Delivery system

Abstract

To provide a technique of smoothly achieving delivery by a robot.SOLUTION: A delivery system includes: a detection unit that detects that a package is stored in a delivery robot that moves in an apartment house; a notification unit that notifies a recipient of the package of arrival of the package to the apartment house when the storage of the package is detected; and a movement control unit that moves the delivery robot to a standby place in the inside of the apartment house when it is determined that the recipient is in a state of not being able to receive the package after notification of the arrival.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a delivery system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, it is known to deliver parcels to dwelling units in an apartment building using an autonomously traveling robot (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-150827 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 describes that if the recipient is absent, the recipient is notified that the delivery could not be made due to the recipient's absence (paragraph 0042). However, Patent Document 1 does not disclose how to redeliver the package if the robot brings it to the recipient's front door but is unable to deliver it due to the recipient's absence. The present invention has been made in consideration of the above problems, and aims to provide technology that enables delivery by robots to be carried out smoothly. [Means for solving the problem]

[0005] In order to achieve the above objective, the delivery system includes a detection unit that detects that a package has been stored on a delivery robot moving within the apartment complex, a notification unit that notifies the recipient of the package that a package has arrived at the apartment complex when the storage of the package is detected, and a movement control unit that moves the delivery robot to a waiting location within the apartment complex after notifying the recipient of the package and determining that the recipient is not in a state to receive the package.

[0006] In other words, if the delivery system determines that the recipient is not available to receive the package, it moves the delivery robot to a waiting location with the package still stored. This reduces the possibility that the delivery robot will obstruct the passage of residents in the apartment building, compared to when the delivery robot waits in front of the recipient's residence, for example. As a result, the delivery by the delivery robot can be carried out smoothly. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing the overall system configuration including the delivery system. [Diagram 2] 13 is a flowchart of a delivery process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Here, the embodiments of the present invention will be described in the following order. (1) System configuration: (1-1) Configuration of the delivery terminal: (1-2) Delivery robot configuration: (1-3) Configuration of apartment control system (1-4) Recipient device configuration: (1-5)Delivery system configuration: (2) Delivery process: (3) Other embodiments:

[0009] (1) System configuration: 1 is a block diagram showing the overall configuration including a delivery system 10 according to the present invention. The delivery system 10 is a system for delivering packages to dwelling units in an apartment building in cooperation with a delivery robot 100, a deliverer terminal 200, an apartment control system 300, and a recipient terminal 400.

[0010] (1-1) Configuration of the delivery terminal: The deliverer terminal 200 is a terminal used by a deliverer for delivery work, and moves together with a delivery vehicle driven by the deliverer. The deliverer terminal 200 may be portable or vehicle-mounted. The deliverer terminal 200 includes a communication unit 240, a UI unit 241, a positioning unit 242, a control unit 220, and a recording medium (not shown). The communication unit 240 includes an interface for communicating with other devices. In this embodiment, the deliverer terminal 200 wirelessly communicates with the delivery system 10 via the communication unit 240. The UI unit 241 includes a touch panel display and a speaker. The positioning unit 242 includes a GNSS receiving unit. The GNSS receiving unit is a device that receives GNSS signals, receives radio waves from a navigation satellite, and outputs a signal for calculating the position of the deliverer terminal 200. The control unit 220 acquires this signal and acquires the position of the deliverer terminal 200.

[0011] The recording medium records a delivery plan. The delivery plan is a plan for deliveries that a deliverer is responsible for, and is information indicating delivery destination information indicating the delivery destinations of the parcels, the order in which the delivery destinations will be visited, and parcel information indicating the parcels to be delivered at each delivery destination. The delivery destination information includes information indicating the location of the delivery destination and whether the delivery destination is an apartment building in an apartment complex that has a delivery robot. The parcel information includes identification information for identifying the parcel, and the name, address, etc. of the recipient.

[0012] The control unit 220 periodically calculates the current location based on the output of the positioning unit 242. The control unit 220 periodically transmits the calculated current location to the delivery system 10. In this embodiment, the delivery system 10 judges the progress of the delivery plan based on the current location of the delivery vehicle. When the delivery destination is an apartment in an apartment building that has a delivery robot 100, the delivery person stores the package in the delivery robot 100 that has moved to the outside of the outermost security door of the apartment building, and the delivery robot 100 delivers the package to the apartment building of the delivery destination in the apartment building. Therefore, as described below, the delivery system 10 judges whether the delivery vehicle has approached the apartment building that has the delivery robot (whether the distance to the apartment building is within a predetermined distance) based on the delivery plan and the history of the delivery vehicle's location.

[0013] The control unit 220 also determines whether the delivery vehicle has reached within a preset distance of the next delivery destination based on the delivery plan and the current location, and if so, displays delivery information indicating the next delivery destination and identification information of the parcel to be delivered at the next delivery destination on the UI unit 241. If the next delivery destination is an apartment in an apartment building that has a delivery robot 100, the control unit 220 displays this on the UI unit 241. The deliverer delivers the parcel indicated by the displayed identification information of the parcel to the next delivery destination. If the next delivery destination is an apartment in an apartment building that has a delivery robot 100, the deliverer stores the parcel in the delivery robot 100.

[0014] (1-2) Delivery robot configuration: The delivery robot 100 waits at a predetermined waiting place in the apartment complex when not in operation, moves to the outside of the outermost security door of the apartment complex in response to a movement instruction from the delivery system 10 to receive a package, and when the package is stored and movement to the recipient's residence is instructed, moves to the front of the recipient's residence. For this purpose, the delivery robot 100 includes a control unit 120, a communication unit 140, a UI unit 141, a positioning unit 142, a camera 143, a package storage unit 144, a traveling unit 145, and a recording medium (not shown). The delivery robot 100 can wirelessly communicate with the delivery system 10 and the apartment complex control system 300 via the communication unit 140.

[0015] The recording medium has recorded thereon floor maps for each floor of the apartment building. The floor map for a floor on which a security door exists includes the location of each security door. The floor map for a floor on which a waiting area for a delivery robot exists includes the location of the waiting area for the delivery robot. The floor map for each floor includes the location of the elevator boarding and disembarking area, the shape of the corridor on each floor, the location of the entrance to each residence and room number, etc. The waiting area is a location through which multiple residents of the apartment building pass, and may be, for example, an entrance hall, lobby, mail corner, near the concierge counter, elevator hall, etc.

[0016] The UI unit 141 includes a touch panel display and a speaker. The touch panel display displays various information to the deliverer or the recipient of the package, and inputs instructions from the deliverer or the recipient. The speaker emits various sounds under the control of the control unit 120. The UI unit 141 may include a microphone. The control unit 120 may analyze a signal indicating a sound collected by the microphone, and may be configured to input instructions by human voice.

[0017] In this embodiment, the positioning unit 142 includes a GNSS receiver. The GNSS receiver receives radio waves from a navigation satellite and outputs a signal for calculating the position of the delivery robot 100. The control unit 120 acquires this signal and acquires the position of the delivery robot 100 corresponding to the latitude and longitude. The control unit 120 also identifies the floor on which the delivery robot 100 is located from the position of the elevator car when the delivery robot 100 most recently got off the elevator. The control unit 120 identifies the position of the delivery robot 100 within the floor based on the floor map of the floor on which the delivery robot 100 is located and the position based on the output of the GNSS receiver. Therefore, for example, the control unit 120 can determine whether the delivery robot 100 has arrived in front of the residence of the delivery destination. Note that, as long as it is possible to identify the position of the delivery robot 100 within the apartment building, a configuration other than the above may be adopted. For example, the vehicle may be equipped with an acceleration sensor and a gyro sensor, and configured to autonomously calculate its current position, and when it detects through camera images or communications that it has passed a reference point set up in various places in the apartment building, correct its current position to the position of the reference point.

[0018] The camera 143 captures images of the surroundings of the delivery robot 100. The control unit 120 analyzes the captured images, detects obstacles in the travel direction, and controls the running unit 145 to travel while avoiding the obstacles. The running unit 145 includes wheels, a drive unit that drives the wheels, and a drive unit that changes the steering angle of the wheels.

[0019] The luggage storage unit 144 includes a luggage compartment for storing luggage addressed to residents of the apartment building in order to deliver the luggage to the residence of the resident, a luggage sensor for detecting that luggage has been stored in the luggage compartment, a luggage compartment door locking mechanism, and a reading unit for reading identification information of the luggage stored in the luggage compartment. The luggage sensor may be configured to detect the presence or absence of luggage using, for example, a pressure sensor provided at the bottom of the luggage compartment. Of course, a configuration may also be used to detect the presence or absence of luggage using an optical sensor.

[0020] The control unit 120 causes the locking mechanism to unlock the luggage compartment door in response to a delivery person's operation to unlock the luggage compartment door on the UI unit 141, and causes the luggage compartment door to be locked when the luggage sensor detects that a luggage has been stored in the luggage compartment and the luggage compartment door is closed. In addition, when a password for receiving luggage is input to the UI unit 141 and the delivery system 10 notifies the control unit 120 of successful authentication, the control unit 120 causes the locking mechanism to unlock the luggage compartment door. In this embodiment, the reading unit includes a camera that captures a two-dimensional code that is affixed to the luggage and indicates the identification information of the luggage. When one delivery robot 100 has multiple luggage compartments, a luggage sensor, a lock, and a reading unit are provided for each luggage compartment.

[0021] When the control unit 120 is notified by the delivery system 10 that a delivery vehicle is approaching, the control unit 120 starts moving toward the outside of the outermost security door of the apartment building. When the deliverer stores a package in the luggage compartment of the package storage unit 144 and has the reader read the two-dimensional code of the package, the control unit 120 of the delivery robot 100 transmits the identification information of the stored package to the delivery system 10 and notifies the delivery system 10 that the package indicated by the identification information has been stored. When the delivery system 10 instructs the delivery robot 100 to move to the room number of the recipient's residence of the package indicated by the identification information and to deliver the package, the control unit 120 of the delivery robot 100 refers to the floor map and travels along a route from the current location to the front of the recipient's residence. The control unit 120 controls the travel unit 145 to travel while avoiding an obstacle if one is present ahead in the travel direction based on the image captured by the camera 143.

[0022] When the delivery robot 100 passes through a security door when moving to the recipient's residence, the control unit 120 transmits a request to pass through the security door to the apartment control system 300. When the delivery robot 100 uses an elevator when moving to the recipient's residence, the control unit 120 transmits a request to use the elevator to the apartment control system 300. In response to these requests, the apartment control system 300 allows the delivery robot 100 to unlock and open the security door, call and open the elevator, receive the destination floor for the elevator, notify the delivery robot 100 of arrival at the destination floor, and the like, so that the delivery robot 100 can move to the front of the recipient's residence.

[0023] When the current location of the delivery robot 100 is in front of the recipient's residence, the control unit 120 of the delivery robot 100 determines that the delivery robot 100 has arrived at the recipient's residence and requests the delivery system 10 to call the intercom of the recipient's residence. The delivery system 10 requests the apartment control system 300 to call the intercom of the residence, and the apartment control system 300 causes the intercom control unit 370 to generate a ringtone in the indoor unit of the intercom of the recipient's residence. As a result, the delivery robot 100 can notify the recipient of its arrival at the residence.

[0024] The control unit 120 of the delivery robot 100 causes the UI unit 141 to display a message prompting the recipient to enter a password. When the recipient enters the password, the control unit 120 transmits the entered password to the delivery system 10 and receives an authentication result from the delivery system 10. If the authentication result is successful, the control unit 120 causes the locking mechanism to unlock the luggage compartment door. If the control unit 120 determines based on the output signal of the luggage sensor that the luggage has been removed, it determines that the recipient has completed receipt, and transmits a notification of receipt to the delivery system 10.

[0025] (1-3) Configuration of apartment control system: The apartment control system 300 is a system that monitors and controls the status of various facilities provided in an apartment building. Facilities that are the subject of control by the apartment control system 300 include security doors, elevators, and intercoms. The apartment control system 300 includes a communication unit 340, a control unit 320, a security door control unit 350, an elevator control unit 360, an intercom control unit 370, and a recording medium (not shown). The apartment control system 300 can communicate with the delivery robot 100 and the delivery system 10 via the communication unit 340.

[0026] The recording medium stores authentication information for determining whether or not a person or robot is authorized to pass through a security door or use an elevator.

[0027] The security door control unit 350 has a mechanism for opening (or unlocking) the security door when the person or robot is permitted to pass through the door (when authentication is successful). After opening (or unlocking) the door due to successful authentication, the security door control unit 350 closes (or locks) the door, for example, after a certain period of time has elapsed.

[0028] The elevator control unit 360 operates the elevator if the person or robot is authorized to use the elevator (if authentication is successful). If authentication of the delivery robot 100 is successful, the elevator control unit 360 accepts instructions to the delivery robot 100 via wireless communication, such as calling the elevator, opening and closing the doors, and specifying the destination floor, and performs operations according to these instructions. In addition, the elevator control unit 360 moves the car carrying the delivery robot 100 to the specified destination floor, and notifies the delivery robot 100 of its arrival upon arrival at the destination floor.

[0029] The intercom control unit 370 is a system for controlling the intercoms installed in each dwelling unit of the apartment building. In this embodiment, the control unit 320 controls the indoor unit of the intercom to generate a ringtone.

[0030] When the control unit 320 receives a passage request from the delivery robot 100 approaching the security door, the control unit 320 performs authentication by comparing the authentication information of the delivery robot 100 included in the passage request with the authentication information recorded in the recording medium. If the authentication is successful, the control unit 320 causes the security door control unit 350 to unlock (or open) the security door. Also, when the control unit 320 receives a usage request from the delivery robot 100 approaching the elevator boarding and disembarking position, the control unit 320 performs authentication by comparing the authentication information included in the usage request with the authentication information recorded in the recording medium. If the authentication is successful, the control unit 320 causes the elevator control unit 360 to perform an operation according to an instruction such as calling the elevator, opening the door, or specifying the destination floor. Also, when the control unit 320 is instructed by the delivery system 10 to call the intercom of the dwelling unit with the specified room number, the control unit 320 causes the intercom control unit 370 to generate a ringing sound from the indoor unit of the intercom of the dwelling unit.

[0031] (1-4) Recipient device configuration: The recipient terminal 400 is a terminal such as a smartphone used by a resident of an apartment complex who is a recipient of a package, and includes a display unit, an operation unit, a communication unit, and a control unit for controlling each of these units. An application for using the delivery service provided by the delivery system 10 is installed in the recipient terminal 400. When the recipient terminal 400 receives a package arrival notice from the delivery system 10 using the function of the application, the recipient terminal 400 notifies the recipient by displaying that the package has arrived at the apartment complex. The package arrival notice includes a password for removing the package from the delivery robot 100. When the recipient recognizes the package arrival notice and performs an operation indicating a delivery request in response to the package arrival notice, the recipient terminal 400 transmits the delivery request to the delivery system 10.

[0032] (1-5)Delivery system configuration: The delivery system 10 comprises a control unit 20 equipped with a CPU, RAM, ROM, etc., a recording medium 30, and a communication unit 40, and the control unit 20 can execute programs stored in the recording medium 30 or ROM. In this embodiment, a delivery program 21 can be executed as this program. The communication unit 40 comprises circuits for communicating with the deliverer terminal 200, the delivery robot 100, the apartment control system 300, and the recipient terminal 400, respectively.

[0033] The recording medium 30 records a delivery plan 30a, delivery destination information 30b, parcel information 30c, and user information 30d of the delivery service by the delivery system 10. The delivery plan 30a is a plan of delivery for each deliverer, and is information indicating delivery destination information indicating the delivery destination of the parcel, the order of visiting each delivery destination, and parcel information indicating the parcel to be delivered at each delivery destination. The delivery destination information 30b includes the location of the delivery destination, the address, and information indicating whether the delivery destination is a residence in an apartment complex that has a delivery robot. The parcel information 30c includes identification information for identifying the parcel, identification information and address and name of the recipient, identification information and address and name of the sender, a password for receiving the parcel (if the recipient lives in an apartment complex that has a delivery robot 100), and the like. The user information 30d is information indicating a user of the delivery service by the delivery system 10, and includes identification information of the user (who can be both the recipient and the sender), identification information of the terminal used by the user (including the recipient terminal 400), address and name, and the like.

[0034] The control unit 20 executes the delivery program 21 to determine whether the delivery vehicle has approached the apartment house in which the delivery robot 100 is located (whether the distance from the apartment house is within a predetermined distance) based on the current location of the delivery vehicle and the delivery plan 30a of the delivery vehicle. When the control unit 20 determines that the delivery vehicle has approached the apartment house, it sends an instruction to the delivery robot 100 to move to the outside of the entrance of the apartment house. In addition, the control unit 20 executes the delivery program 21 to function as a detection unit 21a, a notification unit 21b, an authentication unit 21c, and a movement control unit 21d. By the function of the detection unit 21a, the control unit 20 detects that a package has been stored in the delivery robot 100 moving in the apartment house. That is, when the control unit 20 receives identification information of the package stored in the package storage unit 144 of the delivery robot 100 from the delivery robot 100, the control unit 20 detects that the package has been stored in the delivery robot 100.

[0035] By using the function of the notification unit 21b, when the control unit 20 detects that a package has been stored, it notifies the recipient of the package that the package has arrived at the apartment building. That is, the control unit 20 transmits a package arrival notification to the recipient terminal 400 based on the identification information of the recipient terminal 400 of the package recipient that is associated with the identification information of the package received from the delivery robot 100. At this time, the control unit 20 also transmits to the recipient terminal 400 a password required for the recipient terminal 400 to take out the package from the luggage compartment of the delivery robot 100.

[0036] Using the function of the movement control unit 21d, if the control unit 20 determines that the recipient is not in a state to receive the package after notifying the recipient of the arrival of the package, the control unit 20 moves the delivery robot to a waiting location in the apartment building. The control unit 20 determines that the recipient is not in a state to receive the package in the following cases. If the control unit 20 does not receive a delivery request from the recipient to the recipient's residence within a certain period of time after notifying the recipient of the arrival of the package, the control unit 20 determines that the recipient is not in a state to receive the package. In such cases, by moving the delivery robot 100 to a waiting location, unnecessary movement of the delivery robot 100 can be prevented.

[0037] Using the function of the movement control unit 21d, the control unit 20 moves the delivery robot 100 to the recipient's residence when a delivery request to the recipient's residence is received from the recipient. If a delivery request is received from the recipient after sending a package arrival notification, the control unit 20 assumes that the recipient is highly likely to be able to receive the package, and moves the delivery robot 100 to the recipient's residence. Therefore, compared to a configuration in which the delivery robot 100 is moved to the recipient's residence when a delivery request has not been received, the possibility of the delivery robot 100 moving in vain can be reduced.

[0038] By the function of the authentication unit 21c, the control unit 20 controls the delivery robot so that the package can be taken out when the password is input to the delivery robot. That is, when the delivery robot 100 arrives in front of the recipient's residence and the recipient inputs the password to the UI unit 141 of the delivery robot 100, the delivery robot 100 transmits the input password to the delivery system 10. When the transmitted password matches the password recorded in the recording medium 30 in association with the package, the control unit 20 of the delivery system 10 replies to the delivery robot 100 that the authentication has been successful, and causes the delivery robot 100 to unlock the luggage compartment door. As a result, the recipient can take out the package from the luggage compartment of the delivery robot 100.

[0039] In addition, the control unit 20 determines that the recipient is not available to receive the package if the recipient does not receive the package within a certain period of time after arriving in front of the recipient's residence, by using the function of the movement control unit 21d. In such a case, by moving the delivery robot 100 from in front of the recipient's residence to a waiting location, the possibility that the delivery robot 100 will disturb other residents can be reduced compared to waiting in front of the recipient's residence.

[0040] As described above, the recipient can retrieve the package from the delivery robot 100 by inputting the password notified to the recipient into the delivery robot 100, so the recipient can retrieve the package addressed to him / her from the delivery robot 100 not only in front of his / her residence but also at the waiting area. By providing the waiting area at a place where multiple residents of the apartment building are expected to frequently pass through, the recipient can receive the package from the delivery robot even at a place other than his / her residence that he / she frequently passes through. The recipient can also retrieve the package from the delivery robot at other places in the apartment building (for example, when passing by the delivery robot in a hallway) by inputting the password.

[0041] As described above, when the delivery system 10 determines that the recipient is not available to receive the package, it moves the delivery robot to a waiting location with the package still stored. Therefore, compared to a case where the delivery robot waits in front of the recipient's residence, the possibility that the delivery robot will obstruct the passage of residents of the apartment building can be reduced. As a result, the delivery by the delivery robot can be carried out smoothly.

[0042] (2) Delivery process: Next, the delivery process executed by the control unit 20 will be described with reference to FIG. 2. The delivery process is started when a delivery vehicle, whose delivery destination is an apartment in an apartment complex that has the delivery robot 100, approaches the apartment complex (the distance is within a preset distance). When the delivery process is started, the control unit 20 moves the delivery robot 100 to the outside of the entrance (step S100) by the function of the movement control unit 21d. That is, the control unit 20 transmits a movement instruction to the delivery robot 100 to the outside of the entrance of the apartment complex (outside the outermost security door). In response to the movement instruction, the delivery robot 100 moves to the outside of the entrance.

[0043] Next, the control unit 20 determines whether or not the storage of a package in the delivery robot 100 is detected by the function of the detection unit 21a (step S105). The delivery robot 100 detects that a package has been stored in the package compartment based on the output signal of the package sensor in the package compartment. The delivery robot 100 transmits the identification information of the package obtained by having the reading unit read the two-dimensional code of the package to the delivery system 10 as the package whose storage has been detected. Upon receiving this information, the control unit 20 of the delivery system 10 considers that the package with the identification information has been stored in the delivery robot 100. The control unit 20 waits in step S105 until the package is stored in the delivery robot 100.

[0044] If it is determined in step S105 that the storage of the package in the delivery robot 100 has been detected, the control unit 20 uses the function of the notification unit 21b to send a package arrival notification to the recipient terminal 400 (step S110). The sent package arrival notification includes a password corresponding to the package. The control unit 20 sends the package arrival notification to the recipient terminal 400 based on the identification information of the recipient terminal 400 of the package recipient, which is associated with the identification information of the package.

[0045] Next, the control unit 20 judges whether or not a delivery request has been received within a certain time period by the function of the movement control unit 21d (step S115). That is, the control unit 20 judges whether or not a delivery request to the recipient's residence has been received from the recipient terminal 400 within a certain time period after the arrival notification. The certain time period may be assumed to be, for example, about 5 minutes. If it is determined in step S115 that a delivery request has not been received within the certain time period, the control unit 20 moves the delivery robot 100 to a waiting location (step S120). That is, the control unit 20 judges that the recipient is not in a state to receive the package, and transmits an instruction to the delivery robot 100 to move to the waiting location. If the judgment in step S115 is N and step S120 is executed, the delivery robot 100 moves to the waiting location from outside the entrance through the security door. If the judgment in step S140 is N and step S120 is executed, the delivery robot 100 returns to the waiting location from in front of the recipient's residence.

[0046] Next, the control unit 20 judges whether or not a delivery request has been made by using the function of the movement control unit 21d (step S125). That is, the control unit 20 judges whether or not a delivery request has been received from the recipient terminal 400, and waits until it is received. If it is judged in step S125 that a delivery request has been made, or if it is judged in step S115 that a delivery request has been made within a certain time period, the control unit 20 moves the delivery robot 100 to the front of the recipient's residence by using the function of the movement control unit 21d (step S130). That is, the control unit 20 transmits to the delivery robot 100 the location (floor number and location within the floor) indicated by the recipient's room number of the parcel, which is associated with the identification information of the parcel, and instructs the delivery robot 100 to move. When the delivery robot 100 receives the movement instruction, it moves to the recipient's residence by passing through security doors and elevators that exist on the movement route to the recipient's residence.

[0047] Next, the control unit 20 determines whether the delivery robot 100 has arrived in front of the recipient's residence and waits until it has arrived (step S135). When the delivery robot 100 arrives in front of the recipient's residence, it notifies the delivery system 10 of its arrival. The control unit 20 of the delivery system 10 determines that the delivery robot 100 has arrived in front of the recipient's residence by receiving this notification. Then, the control unit 20 notifies the apartment control system 300 to ring the intercom indoor unit of the recipient's residence. In response to this notification, the apartment control system 300 causes the intercom control unit 370 to ring the intercom indoor unit of the recipient's residence. The control unit 20 also measures the elapsed time since receiving the notification from the delivery robot 100 that it has arrived in front of the recipient's residence.

[0048] When a recipient receives a package from the delivery robot 100, the recipient inputs a password to the delivery robot 100. The delivery robot 100 transmits the package identification information and the input password to the delivery system 10. When the control unit 20 of the delivery system 10 receives the package identification information and password from the delivery robot 100, the control unit 20 performs authentication by comparing the package identification information and password recorded in the recording medium 30. The control unit 20 then transmits the authentication result to the delivery robot 100, and if the authentication is successful, the delivery robot 100 unlocks the luggage compartment door. The delivery robot 100 determines whether the recipient has received the package based on the output of the luggage sensor in the luggage compartment, and if it determines that the recipient has received the package, notifies the delivery system 10 that receipt has been completed.

[0049] The control unit 20 of the delivery system 10 judges whether the receipt is completed within a certain time (step S140). That is, if the time from receiving the arrival notification in step S135 to receiving the receipt completion notification is within the certain time, the control unit 20 judges that the receipt is completed within the certain time. If the receipt completion notification is not received within the certain time from receiving the arrival notification in step S135, the control unit 20 does not judge that the receipt is completed within the certain time. If it is not judged that the receipt is completed within the certain time in step S140, the control unit 20 returns to the processing of step S120. That is, if the recipient does not receive the package within the certain time after arriving in front of the recipient's residence, the control unit 20 judges that the recipient is not in a state to receive the package and moves the delivery robot to a waiting area. If it is determined in step S140 that the receipt is completed within the certain time, the control unit 20 ends the delivery process. After the delivery is completed, the control unit 20 moves the delivery robot 100 to a waiting location for the next delivery, for example.

[0050] (3) Other embodiments: The above embodiment is an example for implementing the present invention, and various other embodiments can be adopted. For example, the delivery system may be a device realized by multiple devices (for example, a client and a server). The delivery system may be configured to include a cloud server. The delivery system may be configured to include a delivery robot, or may be configured to include a deliverer terminal. At least a part of the detection unit 21a, notification unit 21b, authentication unit 21c, and movement control unit 21d that configure the delivery system may be separated and exist in multiple devices. For example, a part of the detection unit (e.g., a functional block that notifies the delivery system when it detects that a package has been stored in the delivery robot) may be present in the delivery robot. Also, a part of the authentication unit (e.g., a functional block that is notified of a password for receiving from the delivery system and compares the password with a password entered by the recipient) may be present in the delivery robot. Some of the configurations of the above-mentioned embodiment may be omitted, and the order of processing may be changed or omitted.

[0051] The notification unit only needs to be able to notify the recipient of the parcel that the parcel has arrived at the apartment complex when it detects that the parcel has been stored in the delivery robot. Therefore, in addition to the configuration of sending the arrival notification to the recipient's terminal 400 such as a smartphone as in the above embodiment, for example, a configuration of notifying the recipient of the arrival of the parcel via an intercom at the recipient's residence may be adopted. Specifically, for example, the delivery robot may be made to take an image of the deliverer operating the UI unit or storing the parcel using a camera provided in the delivery robot, and the apartment complex control system may be requested to display the image on the intercom indoor unit, thereby notifying the delivery robot at the entrance that the parcel has been stored.

[0052] The movement control unit may be configured to determine that the recipient is not in a state to receive the package and move the delivery robot to a waiting location when it receives from the recipient a specified time to receive the package (a time later than the current time) or a notification that the recipient is not currently in a state to receive the package and will receive it later.

[0053] In the above embodiment, when the delivery robot arrives in front of the recipient's residence, an intercom call is made. However, the delivery robot may be configured to notify the recipient of its arrival by sending an arrival notification to the recipient's terminal 400.

[0054] In the above embodiment, if the delivery robot moves to the front of the residence but the receipt is not completed within a certain time, the package remains stored in the delivery robot and waits at a waiting area, but it may be operated in such a way that, for example, a concierge or a resident staff member of the delivery company temporarily removes the package from the delivery robot and transfers it to a delivery box in the delivery corner of the apartment building. Also, if the delivery robot has an arm that holds the package, it may be configured so that the delivery robot transfers the package to the delivery box.

[0055] Furthermore, the technique of the present invention can also be applied as a program or method. The above-mentioned system, program, and method may be realized as a single device or may be realized by using parts shared with each part provided in the vehicle, and include various aspects. In addition, they can be modified as appropriate, such as being partly software and partly hardware. Furthermore, the invention can also be realized as a recording medium of a program that controls the system. Of course, the recording medium of the program may be a magnetic recording medium or a semiconductor memory, and any recording medium developed in the future can be considered in the same way. [Explanation of symbols]

[0056] 10...Delivery system, 20...Control unit, 21...Delivery program, 21a...Detection unit, 21b...Notification unit, 21c...Authentication unit, 21d...Movement control unit, 30...Recording medium, 30a...Delivery plan, 30b...Delivery destination information, 30c...Luggage information, 30d...User information, 40...Communication unit, 100...Delivery robot, 120...Control unit, 140...Communication unit, 141...UI unit, 142...Positioning unit, 143...Camera, 144...Luggage storage unit, 145...Travel unit, 200...Delivery person terminal, 220...Control unit, 240...Communication unit, 241...UI unit, 242...Positioning unit, 300...Apartment control system, 320...Control unit, 340...Communication unit, 350...Security door control unit, 360...Elevator control unit, 370...Intercom control unit, 400...Recipient terminal

Claims

1. A detection unit that detects that a package has been stored in a delivery robot moving within the apartment complex; a notification unit that notifies a recipient of the package of the arrival of the package at the apartment building when the storage of the package is detected; a movement control unit that moves the delivery robot to a waiting location within the apartment complex when it is determined that the recipient is not in a state to receive the package after notifying the recipient of the package arrival; A delivery system comprising:

2. the movement control unit determines that the recipient is not in a state to receive the package when a delivery request to the recipient's residence is not received from the recipient within a certain time after notifying the recipient of the package arrival. The delivery system of claim 1 .

3. The movement control unit determines that the recipient is not in a state to receive the package if the recipient does not receive the package within a certain time after arriving in front of the recipient's residence. A delivery system according to claim 1 or claim 2.

4. The movement control unit moves the delivery robot to the recipient's residence when a delivery request to the recipient's residence is received from the recipient. The delivery system of claim 1 .

5. The notification unit notifies the recipient of a password, and an authentication unit that controls the delivery robot to allow the delivery robot to pick up the package when the password is input to the delivery robot. The delivery system of claim 1 .

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