Management device, management method, management program, and collection / delivery system

Abstract

To realize a management device capable of improving cargo collection / delivery efficiency with a robot.SOLUTION: A management device 6 according to one embodiment of the present disclosure comprises: a first identification information acquisition part 61 for acquiring identification information with which height position information at a plurality of support parts capable of supporting a cargo 9 inside a collection / delivery shelf 3 is associated; a second identification information acquisition part 62 for acquiring identification information at a first support part for supporting a collected cargo 9a as the cargo 9 collected by a robot 5 at the plurality of support parts; a calculation part 71 for calculating a gap in a vertical direction of the collection / delivery shelf 3 between the first support part and the second support part arranged immediately above the first support part in the plurality of support parts; and a plan preparation part 72 for preparing a cargo collection plan of the collected cargo 9a in such a manner that the robot 5 can collect the collected cargo 9a, based on information indicating the gap.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a management device, a management method, a management program, and a collection and delivery system, and more particularly to a management device, a management method, a management program, and a collection and delivery system for a collection and delivery system in which, for example, a robot is used to collect parcels stored on a collection and delivery shelf to a collection and delivery base, and a robot is used to deliver parcels from the collection and delivery base to the collection and delivery shelf. [Background technology]

[0002] For example, Patent Document 1 discloses a post device that enables a deliverer to determine the length, width, and height of a package stored in a storage unit based on a scanned image of the package, and allows the deliverer to settle the delivery fee calculated based on the determined size of the package, and also enables the collector to retrieve the package if the collector is successfully authenticated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-83148 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present applicant has found the following problems: The technology of Patent Document 1 is not a technology for improving the efficiency of parcel collection by robots, since the parcel collectors and deliverers are humans.

[0005] The present disclosure has been 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 collecting parcels by robots. [Means for solving the problem]

[0006] A management device according to one aspect of the present disclosure is a management device for a collection and delivery system that collects parcels stored on a collection and delivery shelf to a collection and delivery base by a robot and delivers parcels from the collection and delivery base to the collection and delivery shelf by the robot, a first identification information acquisition unit that acquires identification information associated with information indicating height positions of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and that can support the packages; a second identification information acquisition unit that acquires identification information of a first support unit that supports a collected parcel, which is a parcel to be collected by the robot, among the plurality of support units; A calculation unit that calculates a vertical distance between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion of the collection and delivery shelf; a plan creation unit that creates a collection plan for the parcel based on the information indicating the interval so that the robot can collect the parcel; Equipped with.

[0007] The management device includes an empty height information acquisition unit that acquires information indicating an empty height of a storage unit for storing the luggage in the robot, It is preferable that the plan creation unit creates a collection plan for the parcel based on information indicating the interval and information indicating the free height of the storage section in the robot so that a robot capable of collecting the parcel collects the parcel.

[0008] The above-mentioned management device a first height information acquisition unit that acquires information indicating a height of the package based on detection information of a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; A control unit for controlling the robot; Equipped with In order to store a delivery item, which is a parcel to be delivered by the robot, above the parcels stored on the collection shelf when the parcel is stored on the collection shelf, it is preferable that the control unit controls the robot so that the robot raises the delivery item while detecting the parcel stored on the collection shelf with the detection sensor.

[0009] The above-mentioned management device a first height information acquisition unit that acquires information indicating a height of the package based on detection information of a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; A second height information acquisition unit that acquires information indicating a height of a delivery item that is a package delivered by the robot; a receipt completion information acquisition unit that acquires information indicating completion of receipt of the delivery item input by a requester who has requested delivery of the delivery item; a storage status information acquisition unit that acquires information indicating a storage status of the parcels in the collection and delivery shelf based on identification information of a support part arranged in the collection and delivery shelf, information indicating a height of the delivery item, and information indicating completion of receipt of the delivery item; a storage status information update unit that updates information indicating a storage status of the package in the delivery shelf based on the detection information of the detection sensor; It is preferable to have

[0010] In the above-mentioned management device, it is preferable that the plan creation unit creates a delivery plan for the delivery item based on information indicating the storage status of the parcels in the updated collection and delivery shelf so that the delivery item can be stored on the collection and delivery shelf together with a third support unit that supports the delivery item.

[0011] The above-mentioned management device a first height information acquisition unit that acquires information indicating a height of the package based on detection information of a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; a second height information acquisition unit that acquires information indicating the height of the baggage input by a requester who has requested the collection of the baggage; Equipped with It is preferable that the plan creation unit creates a collection plan for the parcel by changing a ratio that reflects information indicating the interval for the next time the parcel is to be collected, based on a difference between the height of the parcel based on the detection information of the detection sensor and the height of the parcel input by the requester.

[0012] In the above-mentioned management device, it is preferable that a control unit is provided for controlling the robot, and when a delivery item, which is a parcel to be delivered by the robot, is stored on the collection shelf, the control unit controls the robot so that, if there is another support part in a region below the height position at which a third support part for supporting the delivery item is placed on the collection shelf, the control unit controls the robot so that a detection sensor mounted on the robot for detecting the condition within the collection shelf detects the condition around the height position at which the third support part is placed on the collection shelf, and, if there is no other support part in a region below the height position at which the third support part is placed on the collection shelf, detection of the condition around the height position at which the third support part is placed on the collection shelf by the detection sensor is omitted.

[0013] A collection and delivery system according to one embodiment of the present disclosure includes: The above-mentioned management device; The robot; The collection and delivery shelf; Equipped with.

[0014] A management method according to one aspect of the present disclosure is a management method for a collection and delivery system in which a robot collects parcels stored on a collection and delivery shelf to a collection and delivery base, and delivers parcels from the collection and delivery base to the collection and delivery shelf by the robot, the management method comprising the steps of: acquiring identification information associated with height position information of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and are capable of supporting the packages; acquiring identification information of a first support unit that supports a parcel among the plurality of support units, the parcel being the parcel to be collected by the robot; A step of calculating a distance in a height direction between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion; creating a collection plan for the parcel based on the interval information so that the robot can collect the parcel; Equipped with.

[0015] A management program according to one aspect of the present disclosure is a management program for a collection and delivery system that collects parcels stored on a collection and delivery shelf to a collection and delivery base by a robot and delivers parcels from the collection and delivery base to the collection and delivery shelf by the robot, A process of acquiring identification information associated with height position information of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and are capable of supporting the packages; A process of acquiring identification information of a first support unit that supports a parcel that is to be collected by the robot among the plurality of support units; A process of calculating a distance in a height direction between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion; creating a collection plan for the parcel based on the interval information so that the robot can collect the parcel; to be executed by the computer. Effect of the Invention

[0016] The present disclosure makes it possible to realize a management device, a management method, a management program, and a collection and delivery system that can improve the efficiency of parcel collection by robots. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a block diagram showing the configuration of a control system of the collection and delivery system of the first embodiment. [Diagram 2] 1 is a diagram showing how a robot delivers a package to a delivery shelf and how a robot collects a package from a delivery shelf in the delivery system of the first embodiment. FIG. [Diagram 3] 11 is a diagram showing a state in which a tray for supporting luggage is supported by rails of a collection and delivery shelf. FIG. [Figure 4] FIG. 1 is a side view showing a robot according to a first embodiment. [Diagram 5] 2 is a flowchart showing the process of collecting and delivering parcels using the collection and delivery system of the first embodiment. FIG. [Figure 6]4 is a flow chart showing the flow of processing for storing deliveries on a collection and delivery shelf in the collection and delivery system of the first embodiment. FIG. [Figure 7] 13 is a diagram showing how a detection sensor of a robot detects parcels stored on a collection and delivery shelf in the collection and delivery system of embodiment 2. FIG. [Figure 8] FIG. 11 is a flowchart showing the flow of delivering parcels using the collection and delivery system of embodiment 3. [Figure 9] A block diagram showing the configuration of a control system of a collection and delivery system of embodiment 4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings are appropriately simplified.

[0019] <Embodiment 1> The collection and delivery system of this embodiment is suitable for collecting parcels stored on a collection and delivery shelf to a collection and delivery base by a robot, and for delivering parcels from the collection and delivery base to the collection and delivery shelf by a robot. Fig. 1 is a block diagram showing the configuration of a control system of the collection and delivery system of this embodiment. Fig. 2 is a diagram showing how a robot delivers parcels to a collection and delivery shelf and how a robot collects parcels from a collection and delivery shelf in the collection and delivery system of this embodiment. Fig. 3 is a diagram showing a state in which a tray supporting parcels is supported by rails of the collection and delivery shelf.

[0020] In Figure 2, trays and packages are shown with imaginary lines. Here, a "collection and delivery base" is a place where packages to be delivered and collected packages are stored. "Collection and delivery" refers to delivering and collecting packages.

[0021] As shown in Figures 1 to 3, a collection and delivery system 1 of this embodiment includes a tray (support unit) 2, a collection and delivery shelf 3, a mobile terminal 4, a robot 5, a management device 6, and a database (DB) 7. The collection and delivery shelf 3, the mobile terminal 4, the robot 5, the management device 6, and the DB 7 are connected via a network 8. Here, the network 8 is a wired or wireless communication line, for example, the Internet.

[0022] 2 and 3, the tray 2 has a basic shape of a flat plate capable of supporting luggage 9, and a flange 21 protrudes from the side of the tray 2. A tag 22 is provided on the side of the tray 2, in which identification information assigned to each tray 2 is stored.

[0023] The tag 22 may be, for example, a Near Field Communication (NFC) tag whose identification information can be read by a reader. The tray 2 is used repeatedly to collect and deliver the luggage 9, and is collected and delivered together with the luggage 9.

[0024] The collection and delivery shelf 3 is arranged, for example, at the residence of a sender who requests collection and delivery of the package 9, which is a representative example of a delivery point or collection point of the package 9. The collection and delivery shelf 3 includes a frame body 31 and a reading unit 32, as shown, for example, in Figures 2 and 3. The frame body 31 has, for example, a basic shape of a substantially rectangular frame when viewed from the front, and the front and rear of the frame body 31 are open.

[0025] 2 and 3, a plurality of pairs of rails 33 are arranged at intervals in the up-down direction of the frame body 31 on the inner surface of the frame body 31. The pair of rails 33 extend in the front-rear direction of the frame body 31, and support the tray 2 by placing the flange 21 of the tray 2 on the pair of rails 33.

[0026] That is, the height position at which the tray 2 is supported can be changed by appropriately selecting one pair of rails 33 from among the multiple pairs of rails 33. Each pair of rails 33 has identification information associated with information indicating the height position of the rails 33.

[0027] The reading unit 32 reads the identification information of the tray 2 from the tag 22 of the tray 2 in a state in which the tray 2 is supported by a pair of rails 33. For this reason, the reading unit 32 is fixed to the frame body 31 for each pair of rails 33, for example, as shown in Figs. 2 and 3 .

[0028] The reading unit 32 links the identification information of the read tray 2 with information indicating the height position of the rail 33 supporting the tray 2 (i.e., information indicating the height position of the tray 2 within the collection and delivery shelf 3) and transmits the information to the DB7.

[0029] The portable terminal 4 is a portable terminal owned by a sender who requests collection and delivery of the package 9, and, for example, the sender inputs information indicating a request for collection and delivery of the package 9 and information indicating completion of receipt of the package 9. The portable terminal 4 transmits the information indicating a request for collection and delivery of the package 9 and information indicating completion of receipt of the package 9 to the DB7.

[0030] Here, the information indicating a desire to collect and deliver the package 9 includes information indicating a desire to collect the package 9 and information indicating a desire to deliver the package 9. When a sender requests collection of the package 9, when the sender places the package 9 on the collection and delivery shelf 3, the identification information of the tray 2 supporting the package 9 is read via the mobile terminal 4, and the mobile terminal 4 may link the information indicating the desire to collect the package 9 and transmit it to the DB7.

[0031] The robot 5 is a mobile object for collecting and delivering the luggage 9 together with the tray 2 between the collection and delivery base and the collection and delivery shelf 3. In the collection and delivery system 1 of this embodiment, a plurality of robots 5 are in operation, and each robot 5 has identification information.

[0032] Fig. 4 is a side view showing the robot of this embodiment. As shown in Fig. 1 and Fig. 4, the robot 5 includes a moving unit 51, a storage unit 52, a transport 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.

[0033] The storage unit 52 is, for example, a box capable of storing the luggage 9 together with the tray 2, and is fixed to the moving unit 51 as shown in Fig. 4. The transport mechanism 53 is configured to be capable of raising and lowering the top plate 56 in the vertical direction of the robot 5, and to be capable of removing the luggage 9 together with the tray 2 from the storage unit 52 to the top plate 56 and storing it on the collection and delivery shelf 3, or removing the luggage 9 from the collection and delivery shelf 3 to the top plate 56 and storing it in the storage unit 52.

[0034] The detection sensor 54 is provided on the top plate 56 of the robot 5 to detect the state inside the collection and delivery shelf 3. The detection sensor 54 can be configured, for example, with a scan sensor such as Lidar, and measures the height of the luggage 9 while detecting the luggage 9 based on reflected light from the luggage 9 acquired by, for example, raising and lowering the top plate 56 in the vertical direction of the robot 5. The detection sensor 54 transmits information indicating the height of the luggage 9, including information indicating the height position at which the luggage 9 is placed, to the DB 7. The control unit 55 controls the moving unit 51 and the transport mechanism 53.

[0035] The management device 6 manages the collection and delivery of the luggage 9. As shown in Fig. 1, 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 collection and delivery request information acquisition unit 64, a receipt 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 empty height information acquisition unit 70, a calculation unit 71, a plan creation unit 72, and a control unit 73.

[0036] The first identification information acquisition unit 61 acquires the identification information of the tray 2 linked to information indicating the height position of the tray 2 within the collection and delivery shelf 3. This allows the management device 6 to always recognize which tray 2 is supported on which rail 33 within the collection and delivery shelf 3.

[0037] The second identification information acquisition unit 62 acquires identification information of the collection tray 2a, among the trays 2 in the collection and delivery shelf 3, linked to information indicating the height position of the collection tray 2a supporting the luggage 9 to be collected.

[0038] The third identification information acquisition unit 63 acquires identification information of the delivery tray 2b, which is linked to information indicating the height position of the delivery tray 2b supporting the parcel 9 to be delivered, among the trays 2 in the collection and delivery shelf 3. In the following description, for clarity, the parcel to be collected may be referred to as collected parcel 9a, the parcel to be delivered may be referred to as delivery item 9b, and both may be referred to collectively as parcel 9.

[0039] The collection / delivery request information acquisition unit 64 acquires information input by the sender indicating a collection / delivery request for the package 9. The receipt completion information acquisition unit 65 acquires information input by the sender when receiving the delivery 9b indicating completion of receipt of the delivery 9b. The first height information acquisition unit 66 acquires information indicating the height of the package 9, including information indicating the height position at which the package 9 is placed, detected by the detection sensor 54 mounted on the robot 5.

[0040] The second height information acquisition unit 67 acquires height information of the delivery 9b. Here, the information indicating the height of the delivery 9b can be input by, for example, a worker at a collection and delivery base using an input device. However, the method of acquiring the information indicating the height of the delivery 9b is not limited.

[0041] The storage status information acquisition unit 68 creates and acquires information indicating the storage status of the luggage 9 in the collection and delivery shelf 3 based on identification information of the trays 2, including the collection trays 2a and delivery trays 2b in the collection and delivery shelf 3, information indicating the height of the delivery item 9b, and information indicating completion of receipt of the delivery item 9b.

[0042] At this time, the storage status information acquisition unit 68 may generate information indicating the storage status of the luggage 9 in the collection and delivery shelf 3 by estimating that the luggage 9a is present between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a based on the identification information of the collection tray 2a supporting the luggage 9a linked to the information indicating the collection and delivery request of the luggage 9. The storage status information acquisition unit 68 transmits the information indicating the storage status of the luggage 9 in the collection and delivery shelf 3 to the DB7.

[0043] The storage status information update unit 69 updates information indicating the storage status of the luggage 9 in the collection and delivery shelf 3 based on information indicating the height of the luggage 9, including the height position at which the luggage 9 is placed, detected by the detection sensor 54 mounted on the robot 5.

[0044] That is, when a sender forgets to input information indicating a request for collection of the package 9a despite storing the package 9a on the delivery shelf 3, or when a sender forgets to input information indicating completion of receipt despite receiving a delivery 9b, the information indicating the storage status of the package 9 on the delivery shelf 3 is updated. The storage status information update unit 69 transmits the updated information indicating the storage status of the package 9 on the delivery shelf 3 to the DB7.

[0045] The empty height information acquisition unit 70 acquires information indicating the empty height of the storage unit 52 for each robot 5. The calculation unit 71 calculates the interval between the trays 2 arranged adjacent to each other in the vertical direction on the collection and delivery shelf 3, based on information indicating the height position of the tray 2 on the collection and delivery shelf 3 linked to the identification information of the tray 2.

[0046] At this time, the calculation unit 71 calculates the distance between the collection tray 2a supporting the luggage 9a and the tray 2 arranged directly above the collection tray 2a in the vertical direction of the collection and delivery shelf 3. The calculation unit 71 transmits information indicating the distance between the trays 2 to the DB 7.

[0047] The plan creation unit 72 creates a collection and delivery plan for the luggage 9. At this time, the plan creation unit 72 selects a robot 5 capable of collecting the luggage 9a together with the collection tray 2a based on the identification information of the tray 2 including the collection tray 2a in the collection and delivery shelf 3 at the collection destination, information indicating the interval between the trays 2 in the collection and delivery shelf 3 at the collection destination, identification information of the robot 5, and information indicating the free height of the storage section 52 for each robot 5, and creates a collection plan so that the selected robot 5 collects the luggage 9a, or reserves the selected robot 5.

[0048] In addition, the plan creation unit 72 selects a rail 33 capable of storing the delivery item 9b together with the delivery tray 2b in the collection shelf 3 based on information indicating the storage status of the package 9 in the collection shelf 3 at the delivery destination, identification information of the rail 33 of the collection shelf 3 at the delivery destination, identification information of the tray 2 in the collection shelf 3 at the delivery destination, and information indicating the height of the delivery item 9b, and creates a delivery plan so that the delivery tray 2b together with the delivery item 9b is supported on the selected rail 33, or reserves the selected rail 33.

[0049] At this time, the plan creation unit 72 creates the outbound and return routes that the robot 5 will take between the collection and delivery base and the collection and delivery shelf 3 based on map information, information indicating the location of the collection and delivery base, and information indicating the address included in the requester's personal information, and transmits the information indicating the movement route of the robot 5 to DB7 together with information indicating the collection and delivery plan for the luggage 9.

[0050] Furthermore, the plan creation unit 72 transmits identification information of the selected robot 5 and identification information of the selected rail 33 to the DB 7. Here, the plan creation unit 72 may update information indicating the free height of the storage unit 52 for each robot 5 every time a collection and delivery plan for the luggage 9 is created. The control unit 73 controls the robot 5 to collect and deliver the luggage 9 based on the information indicating the collection and delivery plan for the luggage 9.

[0051] DB7 stores identification information of the trays 2, including the collection trays 2a and delivery trays 2b in the collection shelf 3, identification information of the rails 33 of the collection shelf 3, identification information of the rails 33 of the selected collection shelf 3, information indicating the spacing between the trays 2 in the collection shelf 3, information indicating the height of the delivery item 9b, and information indicating the collection and delivery request for the package 9.

[0052] DB7 also stores information indicating completion of receipt of delivery item 9b, identification information of the robot 5, identification information of the selected robot 5, information indicating the height of the parcel 9 stored on the collection shelf 3 detected by the detection sensor 54 of the robot 5, information indicating the available height of the robot 5, information indicating the storage status of the parcel 9 on the collection shelf 3, information indicating the collection and delivery plan for the parcel 9, map information, and the sender's personal information.

[0053] Next, a flow of collecting and delivering a parcel 9 using the collection and delivery system 1 of this embodiment will be described. Fig. 5 is a flow chart showing a flow of collecting and delivering a parcel using the collection and delivery system of this embodiment.

[0054] Here, it is assumed that a sender inputs information indicating a collection / 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 on the collection / delivery shelf 3. First, the plan creation unit 72 of the management device 6 creates a collection / delivery plan for the package 9 and also creates a movement route for the robot 5, and transmits the information indicating the movement route of the robot 5 to the DB 7 together with the information indicating the collection / delivery plan for the package 9 (S1).

[0055] In detail, when delivering a delivery item 9b, the plan creation unit 72 of the management device 6 selects the rail 33 of the collection and delivery shelf 3 that can accommodate the delivery item 9b together with the delivery tray 2b on the collection and delivery shelf 3 based on the identification information of the rail 33 of the collection and delivery shelf 3 at the delivery destination obtained from the DB 7, information indicating the storage status of the package 9 on the collection and delivery shelf 3 at the delivery destination, identification information of the tray 2 on the collection and delivery shelf 3 at the delivery destination, and information indicating the height of the delivery item 9b, and creates a delivery plan so that the delivery tray 2b together with the delivery item 9b is supported on the selected rail 33.

[0056] In other words, the planning unit 72 of the management device 6 selects the rails 33 that support the delivery tray 2b together with the delivery item 9b so that the delivery item 9b is stored in an area within the space between the trays 2 in the collection and distribution shelf 3 at the delivery destination where no luggage 9 is stored.

[0057] On the other hand, when collecting a parcel 9a, the plan creation unit 72 of the management device 6 selects a robot 5 capable of collecting the parcel 9a together with the collection tray 2a based on the identification information of the tray 2 in the collection shelf 3 at the collection destination obtained from the DB7, information indicating the spacing between the trays 2 in the collection shelf 3 at the collection destination, identification information of the robot 5, and information indicating the available height of the robot 5, and creates a collection plan so that the selected robot 5 collects the parcel 9a.

[0058] That is, the plan creation unit 72 of the management device 6 selects, from among the multiple robots 5, a robot 5 having a high free height in the storage unit 52 relative to the interval between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a. At this time, the free height of the storage unit 52 may be, for example, at least the height of the collection tray 2a added to the interval.

[0059] At this time, the plan creation unit 72 of the management device 6 creates a route for the robot 5 to travel on the outbound and return journeys between the collection and delivery base and the collection and delivery shelf 3 based on map information, information indicating the location of the collection and delivery base, and information indicating the address included in the requester's personal information, and transmits the information indicating the travel route of the robot 5 to the DB7 together with information indicating the collection and delivery plan for the luggage 9.

[0060] Next, when delivering the delivery item 9b, the plan creation unit 72 of the management device 6 transmits the identification information of the selected rail 33 to the DB 7 and reserves the rail 33 (S2). Then, when collecting the collected goods 9a, the plan creation unit 72 transmits the identification information of the selected robot 5 to the DB 7 and reserves the robot 5 (S3).

[0061] Next, the control unit 73 of the management device 6 controls the movement unit 51 via the control unit 55 of the robot 5 based on the information indicating the movement route of the robot 5 included in the information indicating the collection and delivery plan for the package 9, and causes the robot 5 to arrive at the collection and delivery shelf 3 (S4). At this time, when delivering a delivery item 9b, the robot 5 delivers the delivery item 9b in a state in which the delivery item 9b is stored in the storage unit 52 of the robot 5 together with the delivery tray 2b.

[0062] Next, the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5 to raise the top plate 56 and cause the detection sensor 54 to detect the luggage 9 on the collection and delivery shelf 3 (S5). That is, the detection sensor 54 scans the luggage 9 from the lower side to the upper side of the collection and delivery shelf 3. The robot 5 transmits information indicating the height of the detected luggage 9, including information indicating the height position at which the luggage 9 is placed, to the DB 7.

[0063] Next, the storage status information update unit 69 of the management device 6 updates the information indicating the storage status of the luggage 9 in the collection and delivery shelf 3 based on information indicating the height of the luggage 9, including information indicating the height position at which the luggage 9 is placed detected by the detection sensor 54 of the robot 5, obtained from the DB7 (S6).

[0064] As a result, even if, for example, the sender forgets to input information indicating a collection request despite storing the parcel 9a on the collection and delivery shelf 3, or the sender forgets to input information indicating receipt completion despite receiving the delivery 9b, it is possible to accurately grasp information indicating the storage status of the parcel 9 on the collection and delivery shelf 3. The storage status information update unit 69 transmits the updated information indicating the storage status of the parcel 9 on the collection and delivery shelf 3 to the DB7.

[0065] Next, the control unit 73 of the management device 6 determines whether or not there is a delivery item 9b (S7). That is, the control unit 73 determines whether or not the sender's request includes the delivery of the delivery item 9b. If the sender's request includes the delivery of the delivery item 9b (YES in S7), the control unit 73 executes the process of storing the delivery item 9b on the collection and delivery shelf 3 (S8).

[0066] 6 is a flow chart showing the flow of the process of storing the delivery item on the delivery shelf in the delivery system of this embodiment. First, the plan creation unit 72 of the management device 6 judges whether or not it is possible to support the delivery tray 2b together with the delivery item 9b on the selected rail 33 based on the information indicating the storage state of the package 9 on the delivery shelf 3 of the delivery destination acquired from the DB 7, the identification information of the rail 33 of the delivery shelf 3 of the delivery destination, the identification information of the tray 2 on the delivery shelf 3 of the delivery destination, and the identification information of the selected rail 33 (S81).

[0067] If it is possible for the selected rail 33 to support the delivery tray 2b together with the delivery item 9b (YES in S81), the control unit 73 of the management device 6 controls the conveying mechanism 53 via the control unit 55 of the robot 5 based on information indicating the height position of the selected rail 33 linked to the identification information of the rail 33, and causes the conveying mechanism 53 to remove the delivery tray 2b together with the delivery item 9b from the storage unit 52 of the robot 5 to the top plate 56.

[0068] Then, the control unit 73 of the management device 6 controls the conveying mechanism 53 via the control unit 55 of the robot 5 to raise the top plate 56 and store the delivery item 9b together with the delivery tray 2b on the collection shelf 3 so that the delivery tray 2b is supported on the selected rail 33 of the collection shelf 3 from the top plate 56 (S82).

[0069] On the other hand, if it is impossible to support the delivery tray 2b together with the delivery item 9b on the selected rail 33 (NO in S81), the plan creation unit 72 of the management device 6 judges again whether or not it is possible to select the rail 33 of the delivery shelf 3 that can accommodate the delivery item 9b together with the delivery tray 2b on the delivery shelf 3, based on the information indicating the storage state of the package 9 in the delivery shelf 3 of the delivery destination acquired from the DB 7, the identification information of the rail 33 of the delivery shelf 3 of the delivery destination, the identification information of the tray 2 in the delivery shelf 3 of the delivery destination, and the information indicating the height of the delivery item 9b (S83). In other words, the plan creation unit 72 judges again whether or not it is possible to create a delivery plan for the delivery item 9b.

[0070] If the rail 33 of the collection and delivery shelf 3 can be reselected (YES in S83), the plan creation unit 72 of the management device 6 transmits identification information of the selected rail 33 to the DB 7. Then, the control unit 73 proceeds to the step of S82. On the other hand, if the rail 33 of the collection and delivery shelf 3 cannot be reselected (NO in S83), the control unit 73 gives up on the delivery of the delivery item 9b and controls the robot 5 to have the robot 5 bring the delivery item 9b back to the collection and delivery base (S84).

[0071] Returning to the explanation of Fig. 5, if there is no delivery item 9b (NO in S7) or after the delivery of the delivery item 9b is completed, the control unit 73 of the management device 6 judges whether there is a package 9a to be collected (S9). That is, the control unit 73 judges whether the request contents of the sender include the collection of the package 9a. If the request contents of the sender include the collection of the package 9a (YES in S9), the collection process of the package 9a is executed from the collection shelf 3 (S10).

[0072] In other words, the control unit 73 of the management device 6 controls the conveying mechanism 53 via the control unit 55 of the selected robot 5 based on information indicating the height position of the collection tray 2a linked to the identification information of the collection tray 2a obtained from the DB7, and causes the conveying mechanism 53 to remove the collection tray 2a together with the parcel 9a from the collection and delivery shelf 3 to the top plate 56, and further lowers the top plate 56 to store the collection tray 2a together with the parcel 9a from the top plate 56 into the storage unit 52.

[0073] At this time, within the collection and delivery shelf 3, the collection parcel 9a is always contained between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a, so if a large free height is ensured in the storage section 52 of the robot 5 relative to the distance between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a, the collection parcel 9a can be reliably stored in the storage section 52 together with the collection tray 2a.

[0074] Thereafter, the control unit 73 of the management device 6 controls the movement unit 51 via the control unit 55 of the robot 5 based on the information indicating the movement route of the robot 5 included in the information indicating the collection and delivery plan of the package 9, and causes the robot 5 to return to the collection and delivery base. This completes the collection and delivery process of the package 9.

[0075] In this way, the collection and delivery system 1, management device 6, and management method of this embodiment select, when collecting parcel 9a, a robot 5 having a high free height in the storage section 52 relative to the distance between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a.

[0076] At this time, in the collection and delivery shelf 3, the collected goods 9a are always accommodated between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a, so if a large free height is ensured in the storage section 52 of the robot 5 relative to the distance between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a, the collected goods 9a can be reliably accommodated in the storage section 52 together with the collection tray 2a. Therefore, for example, it is possible to prevent the robot 5 from returning to the collection and delivery base without being able to collect the collected goods 9a at the collection destination, and the collection and delivery efficiency of the robot 5 can be improved.

[0077] Moreover, the collection and delivery system 1, management device 6, and management method of the present embodiment update information indicating the storage status of the package 9 on the collection and delivery shelf 3 based on the detection result of the detection sensor 54 of the robot 5. Therefore, for example, even if the sender has stored the package 9a on the collection and delivery shelf 3 but has forgotten to input information indicating a collection request, it is possible to prevent the robot 5 from attempting to store the delivery item 9b in the area on the collection and delivery shelf 3 where the package 9a is stored.

[0078] In the above embodiment, the storage status information acquisition unit 68 of the management device 6 acquires information indicating the storage status of the luggage 9 on the collection and delivery shelf 3, and the storage status information update unit 69 updates the information indicating the storage status of the luggage 9 on the collection and delivery shelf 3 based on the detection information of the detection sensor 54 of the robot 5, but the storage status information acquisition unit 68 and the storage status information update unit 69 of the management device 6, and the detection sensor 54 of the robot 5 may be omitted.

[0079] In addition, the order of steps S2 and S3 in the above embodiment may be reversed, and the order of steps S7 and S8 and steps S9 and S10 may be reversed. Furthermore, in the above embodiment, the flow of collecting and delivering parcels 9 is described, but the process of collecting parcels 9a and the process of delivering delivery items 9b may be separate.

[0080] <Embodiment 2> Fig. 7 is a diagram showing how a robot's detection sensor detects packages stored on a collection and delivery shelf in the collection and delivery system of this embodiment. Note that Fig. 7 is a simplified diagram, omitting the reading unit 32 and rails 33. In this embodiment, the detection sensor 54 of the robot 5 is designed to be more efficient in detecting packages 9 on the collection and delivery shelf 3.

[0081] In detail, for example, when a package 9 is stored on a collection shelf 3 and a delivery item 9b is stored on the collection shelf 3 above the package 9 stored on the collection shelf 3, the control unit 73 of the management device 6 controls the conveying mechanism 53 via the control unit 55 of the robot 5 so that the robot 5 raises the delivery item 9b while detecting the package 9 stored on the collection shelf 3 with the detection sensor 54, as shown in FIG. 7.

[0082] This allows the delivery item 9b to be lifted and the packages 9 stored on the delivery shelf 3 to be detected at the same time, improving the efficiency of the detection sensor 54 of the robot 5 detecting the packages 9 on the delivery shelf 3. At this time, it is preferable to create a delivery plan for the delivery item 9b so that the delivery item 9b is positioned above the packages 9 stored on the delivery shelf 3.

[0083] <Embodiment 3> 8 is a flow chart showing the flow of delivering packages using the collection and delivery system of this embodiment. In this embodiment as well, the detection sensor 54 of the robot 5 detects the packages 9 in the collection and delivery shelf 3 with increased efficiency.

[0084] In detail, in this embodiment, the flow from the management device 6 creating a delivery plan for the delivery item 9b (S21), reserving the rails 33 that support the delivery tray 2b together with the delivery item 9b in the collection and delivery shelf 3 (S22) to moving the robot 5 to the collection and delivery shelf 3 (S23) is the same as in embodiment 1.

[0085] Next, the control unit 73 of the management device 6 determines whether or not a tray 2 is present in the area below the reserved rail 33 on the collection shelf 3 based on the identification information of the tray 2 in the collection shelf 3 at the delivery destination, the identification information of the rail 33 on the collection shelf 3 at the delivery destination, and the identification information of the reserved rail 33 (S24).

[0086] If there is no tray 2 in the area below the reserved rail 33 (NO in S24), the control unit 73 of the management device 6 omits detection of the luggage 9 in the collection shelf 3 by the detection sensor 54 of the robot 5, and controls the conveying mechanism 53 via the control unit 55 of the robot 5 based on information indicating the height position of the selected rail 33 linked to the identification information of the rail 33, and causes the conveying mechanism 53 to store the delivery item 9b on the collection shelf 3 so that the delivery tray 2b together with the delivery item 9b is supported by the reserved rail 33 (S25).

[0087] In other words, when there is no tray 2 in the area below the reserved rail 33, it is clear that there is no package 9 in the area below the reserved rail 33, and it is self-evident that the delivery item 9b can be stored on the collection and delivery shelf 3. Therefore, the detection of the package 9 in the collection and delivery shelf 3 by the detection sensor 54 of the robot 5 can be omitted, and the efficiency of the detection sensor 54 of the robot 5 when detecting the package 9 in the collection and delivery shelf 3 can be improved.

[0088] On the other hand, if a tray 2 is present in the area below the reserved rail 33 (YES in S24), the control unit 73 of the management device 6 controls the conveying mechanism 53 via the control unit 55 of the robot 5, and causes the detection sensor 54 to detect the condition around the height position of the reserved rail 33 within the collection and delivery shelf 3 (S26).

[0089] Then, the control unit 73 of the management device 6 determines whether or not there are no trays 2 or packages 9 around the height position of the reserved rail 33 on the collection and delivery shelf 3, that is, whether or not the height position of the reserved rail 33 is vacant (S27). If the height position of the reserved rail 33 is vacant (YES in S27), the control unit 73 proceeds to the step of S25.

[0090] On the other hand, if the reserved height position of the rail 33 is not available (NO in S27), the plan creation unit 72 of the management device 6 judges again whether or not it is possible to select the rail 33 of the delivery shelf 3 that can accommodate the delivery item 9b together with the delivery tray 2b on the delivery shelf 3, based on the information indicating the storage state of the package 9 on the delivery shelf 3 of the delivery destination acquired from the DB 7, the identification information of the rail 33 of the delivery shelf 3 of the delivery destination, the identification information of the tray 2 on the delivery shelf 3 of the delivery destination, and the information indicating the height of the delivery item 9b (S28). In other words, the plan creation unit 72 judges again whether or not it is possible to create a delivery plan for the delivery item 9b.

[0091] If the rail 33 of the collection and delivery shelf 3 can be reselected (YES in S28), the plan creation unit 72 of the management device 6 transmits identification information of the selected rail 33 to the DB 7. Then, the control unit 73 proceeds to the step of S25. On the other hand, if the rail 33 of the collection and delivery shelf 3 cannot be reselected (NO in S28), the control unit 73 gives up on the delivery of the delivery item 9b and controls the robot 5 to have the robot 5 bring the delivery item 9b back to the collection and delivery base (S29).

[0092] As described above, if there is no tray 2 in the area below the reserved rail 33, it is clear that there is no luggage 9 in the area below the reserved rail 33, and it is self-evident that the delivery item 9b can be stored in the collection and delivery shelf 3.

[0093] Therefore, it is possible to omit detection of the luggage 9 on the collection and delivery shelf 3 by the detection sensor 54 of the robot 5, and improve efficiency when the detection sensor 54 of the robot 5 detects the luggage 9 on the collection and delivery shelf 3. Incidentally, in this embodiment, the storage status information update unit 69 of the first embodiment may be omitted.

[0094] <Fourth embodiment> In embodiment 1 and the like, when collecting parcel 9a, a robot 5 having a high free height in the storage section 52 relative to the distance between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a is selected.

[0095] At this time, if the collected goods 9a is low relative to the distance between the collection tray 2a and the tray 2 arranged directly above the collection tray 2a, unnecessary empty height occurs in the storage section 52 of the robot 5. Therefore, in this embodiment, the unnecessary empty height of the storage section 52 of the robot 5 is reduced.

[0096] Fig. 9 is a block diagram showing the configuration of a control system of the collection and delivery system of this embodiment. As shown in Fig. 9, collection and delivery system 101 of this embodiment includes a third height information acquisition unit 102 that acquires information indicating the height of package 9a inputted via mobile terminal 4 by a requester who requests collection of package 9a. Since collection and delivery system 101 of this embodiment has substantially the same configuration as collection and delivery system 1 of embodiment 1, elements that are the same as those of embodiment 1 will be described using the same reference numerals.

[0097] Here, the information indicating the height of the collected parcel 9a input by the requester via the mobile terminal 4 may be inaccurate, and if the robot 5 is selected based solely on the information indicating the height of the collected parcel 9a input by the requester via the mobile terminal 4, the robot 5 may not be able to collect the collected parcel 9a.

[0098] Therefore, the plan creation unit 104 of the management device 103 in this embodiment creates a collection plan for the parcel 9a by changing the ratio (i.e., reliability) of reflecting the information indicating the height of the parcel 9a input by the requester to the information indicating the distance between the collection tray 2a when collecting the parcel 9a next time and the tray 2 placed directly above the collection tray 2a, based on the difference between the height of the parcel 9a based on the detection information of the detection sensor 54 of the robot 5 and the height of the parcel 9a input by the requester.

[0099] The ratio to be reflected can be calculated based on, for example, the ratio of the difference between the height of the collected parcel 9a based on the detection information of the detection sensor 54 of the robot 5 to the height of the collected parcel 9a based on the detection information of the detection sensor 54 of the robot 5 and the height of the collected parcel 9a input by the requester, and the number of times the requester has requested collection of the parcel 9a, etc.

[0100] In this way, by changing the ratio that reflects the information indicating the height of the luggage 9a input by the requester when creating a collection plan for the luggage 9a, it is possible to reduce the unnecessary empty height of the storage section 52 of the robot 5 while suppressing the inability of the robot 5 to collect the luggage 9a.

[0101] <Other embodiments> In the above embodiment, the luggage 9 is supported using the tray 2, but the luggage 9 may be supported by storing the luggage 9 inside a storage box or the like. Also, in the above embodiment, the tray 2 is supported by a plurality of pairs of rails 33 so that the height position is changeable within the collection and delivery shelf 3, but any configuration may be used as long as the support portion that supports the luggage 9 can be supported so that the height position is changeable within the collection and delivery shelf 3.

[0102] A part or all of the above processes may be executed by a computer program. That is, the control of the above processing device is executed by a control computer that configures the processing device executing the program. The above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0103] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present disclosure. [Explanation of symbols]

[0104] 1. Collection and delivery system 2 trays, 2a collection trays, 2b delivery trays 21 brim, 22 tag 3. Collection and delivery shelves 31 frame, 32 reading unit, 33 rail 4. Mobile devices 5. Robot 51 moving section, 52 storage section, 53 transport mechanism, 54 detection sensor, 55 control section, 56 top plate 6 Management device 61 first identification information acquisition unit, 62 second identification information acquisition unit, 63 third identification information acquisition unit, 64 collection / delivery request information acquisition unit, 65 receipt completion information acquisition unit, 66 first height information acquisition unit, 67 second height information acquisition unit, 68 storage status information acquisition unit, 69 storage status information update unit, 70 vacant height information acquisition unit, 71 calculation unit, 72 plan creation unit, 73 control unit 8 Network 9 Baggage, 9a Collection of baggage, 9b Delivery 101 Collection and Delivery System 102 Third height information acquisition unit 103 Management device 104 Planning Department

Claims

1. A management device for a collection and delivery system that collects parcels stored on a collection and delivery shelf to a collection and delivery base by a robot and delivers parcels from the collection and delivery base to the collection and delivery shelf by the robot, a first identification information acquisition unit that acquires identification information associated with information indicating height positions of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and that can support the packages; a second identification information acquisition unit that acquires identification information of a first support unit that supports a collected baggage that is a baggage to be collected by the robot among the plurality of support units; A calculation unit that calculates a distance between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion in the vertical direction of the collection and delivery shelf; a plan creation unit that creates a collection plan for the parcel based on the information indicating the interval so that the robot can collect the parcel; A management device comprising:

2. a clearance information acquisition unit that acquires information indicating a clearance height of a storage unit for storing the luggage in the robot; The management device according to claim 1, wherein the plan creation unit creates a collection plan for the parcel based on information indicating the interval and information indicating the free height of the storage section in the robot so that a robot capable of collecting the parcel collects the parcel.

3. a first height information acquisition unit that acquires information indicating a height of the package based on detection information from a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; A control unit for controlling the robot; Equipped with 3. The management device according to claim 1 or 2, wherein the control unit controls the robot so that, when the parcel is stored on the collection shelf, a delivery item, which is a parcel to be delivered by the robot, is stored on the collection shelf above the parcels stored on the collection shelf, while the robot raises the delivery item and detects the parcel stored on the collection shelf with the detection sensor.

4. a first height information acquisition unit that acquires information indicating a height of the package based on detection information from a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; a second height information acquisition unit that acquires information indicating a height of a delivery item that is a package delivered by the robot; a receipt completion information acquisition unit that acquires information indicating completion of receipt of the delivery item input by a requester who has requested delivery of the delivery item; a storage status information acquisition unit that acquires information indicating a storage status of the parcels in the collection and delivery shelf based on identification information of a support part arranged in the collection and delivery shelf, information indicating a height of the delivery item, and information indicating completion of receipt of the delivery item; a storage status information update unit that updates information indicating a storage status of the package in the delivery shelf based on the detection information of the detection sensor; The management device according to claim 1 or 2, further comprising:

5. The management device according to claim 4, wherein the plan creation unit creates a delivery plan for the delivery item based on information indicating the storage status of packages in the updated delivery shelf so that the delivery item can be stored on the delivery shelf together with a third support unit that supports the delivery item.

6. a first height information acquisition unit that acquires information indicating a height of the package based on detection information from a detection sensor mounted on the robot in order to detect a state within the collection and delivery shelf; a second height information acquisition unit that acquires information indicating the height of the baggage input by a requester who has requested the collection of the baggage; Equipped with The management device according to claim 1 or 2, wherein the plan creation unit creates a collection plan for the parcel by changing a ratio that reflects information indicating the interval for the next collection of the parcel based on a difference between the height of the parcel based on the detection information of the detection sensor and the height of the parcel input by the requester.

7. A control unit for controlling the robot is provided.

3. The management device according to claim 1 or 2, wherein when a delivery item, which is a parcel delivered by the robot, is stored on the collection shelf, if there is another support part in a region below a height position at which a third support part for supporting the delivery item is placed on the collection shelf, the control unit controls the robot to detect the condition within the collection shelf using a detection sensor mounted on the robot to detect the condition within the collection shelf, and if there is no other support part in a region below the height position at which the third support part is placed on the collection shelf, the control unit omits detection of the condition around the height position at which the third support part is placed on the collection shelf by the detection sensor.

8. A management device according to claim 1 or 2; The robot; The collection and delivery shelf; A collection and delivery system.

9. A method for managing a collection and delivery system in which a robot collects parcels stored on a collection and delivery shelf to a collection and delivery base, and delivers parcels from the collection and delivery base to the collection and delivery shelf, comprising the steps of: acquiring identification information associated with height position information of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and that can support the packages; acquiring identification information of a first support unit that supports a collection of luggage that is to be collected by the robot among the plurality of support units; A step of calculating a distance in a height direction between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion; creating a collection plan for the parcel based on the interval information so that the robot can collect the parcel; A management method comprising:

10. A management program for a collection and delivery system that collects parcels stored on a collection and delivery shelf to a collection and delivery base by a robot and delivers parcels from the collection and delivery base to the collection and delivery shelf by the robot, A process of acquiring identification information associated with height position information of a plurality of support units that are arranged in the collection and delivery shelf in a height-changeable manner and are capable of supporting the packages; A process of acquiring identification information of a first support unit that supports a collected parcel, which is a parcel to be collected by the robot, among the plurality of support units; A process of calculating a distance in a height direction between the first support portion and a second support portion of the plurality of support portions that is disposed directly above the first support portion; creating a collection plan for the parcel based on the interval information so that the robot can collect the parcel; A management program that causes a computer to execute the following:

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