Delivery system

Abstract

To provide a delivery system capable of protecting privacy information.SOLUTION: A delivery system 1 according to the present disclosure, the delivery system for delivering a cargo provided with privacy information comprises; a moving robot for delivering the cargo; a transfer mechanism for transferring the cargo delivered by the moving robot to a storage place, or transferring the cargo present in the storage place to the moving robot; and a detection part 19 for detecting whether or not a person is present around the storage place. The cargo is transferred in a transferring form of protecting the privacy information from the person present around the storage place.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to delivery systems. [Background technology]

[0002] Patent Document 1 discloses a transport robot that transports luggage. This transport robot is equipped with a mechanism for locking (fixing) luggage placed on a frame to the frame. This locking mechanism prevents luggage from falling while traveling and prevents it from being stolen by a third party other than the recipient. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-71884 Summary of the Invention [Problem to be solved by the invention]

[0004] When a transport robot transfers a package to a storage location, there is a possibility that the recipient's private information may be seen by people in the vicinity. For example, a label with the recipient's personal information, such as the recipient's address and name, may be attached to the package. Alternatively, a logo that identifies the contents of the package may be attached to the package. While the package is being transferred, there is a possibility that the recipient's private information, such as the contents of the package, may be seen by people in the vicinity. Furthermore, if the product or brand logo indicates that the package is an expensive item, there is a possibility that the package may be stolen.

[0005] The present invention has been made in consideration of the above background, and has an object to provide a delivery system capable of protecting privacy information. [Means for solving the problem]

[0006] The delivery system according to the present disclosure is a delivery system that delivers luggage bearing privacy information, and includes a mobile robot that delivers the luggage, a transfer mechanism that transfers the luggage delivered by the mobile robot to a storage location or transfers luggage at the storage location to the mobile robot, a detection unit that detects whether or not there are people in the vicinity of the storage location, and transfers the luggage to the storage location in a transfer form that protects the privacy information from people in the vicinity of the storage location. Effect of the Invention

[0007] According to the present disclosure, a delivery system capable of protecting privacy information can be provided. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic perspective view illustrating a delivery system. [Diagram 2] FIG. 2 is a functional block diagram illustrating the configuration of the delivery system. [Diagram 3] 13 is a top view for explaining a transfer form in which privacy information is protected by rotating the placement table. FIG. [Figure 4] FIG. 13 is a top view illustrating a transfer form that protects privacy information depending on the orientation of the delivery robot. [Diagram 5] 11 is a perspective view for explaining a transfer form in which privacy information is protected depending on the opening and closing direction of the door. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The delivery system and its method will be described below with reference to Fig. 1. Fig. 1 is a schematic perspective view for explaining the outline of the delivery system 1. The delivery system 1 is used for the last mile in logistics, that is, logistics services from the final base to the end user (also simply called the user). For example, the delivery system 1 is used in facilities having rooms and corridors for each user. Specifically, the delivery system 1 is used in collective housing such as an apartment building, or accommodation facilities such as a hotel.

[0010] The delivery system 1 includes a delivery robot 10 and a storage shelf 30. The delivery robot 10 travels along an aisle A of the facility. The storage shelf 30 is installed, for example, in each room of an apartment building where a user U lives. The storage shelf 30 is installed in each residence of the apartment building. The storage shelf 30 serves as a storage location for storing items 20. For example, the storage shelf 30 is a smart post or a delivery locker. The delivery can be completed without the need for the delivery robot 10 to hand over the item to the user. For example, when a user purchases an item 20 through online shopping or the like, the delivery robot 10 delivers the item 20 to the user (purchaser) who is the recipient.

[0011] The delivery robot 10 moves and stops in front of a plurality of storage shelves 30 in sequence, and stores the items 20 in the storage shelves 30. This may also be called delivery. The delivery robot 10 also moves and stops in front of a plurality of storage shelves 30 in sequence, picks up the items 20 from the storage shelves 30, and transports the picked up items 20. This may also be called collection. The delivery robot 10 (or the storage shelves 30) is equipped with a mechanism for transferring items to and from the storage shelves 30. The delivery robot 10 also includes various sensors, detects obstacles in the storage shelves 30 and in the aisles, and is capable of moving autonomously. Known object recognition technology may be used.

[0012] The storage shelf 30 may include multiple shelves (not shown) capable of storing the items 20. The storage shelf 30 is installed, for example, on the corridor side of each room in a building or an apartment building. Alternatively, the storage shelf may be located around the entrance of the apartment building. The delivery robot 10 accesses the storage shelf 30 from the corridor side to put in and take out the items 20. A resident (user) accesses the storage shelf 30 from inside the room to put in and take out the items 20.

[0013] For example, the storage shelf 30 includes a door 31. The door 31 is provided on the aisle side. The delivery robot 10 opens the door 31 and puts the item 20 in and takes it out of the storage shelf 30 from the aisle side. The door 31 may be, for example, a horizontal opening shutter, a vertical opening shutter, a single door, or a double door. Here, the door 31 is described as being capable of being opened and closed from either the left or right direction. Also, the storage shelf 30 may have an additional door on the room side. In this case, a user can open the door from inside the room and take out the item 20.

[0014] The door 31 may be lockable. For example, the user U or the delivery robot 10 may lock / unlock the door 31. This can prevent theft of the items 20. The delivery robot 10 may control the opening and closing of the door 31. For example, when the delivery robot 10 moves close to the storage shelf 30, the delivery robot 10 transmits a command to the storage shelf 30 to open the door 31 of the storage shelf 30. The delivery robot 10 and the storage shelf 30 are capable of wireless communication.

[0015] As shown in FIG. 1, the delivery robot 10 includes a base unit 11 (which may be collectively referred to as a cart unit 130) equipped with a plurality of wheels 13, a storage unit 12 that is provided on the base unit 11 and capable of storing a plurality of items 20, and a platform 15 that is provided on the base unit 11 and on which the items 20 are placed. The base unit 11 may be a substantially rectangular, elongated plate-like member. In addition, one or more sensors 18 are provided at any location of the delivery robot 10 (the base unit 11 in this example) to detect or photograph objects in all directions of the delivery robot 10 and to detect the positions of obstacles on the road and the positions of storage shelves. The sensor 18 may be, for example, a camera or LiDAR (Light Detection And Ranging). Furthermore, the sensor 18 is provided to detect the presence of a person in the vicinity of the delivery robot 10 or the storage shelves 30.

[0016] The delivery robot 10 may also use data from a sensor 218 (see FIG. 2) installed on something other than the delivery robot 10. The sensor 218 may be a security camera installed in the facility. Alternatively, if two or more robots are used in the facility, the sensor 218 may be installed on another robot. The delivery robot 10 receives data from the sensor 218 via a wireless network.

[0017] The mounting platform 15 is provided with a mechanism for placing one of the articles 20 taken out of the storage section 12 and storing the article 20 in a desired shelf of the storage shelf 30. The mounting platform 15 is also provided with an extendable arm (not shown) that can be raised and lowered along the vertical direction and can be extended and retracted on a horizontal axis. The extendable arm is configured to be movable forward, backward, left and right. In some embodiments, the mounting platform 15 may be configured to be rotatable around the vertical axis. The mounting platform 15 may also be configured to be movable in all directions (360°) with the article 20 placed on it. However, as shown in FIG. 1, since the storage section 12 is arranged on one side of the base section 11, the mounting platform 15 cannot be moved in the direction of the storage section 12 (also referred to as the back side in this specification).

[0018] The delivery system 1 may also include a management server (not shown) that controls the travel of the delivery robot 10. In this case, the management server includes a control unit 100 (see FIG. 2) that is connected to the delivery robot 10 via a network. In other embodiments, the present disclosure can be realized by distributing the functions of the control unit of the management server and the control unit of the delivery robot.

[0019] A label 21 is attached to the item 20. Here, the label 21 is attached to the side of the item 20. For example, the label 21 is an address sticker attached to a cardboard box that contains a delivery item. The label 21 includes privacy information such as the destination and the recipient's name. Therefore, the privacy information written on the label 21 is visible to a person P in the vicinity. Furthermore, the privacy information is not limited to personal information about the recipient, and may be information that reveals the contents of the item. For example, the privacy information may be a product logo or brand. Furthermore, the privacy information may be printed directly on an outer box such as a cardboard box.

[0020] 2 is a block diagram for explaining the functions of the delivery system 1. The delivery system 1 includes a control unit 100. The control unit 100 can be provided in the delivery robot 10 or a management server. The control unit 100 receives sensor signals from sensors 18, 218 connected via a wired or wireless network, and controls normal operations of the delivery system including the delivery robot, such as the cart unit 130, the lift unit 151, and the telescopic arm 152. In some embodiments, the control unit 100 can control the operation of the door on the front of the storage shelf and the manipulator inside the door.

[0021] The cart unit 130 has a base unit 11, driving wheels 13 (see FIG. 1) rotatably provided on the base unit 11, and a motor 1301 that rotates and drives each driving wheel 13. Each motor 1301 rotates each driving wheel 13 via a reducer or the like. Each motor 1301 rotates each driving wheel 13 in response to a control signal from the control unit 100. Each motor 1301 rotates and stops each driving wheel 13 in response to a control signal from the control unit 100, thereby moving and stopping the base unit 11 at any position. Note that the above configuration of the cart unit 130 is an example, and is not limited thereto. For example, the number of driving wheels and driven wheels of the cart unit 130 may be arbitrary, and any configuration is applicable as long as the base unit 11 can be moved to any position.

[0022] The lifting unit 151 extends and retracts along a vertical axis, causing the mounting table 15 to lift and lower. The lifting unit 151 includes a rotation device 1511. The extendable arm 152 is attached to the mounting table 15. The extendable arm 152 includes an arm body and a driving device 1521. The driving device 1521 is attached inside the mounting table 15 (not shown), and moves the arm body in the horizontal direction. The driving device 1521 may further include a mechanism for rotating the arm body around an axis.

[0023] The sensor 18 is provided at any location of the delivery robot 10, including the cart unit 130, etc. The sensor 18 is, for example, a camera and can acquire captured images. The sensor 18 can be, for example, a LiDAR (Light Detection And Ranging). The sensor 18 can detect the presence of passages, obstacles, people, storage shelves, etc. The sensor 18 may include a movement detection sensor that detects the movement of the cart unit 130 and a height detection sensor that detects the height of the mounting platform 15.

[0024] The delivery robot 10 may use data from a sensor 218 installed on a device other than the delivery robot 10. The sensor 218 may be a security camera installed on an elevator, staircase, hallway, or the like in a facility. Alternatively, if two or more robots are used in a facility, the sensor 218 may be installed on another robot. The delivery robot 10 receives data from the sensor 218 via a wireless network.

[0025] The detection unit 19 detects whether or not there is a person in the vicinity based on sensor data from the sensor 18 or the sensor 218. For example, the detection unit 19 detects whether or not there is a person P in the vicinity by performing image processing on a camera image. The camera image may be from the sensor 18 installed on the delivery robot 10, or may be from a sensor 18 such as a surveillance camera. The detection unit 19 detects whether or not there is a person P in the vicinity based on point cloud data from a LiDAR or the like. Alternatively, the detection unit 19 may detect whether or not there is a person on a floor based on elevator operation information or the like.

[0026] The detection unit 19 may be mounted inside the delivery robot 10, or may be disposed outside the delivery robot 10. For example, if a server outside the delivery robot 10 is provided with the delivery robot 10, the server may transmit a detection signal to the delivery robot 10 indicating that a person has been detected.

[0027] The control unit 100 controls normal operations of the delivery system including the delivery robot, such as the cart unit 130, the lifting unit 151, and the telescopic arm 152. The control unit 100 can control the rotation of each drive wheel 13 by sending a control signal to each motor 1301 of the cart unit 130, and can move the base unit 11 to any position. The control unit 100 can change the height position of the mounting table 15 by sending a control signal to the rotation device 1511 of the lifting unit 151. The control unit 100 can also change the horizontal position of the arm body by sending a control signal to the drive device 1521 of the telescopic arm 152.

[0028] The control unit 100 may control the movement of the base unit 11 by performing well-known control such as feedback control and robust control based on rotation information of the drive wheels 13 detected by a rotation sensor provided on the drive wheels 13. The control unit 100 may control the operation of the cart unit 130, the lifting unit 151, and the extendable arm 152 based on information such as distance information detected by a distance sensor such as a camera or an ultrasonic sensor provided on the base unit 11, and map information of the movement environment. The control unit 100 determines the stopping position and stopping orientation of the delivery robot with respect to the storage shelf based on the position of an obstacle detected by the camera and the position of the storage shelf.

[0029] The control unit 100 includes a microcomputer including, for example, a control program executed by a CPU (Central Processing Unit) 101 that performs control processing, arithmetic processing, etc., a memory 102 consisting of a ROM (Read Only Memory) in which arithmetic programs, etc. are stored, and an interface unit (I / F) 103 that inputs and outputs signals to and from the outside. The CPU 101, the memory 102, and the interface unit 103 are connected to each other via a data bus, etc.

[0030] (Operation during transfer) When the detection unit 19 detects a person P during transfer, the control unit 100 performs control to protect privacy information. For example, when the delivery robot 10 transfers an item to the storage shelf 30, the delivery robot 10 transfers the item in a transfer form that protects privacy information from the person P in the vicinity of the storage shelf 30. A transfer form that protects privacy information means that privacy information such as the label 21 is not visible to the person P in the vicinity. This can reliably protect privacy information such as an address and a name. Alternatively, it can prevent product names, brand names, and the like from being known to others. Below, some examples of transfer forms will be described.

[0031] (Transfer Example 1) A first example of transfer mode in which privacy information is protected will be described with reference to Fig. 3. Fig. 3 is a top view that typically illustrates the operation of the delivery robot 10 transferring the item 20 to the storage shelf 30. The placement platform 15 rotates the item 20, thereby changing the orientation of the label 21. The placement platform 15 changes the orientation of the item 20 so that the label 21 is positioned on the opposite side to the person P. The extendable arm 152 transfers the item 20 with the label facing away from the person P.

[0032] For example, when the delivery robot 10 moves to the front of the storage shelf 30, the delivery robot 10 opens the door 31. Furthermore, the delivery robot 10 removes the item 20 from the storage section 12. This returns the delivery robot 10 to the state before transfer shown in Fig. 3. At this time, it is assumed that a person P is walking in front of the delivery robot 10. It is assumed that the label 21 of the item 20 is facing the direction of the person P.

[0033] When the detection unit 19 detects a person P in front, the delivery robot 10 rotates the placement table 15 according to the direction of the person P. By rotating the placement table 15, the side of the item 20 on which the label 21 is provided faces away from the person P. After the placement table 15 rotates, the label 21 is in the blind spot of the item 20, so the person P cannot see the label 21. Then, the delivery robot 10 transfers the item 20 to the storage shelf 30 in this state. Therefore, the delivery robot 10 can transfer the item 20 in a transfer manner that protects the privacy information of the person P in the vicinity of the storage shelf 30.

[0034] For example, the position where the label 21 is attached to the item 20 is known. Alternatively, the control unit 100 may detect the position where the label 21 is attached using a camera image or the like. When the detection unit 19 detects the person P, it identifies the direction of the person P with respect to the delivery robot 10. Then, the control unit 100 controls the rotation device 1511 so that the label 21 faces the opposite side to the person P. The rotation device 1511 rotates the placement table 15 to a desired angle, and the label 21 faces in an appropriate direction. Then, when the rotation of the placement table 15 is completed, the drive unit 1521 extends and retracts the telescopic arm 152. This allows the delivery robot 10 to transfer the item 20 to the storage shelf 30 in a transfer form that protects privacy information from the person P in the vicinity.

[0035] Furthermore, in the transfer form example 2, the delivery robot 10 may transfer the item 20 in a transfer form that protects privacy information, regardless of the direction of the person P. For example, a transfer form that protects privacy information can be realized depending on the direction in which the item 20 is stored in the storage unit 12. The item 20 is stored in the storage unit 12 with the label 21 facing the rear of the delivery robot 10. When the telescopic arm 152 takes out the item 20 from the storage unit 12, the label 21 faces the storage unit 12 (label orientation after rotation in FIG. 3). The storage unit 12 is higher than the placement surface of the placement table 15. The range in which the label 21 is visible can be reduced. The delivery robot 10 can transfer the item 20 in a transfer form that protects privacy information.

[0036] Of course, the article 20 may be placed in the storage section 12 so that the label 21 is on the bottom (lower surface). Alternatively, the placement table 15 may be rotated so that the label 21 faces the door 31. In other words, the delivery robot 10 may transfer the article 20 to the storage shelf 30 with the label 21 facing in a direction that is in the blind spot of the person P.

[0037] (Transfer Example 2) A second example of transfer mode in which privacy information is protected will be described with reference to FIG. 4. FIG. 4 is a top view that illustrates the operation of the delivery robot 10 transferring the item 20 to the storage shelf 30. In the second example of transfer mode, the delivery robot 10 moves to transfer the item in a transfer mode in which privacy information is protected. Specifically, the delivery robot 10 moves to a transfer position in the storage location with the label 21 oriented so as to be placed on the opposite side to the person P. The extendable arm 152 transfers the item 20 with the label 21 facing away from the person P.

[0038] In FIG. 4, before the transfer, the delivery robot 10 is moving from the left side to the right side. The detection unit 19 detects a person P near the storage shelf 30 just before the storage shelf 30. Then, the delivery robot 10 moves so as to change direction. Here, the delivery robot 10 passes the storage shelf 30 once, then changes direction and returns to the storage shelf 30. In other words, the delivery robot 10 makes a U-turn and moves to a transfer position to the storage shelf 30. Therefore, the delivery robot 10 approaches the storage shelf 30 from the left side and reaches the transfer position. The label 21 is oriented to be placed on the opposite side to the person P.

[0039] When the delivery robot 10 moves to the transfer position, it takes out the item 20 from the storage unit 12. At this time, the item 20 is taken out with the label 21 facing away from the person P. Since the label 21 is in the blind spot of the item 20, the person P cannot see the label 21. The delivery robot 10 can transfer the item 20 in a transfer form that protects privacy information.

[0040] (Transfer Example 3) A third example of transfer mode in which privacy information is protected will be described with reference to FIG. 5. FIG. 5 is a perspective view that shows a schematic configuration in which a delivery robot 10 transfers an item to a storage shelf 30. In FIG. 5, the delivery robot 10 controls the opening and closing of a door 31, which opens in both the left and right directions, so that the door 31 opens toward a person P. The door 31 can hide the item 20 from the person P. Therefore, as shown by the dashed arrow in FIG. 3, the door 31 puts the item 20 in the blind spot of the person P. The item 20 can be transferred without the person P being able to see the label 21.

[0041] In other words, the delivery robot 10 can transfer the item 20 in a transfer form that protects privacy information of the person P around the storage shelf 30. The delivery robot 10 may control the opening / closing direction and opening / closing angle of the door 31. This can reliably protect privacy information. By controlling the opening / closing direction of the door 31, the item 20 is transferred in a transfer form that protects privacy information.

[0042] According to at least one of the transfer form examples 1 to 3, the delivery robot 10 can transfer the label 21 while hiding it from the person P. Note that the transfer form examples 1 to 3 may be implemented individually, or two or more may be used in combination. For example, privacy information may be protected by both the opening / closing direction of the door 31 and the rotation of the article 20. Alternatively, privacy information may be protected by both the opening / closing direction of the door 31 and the orientation of the delivery robot 10. This ensures that privacy information is protected.

[0043] In the above description, an example has been described in which the delivery robot 10 delivers the item 20 to the storage shelf 30, but the delivery system 1 can also apply a similar transfer form to an example in which the delivery robot 10 receives the item 20 from the storage shelf 30. In this case, before receiving the item, the delivery robot 10 may capture an image of the item 20 with a camera and identify the position to which privacy information is attached from the image.

[0044] Furthermore, the detection unit 19 may identify the person P. The detection unit 19 may determine whether or not the identified person P is a person whose privacy information should be protected. If the person P is the recipient of the item 20, there is no need to protect the privacy information. If a nearby person P is the recipient, the delivery robot 10 transfers the item in a transfer form other than the transfer form that protects the privacy information (hereinafter referred to as a non-protection form). For example, whether or not the person P is the recipient is determined by facial recognition using a facial image. It is sufficient that facial images, etc. of people whose privacy information does not need to be protected are registered in advance in a memory, etc.

[0045] Of course, the person whose privacy does not need to be protected is not limited to the recipient himself / herself. Even if the person P is the recipient's family member or a cohabitant, the delivery system 1 may transfer the item 20 to the storage shelf 30 in a non-protected mode. In other words, the delivery system 1 may be in a transfer mode that protects privacy when a person unrelated to the item 20 is nearby, and in a non-protected mode when a person related to the item 20 is nearby.

[0046] In the above description, privacy information is attached to only one side of the article 20, but privacy information may be attached to two or more sides. For example, a label 21 may be attached to one side, and a brand name or the like may be printed on the adjacent side. In this case, the delivery system 1 may make the two sides invisible to the person P. Alternatively, the delivery system 1 may make only one side invisible to the person P. In this case, it is preferable for the delivery system 1 to make more important privacy information such as an address or name invisible to the person P.

[0047] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the present disclosure can be realized by having a processor such as a CPU (Central Processing Unit) execute a computer program for part or all of the control processing in the delivery system 1. For example, the control unit 100 can be implemented as a device capable of executing a program, such as a central processing unit of a computer. Various functions can also be realized by a program. [Explanation of symbols]

[0048] 10. Delivery Robot 20. Goods (luggage) 21 Label 30 Storage shelf (storage area)

Claims

1. A delivery system for delivering parcels with privacy information attached thereto, A mobile robot that delivers the package; a transfer mechanism that transfers the package delivered by the mobile robot to a storage location or transfers the package in the storage location to the mobile robot; A detection unit that detects whether or not there is a person in the vicinity of the storage location, A delivery system that transfers the luggage from people in the vicinity of the storage location in a manner that protects the privacy information.

2. a drive mechanism for redirecting the package so that the privacy information is positioned opposite the person; The delivery system according to claim 1 , wherein the transfer mechanism transfers the package with the privacy information facing away from the person.

3. The mobile robot moves to a transfer position in the storage location with the privacy information oriented to be disposed on the opposite side to the person; The delivery system according to claim 1 , wherein the transfer mechanism transfers the package with the privacy information facing away from the person.

4. The storage space includes left and right opening / closing doors, The delivery system according to claim 1 , wherein the transfer mechanism transfers the package in a state where one of the left and right doors, which opens toward the direction in which the person is present, is open.

5. A delivery system according to any one of claims 1 to 4, wherein if a person in the vicinity is related to the package, the package is transferred in a manner other than a manner that protects the privacy information.

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