 3 by the detection sensor 54 of the robot 5 is omitted, thereby improving the efficiency of the detection sensor 54 of the robot 5 in detecting the parcel 9 in the receiving and delivery rack 3. It should be noted that in this embodiment, the storage status information updating unit 69 according to the first embodiment can be omitted.

[0130] <Fourth Embodiment>

[0131] In the first embodiment, when receiving the received package 9a, the robot 5 whose free height in the storage unit 52 is higher than the interval between the receiving tray 2a and the tray 2 disposed just above the receiving tray 2a is selected.

[0132] At this time, when the height of the received package 9a is lower than the interval between the receiving tray 2a and the tray 2 disposed just above the receiving tray 2a, unnecessary idle height is generated in the storage unit 52 of the robot 5. Therefore, in this embodiment, unnecessary idle height of the storage unit 52 of the robot 5 is reduced.

[0133] Fig. 9 is a block diagram showing the configuration of a control system of the collection and delivery system according to the present embodiment. Fig. 9As shown, the collection delivery system 101 according to the present embodiment includes a third height information acquisition unit 102 for acquiring information indicating the height of the collection package 9a input by a requester who requests to collect the collection package 9a through the mobile terminal 4. Since the collection delivery system 101 according to the present embodiment has a configuration substantially equivalent to that of the collection delivery system 1 according to the first embodiment, elements equivalent to those according to the first embodiment will be described by using the same symbols.

[0134] Here, the information indicating the height of the received package 9a input by the requester via the mobile terminal 4 may be inaccurate. If the robot 5 is selected only based on the information indicating the height of the received package 9a input by the requester via the mobile terminal 4, the received package 9a may not be received by the robot 5.

[0135] Therefore, according to the planning unit 104 of the management device 103 of the present embodiment, based on the difference between the height of the collected package 9a based on the detection information of the detection sensor 54 of the robot 5 and the height of the collected package 9a input by the requester, a collection plan for the next collection of the collected package 9a is created by changing the ratio (i.e., confidence) reflected by the information indicating the interval between the collected tray 2a and the tray 2 set directly above the collected tray 2a when the collected package 9a is collected relative to the information indicating the height of the collected package 9a input by the requester.

[0136] The reflected ratio can be calculated based on, for example, the ratio of the difference between the height of the received package 9a based on the detection information of the detection sensor 54 of the robot 5 and the height of the received package 9a input by the requester relative to the height of the received package 9a based on the detection information of the detection sensor 54 of the robot 5, and the number of times the requester has requested to collect the received package 9a.

[0137] By changing the ratio reflected by the information indicating the height of the collection package 9a input by the requester when creating a collection plan for collecting the package 9a in this way, unnecessary idle height of the storage unit 52 of the robot 5 can be reduced while suppressing the robot 5 from being unable to collect the collection package 9a.

[0138] <Other embodiments>

[0139] In the above embodiment, the parcel 9 is supported by the tray 2, but alternatively, the parcel 9 may be supported by storing the parcel 9 in a storage box, etc. In the above embodiment, the tray 2 is supported by the plurality of pairs of guide rails 33 in such a manner that the height position of the tray 2 can be changed in the receiving and delivery rack 3. However, it is sufficient that the supporting member for supporting the parcel 9 can support the parcel 9 in such a manner that the height position of the tray 9 can be changed in the receiving and delivery rack 3.

[0140] Some or all of the above-mentioned processes can be performed by a computer program. That is, by making the control computer constituting the processing device execute the program, the control of the processing device can be performed. The above-mentioned program includes instructions (or software codes), and when the instructions (or software codes) are loaded into the computer, the computer is made to perform one or more functions described in the embodiment. The program can be stored in a non-transient computer-readable medium or a tangible storage medium. As an example and not limitation, a non-transient computer-readable medium or a tangible storage medium may include a random access memory (Random-Access Memory, RAM), a read-only memory (Read-Only Memory, ROM), a flash memory, a solid-state drive (Solid-State Drive, SSD) or other types of memory technology, a CD-ROM, a digital versatile disc (Digital Versatile Disc, DVD), a blue disc or other types of optical disc storage, and a cassette, a magnetic tape, a disk storage or other types of magnetic storage devices. The program can be transmitted on a transient computer-readable medium or a communication medium. As an example and not limitation, a transient computer-readable medium or a communication medium may include electrical, optical, acoustic or other forms of propagation signals.

[0141] From the disclosure thus described, it will be apparent that the embodiments of the disclosure may be varied in many ways. Such variations should not be considered as departing from the spirit and scope of the disclosure, and all such variations that would be apparent to those skilled in the art are intended to be included within the scope of the appended claims.

Claims

1. A management device for a collection and delivery system, wherein the collection and delivery system uses a robot to collect parcels stored in a collection and delivery rack and move the parcels to a collection and delivery base, or uses the robot to deliver parcels from the collection and delivery base to the collection and delivery rack, the management device comprising: a first identification information acquisition unit configured to acquire identification information associated with information indicating height positions of a plurality of support components that are provided in the receiving and delivery rack and have adjustable height positions and are capable of supporting the package; a second identification information acquisition unit configured to acquire identification information of a first supporting component among the plurality of supporting components that supports a collection package to be collected by the robot; a calculation unit configured to calculate a distance between the first support component and a second support component disposed directly above the first support component among the plurality of support components in a vertical direction of the receiving and delivery rack; as well as A planning unit is configured to create a collection plan for the collection package that enables the robot to collect the collection package based on the information indicating the interval.

2. The management device according to claim 1, further comprising: An idle height information acquisition unit, wherein the idle height information acquisition unit is configured to acquire information indicating an idle height of a storage unit in the robot for storing the package, wherein the planning unit creates a collection plan for the collection package so that the robot can collect the collection package based on the information indicating the interval and the information indicating the idle height of the storage unit in the robot.

3. The management device according to claim 1 or 2, further comprising: a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state in the receiving and delivery rack; as well as A control unit configured to control the robot, wherein, when the package is stored in the receiving and delivery rack, while the robot lifts the delivery package in order to store the delivery package, which is a package to be delivered by the robot, above the packages stored in the receiving and delivery rack, the control unit controls the robot to detect the package stored in the receiving and delivery rack using the detection sensor.

4. The management device according to claim 1 or 2, further comprising: a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state in the receiving and delivery rack; a second height information acquisition unit configured to acquire information indicating a height of a delivery package to be delivered by the robot; a reception completion information acquisition unit configured to acquire information indicating that the delivery package has been received, input by a requester who has requested the delivery of the delivery package; a storage status information acquisition unit configured to acquire information indicating the storage status of the parcel in the receiving and delivery rack based on identification information of the support member provided in the receiving and delivery rack, information indicating the height of the delivery parcel, and information indicating completion of receiving the delivery parcel; as well as The storage status information updating unit is configured to update information indicating the storage status of the packages in the receiving and delivery rack based on the detection information of the detection sensor.

5. The management device according to claim 4, characterized in that: The planning unit creates a delivery plan for the delivery parcel that enables the delivery parcel to be stored in the receiving delivery rack together with a third supporting member supporting the delivery parcel, based on the updated information indicating the storage status of the parcel in the receiving delivery rack.

6. The management device according to claim 1 or 2, further comprising: a first height information acquisition unit configured to acquire information indicating the height of the package based on detection information of a detection sensor mounted on the robot for detecting a state in the receiving and delivery rack; as well as A second height information acquisition unit is configured to acquire information indicating the height of the collection package input by a requester who has requested the collection of the collection package, wherein the planning unit creates a collection plan for the next collection of the collection package by changing the ratio reflected by the information indicating the interval when the collection package is collected relative to the information indicating the height of the collection package input by the requester based on the difference between the height of the collection package based on the detection information of the detection sensor and the height of the collection package input by the requester.

7. The management device according to claim 1 or 2, further comprising: A control unit configured to control the robot, wherein, when a delivery package to be delivered by the robot is stored in the receiving and delivery rack, if there are other supporting members in an area lower than the height position at which the third supporting member in the receiving and delivery rack for supporting the delivery package is set, the control unit controls the robot to use the detection sensor installed on the robot for detecting the state in the receiving and delivery rack to detect the state around the height position at which the third supporting member in the receiving and delivery rack is set, and if there are no other supporting members in an area lower than the height position at which the third supporting member in the receiving and delivery rack is set, the control unit omits the detection of the state around the height position at which the third supporting member in the receiving and delivery rack is set using the detection sensor.

8. Collection and delivery system, including: The management device according to claim 1 or 2; the robot; as well as The receiving and distributing rack.

9. A management method for a collection and delivery system, wherein the collection and delivery system uses a robot to collect parcels stored in a collection and delivery rack and move the parcels to a collection and delivery base, or uses the robot to deliver parcels from the collection and delivery base to the collection and delivery rack, the management method comprising: Acquire identification information associated with information indicating height positions of a plurality of support members provided in the receiving and delivery rack and having adjustable height positions and capable of supporting the package; acquiring identification information of a first supporting component among the plurality of supporting components that supports a package to be collected by the robot; Calculating a distance between the first supporting component and a second supporting component disposed directly above the first supporting component among the plurality of supporting components in a vertical direction of the receiving and distributing rack; as well as Based on the information indicating the interval, a pick-up plan for the pick-up package is created that enables the robot to pick up the pick-up package.

10. A computer-readable medium storing a management program for a collection and delivery system, wherein the collection and delivery system uses a robot to collect packages stored in a collection and delivery rack and move the packages to a collection and delivery base, or uses the robot to deliver packages from the collection and delivery base to the collection and delivery rack, wherein the management program causes a computer to execute: A process of acquiring identification information associated with information indicating height positions of a plurality of support members provided in the receiving and delivery rack and having adjustable height positions and capable of supporting the package; a process of acquiring identification information of a first supporting component among the plurality of supporting components that supports a collection package to be collected by the robot; A process of calculating a distance between the first supporting member and a second supporting member disposed directly above the first supporting member among the plurality of supporting members in a vertical direction of the receiving and delivery rack; as well as A process for creating a collection plan for the collected package that enables the robot to collect the collected package based on the information indicating the interval.

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