Delivery system

Abstract

To provide a delivery system that can efficiently deliver packages.SOLUTION: A delivery system 1 according to the present disclosure includes: a mobile robot that delivers packages to a storage location; a container that is placed in a storage space of the storage location; a transfer mechanism that delivers the container containing the cargo to the storage space or receives the container containing the cargo from the storage space; and means for performing an operation to increase available space depending on the availability of the storage space.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology in which a vehicle such as an AGV places a package in an end user's locker (for example, a smart post) when delivering the package to the locker (last mile delivery). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-61816 Summary of the Invention [Problem to be solved by the invention]

[0004] If the lockers are full, the vehicle cannot put the luggage in the locker, and the vehicle will have to redeploy the luggage after the lockers become available. This may result in the luggage not being delivered efficiently.

[0005] The present invention has been made in consideration of the above background, and has an object to provide a delivery system that can deliver packages efficiently. [Means for solving the problem]

[0006] The delivery system of the present disclosure includes a delivery robot that delivers luggage to a storage location, a container that is placed in a storage space of the storage location, a transfer mechanism that transfers the container containing the luggage to the storage space or receives the container containing the luggage from the storage space, and a means for performing an operation to increase available space depending on the availability of the storage space. Effect of the Invention

[0007] According to the present disclosure, a delivery system capable of efficiently delivering packages 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] 1A and 1B are schematic diagrams for explaining operation examples 1 and 2. [Figure 4] FIG. 11 is a schematic diagram for explaining an operation example 3. [Diagram 5] 13 is a schematic diagram for explaining operation examples 4 and 5. 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. One or more delivery robots 10 travel along the corridors of the facility. The storage shelf 30 is installed, for example, in each room of an apartment building where a user 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 delivery robot 10 having 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 is equipped with various sensors, detects the storage shelves 30 and obstacles in the aisles, and is capable of moving autonomously. The delivery robot 10 may utilize known object recognition technology.

[0012] The delivery robot 10 delivers the item 20 with the item 20 placed in a container 35. The container 35 is a tray on which the item 20 is placed. That is, the delivery robot 10 moves the item 20 together with the container 35 to the storage shelf 30. The delivery robot 10 also removes the item 20 together with the container 35 from the storage shelf 30. Note that the container 35 with the item 20 placed therein is referred to as a contained container, and the container 35 without an item placed therein is also referred to as an empty container.

[0013] The storage shelf 30 may include multiple shelves capable of storing the items 20. The storage shelf 30 is installed, for example, on the aisle side of each room in a building or an apartment building. Alternatively, the storage shelf may be arranged around the entrance of the apartment building. The delivery robot 10 accesses the storage shelf 30 from the aisle side to take in and out the items 20. A resident (user) accesses the storage shelf 30 from inside a room to take in and out the items 20. The storage shelf 30 may have lockable doors on the aisle side and the room side. For example, the user U or the delivery robot 10 may lock / unlock the door. This can prevent theft of the items 20. The delivery robot 10 may control the opening and closing of the door.

[0014] The storage shelf 30 has one or more storage spaces 33. Guide rails 32 are provided on both side surfaces of the storage shelf 30. The guide rails 32 are provided along the depth direction of the storage shelf 30. The guide rails 32 support both ends of the container 35. Of course, the configuration for supporting the container 35 is not limited to the guide rails 32, and may be a shelf board, a hook, or a guide groove. The item 20 is a cardboard box or the like in which purchased goods are packed. The storage space 33 can accommodate the container 35 carrying the item 20. Here, since the storage shelf 30 is provided with three pairs of guide rails 32, the storage shelf 30 is divided into three storage spaces 33. In each storage space 33, the container 35 and the item 20 can be stored. The storage space 33 in which the container 35 is not stored is also called an empty space.

[0015] The delivery robot 10 transfers the container 35 with the item 20 placed therein to the storage space 33. For example, with the flanges at both ends of the container 35 placed on the guide rails 32, the delivery robot 10 slides the container 35 in the depth direction of the storage shelf 30. This allows the delivery robot 10 to transfer the item 20 to the storage space 33 of the storage shelf 30. The user takes out only the item 20 from the container 35. By using the container 35, items 20 of various sizes can be easily transferred. In addition, when collecting the item 20, the delivery robot 10 takes out the container 35 with the item 20 placed therein from the storage space 33. The delivery robot 10 can collect empty containers 35 without any item 20 placed therein.

[0016] 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 shelf 30. The sensor 18 may have a camera that photographs the inside of the storage shelf 30.

[0017] 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 or on the storage shelf 30. The delivery robot 10 receives data from the sensor 218 via a wireless network.

[0018] 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 one of the intended storage spaces 33 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).

[0019] The delivery system 1 may be equipped with a management server 500 (see FIG. 2) that controls the travel of the delivery robot 10. In this case, the management server 500 has a control unit 100 (see FIG. 2) 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. The management server 500 may determine the delivery destination and delivery order, and transmit data indicating the results to the delivery robot 10.

[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 the management server 500. 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 platform 15 to rise and fall. The lifting and lowering of the platform 15 allows the delivery of the article 20 to storage spaces 33 at different heights. The lifting unit 151 includes a rotation device 1511. The extendable arm 152 is attached to the platform 15. The extendable arm 152 includes an arm body and a drive device 1521. The drive device 1521 is attached inside the platform 15 (not shown), and moves the arm body in the horizontal direction. The drive device 1521 may further include a mechanism for rotating the arm body around an axis.

[0023] After the lifting unit 151 raises or lowers the mounting table 15 to the height of the empty space, the extendable arm 152 slides the container 35 along the guide rail 32. This allows the delivery robot 10 to transfer the item 20 and container 35 to the empty space. After the lifting unit 151 raises or lowers the mounting table 15 to the desired height of the storage space 33, the extendable arm 152 removes the container 35 from the storage space 33. This allows the delivery robot 10 to remove the container 35 and the item 20 from the storage space 33.

[0024] 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.

[0025] 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 in the storage shelves 30, elevators, stairs, corridors, etc. of 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The determination unit 19 can determine the vacancy status of the storage shelf 30 based on sensor data from the sensor 18 or the sensor 218, etc. For example, the determination unit 19 determines whether there is vacancy in the storage location based on a captured image of the inside of the storage shelf 30. If there are no containers 35 in one or more storage spaces 33, the determination unit 19 determines that there is vacancy. If there are containers 35 in all storage spaces 33, the determination unit 19 determines that there is no vacancy.

[0030] The sensor data for determining the availability is not limited to the captured image. Various sensors such as a weight sensor, a strain sensor, a contact sensor, an optical sensor, and an infrared sensor can be used as the sensor 18 or 218. Using the sensor data, the determination unit 19 can detect the presence or absence of the container 35 and the article 20 for each storage space 33. For example, the determination unit 19 may determine the availability based on sensor data of a weight sensor provided on the shelf board, the guide rail 32, or the like. Alternatively, the availability may be determined using sensor data of an optical sensor or an infrared sensor provided in the storage shelf 30.

[0031] Furthermore, the determination unit 19 may predict the availability based on the delivery schedule, the collection schedule, and the like. For example, for a storage shelf 30 where delivery is scheduled, the available space decreases after delivery until the user who is the recipient removes the item 20. Also, for a storage shelf 30 where collection is scheduled, the available space decreases after the user who is the delivery requester places the item 20 on the storage shelf 30 until the delivery robot 10 collects the item 20. Therefore, the determination unit 19 may predict the availability based on the delivery and collection schedule information. In this way, the determination unit 19 can predict future changes in the availability with high accuracy.

[0032] At least a part of the processing in the determination unit 19 may be performed by a processor of the management server 500 or the control unit 100. For example, it is assumed that the determination unit 19 is mounted on the delivery robot 10. The delivery robot 10 receives collection and delivery schedule information from the upper management server 500. The determination unit 19 can predict the availability of storage space based on the scheduled collection time, scheduled delivery time, etc.

[0033] The manipulator 400 is an example of a means for increasing the free space in the storage shelf 30. The manipulator 400 may have a robot arm mechanism that holds and transfers the item 20. The manipulator 400 may be installed in the storage shelf 30, or may be installed in the delivery robot 10. The manipulator 400 may be mounted on a mobile robot other than the delivery robot 10. The extendable arm 152 may function as at least a part of the manipulator 400 that increases the free space. The delivery robot 10 may have a manipulator 400 that increases the free space, separate from the extendable arm 152.

[0034] The manipulator 400 performs an operation to increase the free space according to the free space situation determined by the determination unit 19. For example, when there is no free space left in the storage shelf 30, the manipulator 400 increases the free space. Alternatively, when it is predicted that there will be no free space left in the storage shelf 30, the manipulator 400 increases the free space. The manipulator 400 can perform an operation to increase one or more storage spaces 33 into free space.

[0035] For example, when the delivery robot 10 transfers the item 20 to the storage shelf 30, the determination unit 19 determines whether or not there is an empty space based on the captured image. If there is no empty space, the manipulator 400 performs an operation to increase the empty space, and then the delivery robot 10 transfers the item 20 and the container 35. Alternatively, after the delivery robot 10 transfers the item 20 and the container 35 to the last empty space, the manipulator 400 performs an operation to increase the empty space in order to transfer the next item 20. When the last empty space in the storage space 33 is reserved for delivery of the item 20, the manipulator 400 may perform an operation to increase the empty space.

[0036] The action of increasing the free space is, for example, sorting the items 20 or retrieving the containers 35. Sorting the items 20 is the action of moving the items 20 from one container 35 in the storage shelf 30 to another container 35. In other words, the sorting action refers to the action of moving the items 20 within the storage shelf 30 so as to combine two or more items 20 into one container 35. Alternatively, the action of increasing the free space is the action of retrieving an empty container or a container with an item. In this way, the situation where there is no free space can be resolved, and the system can efficiently deliver the items 20. Below, some examples of the action of increasing the free space will be described.

[0037] Example 1 Fig. 3 is a schematic diagram for explaining an operation example of increasing free space, and is a side view showing a schematic internal configuration of storage shelf 30. In Fig. 3, guide rails 32a, 32b, and 32c are provided in storage shelf 30 from the top. Therefore, storage spaces 33a, 33b, and 33c are provided in storage shelf 30 from the top. In operation example 1, after delivery robot 10 transfers item 20, one or more empty containers are collected.

[0038] In the storage space 33a, there is a container 35a containing an item 20a. The delivery robot 10 transfers the container 35b and the item 20b to the storage space 33b. In the storage space 33c, there is a container 35c with no items placed therein. When the delivery robot 10 transfers the item 20b and the container 35b to the storage space 33b, the delivery robot 10 takes out the empty container 35c from the storage space 33c. Alternatively, the delivery robot 10 may transfer the container 35b and the item 20b to the storage space 33b after collecting the container 35c. In FIG. 3, the container 35c taken out from the storage space 33c is shown by a dashed line. This makes the storage space 33c an empty space in which the next item 20 can be stored. Therefore, the next delivery robot 10 can transfer the container 35 with the item 20 placed therein to the storage space 33c.

[0039] Example 2 Operation example 2 will be described with reference to FIG. 3. In operation example 2, a manipulator 400 is placed in a storage shelf 30. The storage shelf 30 has shelves 36a-36c. Containers 35a-35c are placed on the shelves 36a-36c, respectively. The containers 35a-35c are containers that contain articles 20a-20c, respectively. The manipulator 400 moves the article 20b in the storage space 33 to another storage space 33b. The manipulator 400 transfers the article 20b placed on the container 35b to the container 35c.

[0040] Since the container 35b contains a plurality of items 20a, 20b, the container 35c becomes an empty container. Therefore, as in the operation example 1, the delivery robot 10 can collect the empty container 35c in the storage shelf 30. In this case, the delivery robot 10 does not need to have a manipulator that transfers the item 20 in the storage shelf 30 to another container. When the manipulator 400 transfers the item 20b to the container 35c in the storage shelf 30, the manipulator 400 or the like transmits a command to the delivery robot 10 or a server to collect the item. For example, the manipulator 400 transmits a wireless signal including a command to the delivery robot 10 directly or via the management server 500. Then, the delivery robot 10 moving near the storage shelf 30 stops by the storage shelf 30 to collect the container 35. This allows for efficient delivery.

[0041] The manipulator 400 may be configured to stack another container 35a or 35c on top of the empty container 35b. In other words, a plurality of containers 35 can be stacked. In one storage space 33, the manipulator 400 can stack another container 35 on top of an empty container 35. In this case, it is not necessary to send a command to the delivery robot 10 to collect the container 35. In other words, the delivery robot 10 that arrives at the storage shelf 30 for the next collection or delivery can collect the empty container. This allows for more efficient delivery.

[0042] Example 3 An operation example 3 will be described with reference to FIG. 4. FIG. 4 is a schematic diagram for explaining an operation example of increasing free space, and is a side view showing a schematic internal configuration of the storage shelf 30. In the operation example 3, when the delivery robot 10 transfers the item 20 to the last free space, the delivery robot 10 is in a state where it cannot collect the empty container. For example, the number of containers that can be mounted in the storage unit 12 is determined due to space restrictions. And, since the storage unit 12 is fully loaded with containers, there is no free space, and it is not possible to receive a new container 35. Alternatively, it is assumed that the delivery robot 10 does not have a manipulator 400 for transferring the item 20 to another container 35. Alternatively, it is assumed that a user has placed the item 20 to be collected in the last free space.

[0043] In such a case, when the container 35 and the item 20 are transferred to the last empty space, the delivery robot 10 sends a command to the other delivery robot 10B to move to the storage shelf 30. The delivery robot 10B has a manipulator 400, and there is an empty space in the storage section 12 of the delivery robot 10B. Therefore, the delivery robot 10B, which is heading to the other storage shelf 30, moves to the storage shelf 30 indicated in the command. The manipulator 400 of the delivery robot 10B transfers the item 20 to another container.

[0044] For example, when the delivery robot 10 transfers the item 20, the sensor 18 of the delivery robot 10 captures an image of the inside of the storage shelf 30. Alternatively, when a user places the item 20 to be collected in the storage shelf 30, the sensor 218 installed in the storage shelf 30 captures an image of the inside of the storage shelf 30. Based on the captured image, the determination unit 19 determines that there is no free space. Then, the delivery robot 10, the sensor 218, the management server 500, etc. send a command to the delivery robot 10B having the manipulator 400 to move to the storage shelf 30.

[0045] The delivery robot 10B having the manipulator 400 moves to the storage shelf 30. The delivery robot 10B that has moved to the storage shelf 30 performs an operation to increase the available space. That is, the delivery robot 10B increases the available space by transferring the item 20 stored in the container 35 to another container 35 or by collecting the empty container 35. Here, as shown in the operation example 3-1, the manipulator 400 of the delivery robot 10B transfers the item 20b from the container 35b to the container 35c. By collecting the items 20b and 20c in the container 35c, the container 35b becomes an empty container, and the delivery robot 10B collects the container 35b.

[0046] In this way, the situation where there is no free space can be resolved, and delivery efficiency can be improved. Furthermore, it is not necessary to provide the manipulator 400 to all delivery robots 10. In other words, when the delivery system 1 operates multiple delivery robots 10, only some of the delivery robots 10 need to have the manipulator 400. Therefore, the number of delivery robots 10 with manipulators can be reduced, and the introduction cost can be reduced.

[0047] Example 4 In the fourth operation example, the delivery robot 10 transports the container 35 carrying the article 20 to a location away from the storage shelf 30 in order to increase the available space. For example, it is assumed that the delivery robot 10 does not have a manipulator 400 for transferring the article 20 to the container. It is also assumed that the manipulator 400 is not provided inside the storage shelf 30. When the containers 35 carrying the article 20 are stored in all the storage spaces 33, the delivery robot 10 cannot perform an operation to increase the available space.

[0048] FIG. 5 shows a top view for explaining the fourth operation example. The delivery robot 10 takes out two or more containers 35 together with the items 20. Then, the delivery robot 10 stores the two or more containers 35 and the items 20 in the storage unit 12, and moves to the work place W. The work place W is a storage place for temporarily storing the items 20. The work place W is provided with a manipulator 400. The manipulator 400 has a robot arm mechanism for combining the two items 20 into one container 35. Alternatively, the work place W may have a worker who transfers the items 20. The manipulator 400 or the worker combines the two or more items 20 into one container 35. Then, the delivery robot 10 stores the container 35 with the two or more items 20 placed therein in the storage unit 12, and moves to the storage shelf 30. The delivery robot 10 transfers one container 35 to the storage shelf 30.

[0049] Here, two items 20 are placed on the container 35. Therefore, the storage shelf 30 is in a state where three items 20 are stored, and one storage space 33 of the storage shelf 30 is an empty space. In this way, the situation where there is no empty space can be resolved, and delivery efficiency can be improved. Furthermore, it is no longer necessary to provide the manipulator 400 on all delivery robots 10. Therefore, the number of delivery robots 10 with manipulators can be reduced, and the introduction cost can be reduced. For example, when there are multiple storage shelves 30 on one floor, it is sufficient to provide one work area on one floor.

[0050] Example 5 Operation example 5 will be described with reference to FIG. 5. In operation example 5, the priority of the operation is set according to the user who uses the storage shelf 30. For example, assume that the user UA uses the storage shelf 30A, and the user UB uses the storage shelf 30B. The user UA is a resident who lives in a room where the storage shelf 30A is located, and the user UB is a resident who lives in a room where the storage shelf 30B is located. The user UA is absent for a long period of time, so the frequency of taking out the item 20 into the storage shelf 30 is low. On the other hand, the user UB is at home for a short period of time, so the frequency of taking out the item 20 into the storage shelf 30 is high. In this case, the priority for the storage shelf 30A is set higher than the priority for the storage shelf 30B. Therefore, the delivery robot 10 moves to the storage shelf 30B before the storage shelf 30A and performs an operation to increase the free space. In other words, the delivery robot 10 performs an operation to increase the free space for the storage shelf 30B, and then performs an operation to increase the free space for the storage shelf 30A.

[0051] The control unit 100 stores user data in advance in memory 102 or the like, which links the storage shelves 30 with users. The control unit 100 sets a priority according to the user and stores it in memory 102. This makes it possible to prevent the delivery robot 10 from delivering the item 20 when there is no free space in the storage shelves 30. This allows the delivery system 1 to perform delivery more efficiently.

[0052] In addition, the priority of the operation for the user can be set using various information about the user. For example, the priority of the operation can be set based on information indicating whether the user is at home or not. For a user who is at home, the user can immediately take out the item after delivery. Therefore, the priority of the operation is set low. For a user who is not at home, the user cannot immediately take out the item 20 after delivery. Therefore, when the next item is delivered, there is a risk that the item cannot be stored, so the priority is set high. In this way, the priority is set according to information indicating whether the user is at home or not, information indicating the time of absence, time of home, etc. Alternatively, the priority is set according to the personality and life pattern of the user.

[0053] 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]

[0054] 10. Delivery Robot 20. Goods (luggage) 30 Storage shelf (storage area) 33 Storage Space 35 Container 400 Manipulator

Claims

1. A mobile robot that delivers packages to a storage location; a container disposed in a storage space of the storage location; a transfer mechanism that transfers a container containing the cargo to the storage space or receives the container containing the cargo from the storage space; and a means for increasing available space depending on the availability of the storage space.

2. 2. The distribution system according to claim 1, wherein said means performs an operation to increase said free space when there is no free space in said storage space or when it is predicted that there will be no free space in said storage space.

3. The delivery system according to claim 1 or 2, wherein the means increases available space by transferring the cargo stored in the container to another container that already contains the cargo or by collecting the empty container.

4. 4. The delivery system according to claim 3, wherein the means is a manipulator provided at the storage location, and the manipulator moves cargo contained in the container to another container that already contains the cargo, thereby increasing available space.

5. A delivery system as described in claim 3, wherein when the transfer mechanism transfers a container containing the luggage to the last empty space in the storage location, a manipulator provided on the mobile robot moves the luggage placed in the container to another stored container or collects the empty container.

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