Delivery system, delivery control method, and program

Abstract

To provide a delivery system that is more convenient for customers than before. [Solution] A delivery system that delivers goods using a delivery robot, comprising: a delivery specification input unit that inputs route information indicating a delivery location and waypoints to the delivery location; and a movement route calculation unit that calculates the movement route of the delivery robot based at least on the current position of the delivery robot and the route information input by the delivery specification input unit, wherein the delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement route calculated by the movement route calculation unit, and the movement route calculation unit calculates the movement route of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit.

Description

Technical Field

[0006] , , ,

[0005] , , , ,

[0001] The present invention relates to a delivery system, a delivery control method, and a program.

Background Art

[0002] Currently, a sales method in which a delivery robot loaded with goods autonomously travels inside a building and delivers the goods to the location of the orderer has been put into practical use. For example, when an orderer uses a dedicated app installed on their smartphone to order the goods carried by the robot, the robot autonomously travels on the floors of the building and delivers the goods to the office or meeting room where the orderer is located, and so on.

[0003] Patent Document 1 discloses a mobile body management system that acquires a handwritten input image input with respect to an environmental map, estimates a restricted area where the intrusion of the mobile body is restricted based on the environmental map and the handwritten input image, and generates a movement plan based on the restricted area.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the mobile body management system described in Patent Document 1, there is a problem that the arrival location and movement route of the mobile body cannot be freely changed. For example, an orderer does not always stay at the order location, but changes their location according to the situation at that time, but the current delivery robot may not be able to handle such situations. In other words, there is a need for a means to flexibly respond to the circumstances of the orderer or to clearly show the delivery information of the delivery robot to the orderer in detail.

[0006] This invention has been made in view of these circumstances, and provides a delivery system, a delivery control method, and a program that are more convenient for the ordering party than conventional systems. [Means for solving the problem]

[0007] This invention was made to solve the above-mentioned problems, and one aspect of the present invention is a delivery system for delivering goods using a delivery robot, comprising: a delivery specification input unit for inputting route information indicating a delivery location and waypoints to the delivery location; and a movement path calculation unit for calculating the movement path of the delivery robot based at least on the current position of the delivery robot and the route information input by the delivery specification input unit, wherein the delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated by the movement path calculation unit, and the movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit.

[0008] Another aspect of the present invention is the delivery system described above, comprising a restricted area input unit for inputting restricted area information indicating an area that restricts the intrusion of the delivery robot, wherein the movement path calculation unit calculates the movement path of the delivery robot based at least on the current position of the delivery robot, the route information or route update information input by the delivery designation input unit, and the restricted area information input by the restricted area input unit.

[0009] Another aspect of the present invention is the delivery system described above, wherein the movement path calculation unit determines whether the delivery robot can pass based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit, and uses the determined passability in calculating the movement path of the delivery robot.

[0010] Another aspect of the present invention is the delivery system described above, wherein the movement path calculation unit determines whether the delivery robot can pass based at least on the movement width of the delivery robot, the movement width of other delivery robots, and the restricted area information input by the restricted area input unit, and uses the determined passability to calculate the movement path of the delivery robot.

[0011] Another aspect of the present invention is the delivery system described above, comprising an information display unit that displays an image showing an area reachable by the delivery robot, wherein the movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit.

[0012] Another aspect of the present invention is the delivery system described above, comprising an information display unit that displays an image showing an area reachable by the delivery robot, wherein the movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot, the movement width of other delivery robots, and restricted area information input by the restricted area input unit.

[0013] Another aspect of the present invention is the delivery system described above, wherein the other delivery robot is the delivery robot with the largest movement width among the multiple delivery robots used by the delivery system for delivery.

[0014] Another aspect of the present invention is a delivery control method for delivering goods using a delivery robot, comprising: a first step of inputting route information indicating a delivery location and waypoints to the delivery location; a second step of calculating a movement path for the delivery robot based at least on the current position of the delivery robot and the route information input in the first step; a third step of inputting route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated in the second step; and a fourth step of calculating a movement path for the delivery robot based on the current position of the delivery robot and the route update information input in the third step.

[0015] Another aspect of the present invention is a program for causing a computer to function as a delivery specification input unit that inputs route information indicating a delivery location and waypoints to the delivery location, and a movement path calculation unit that calculates the movement path of a delivery robot based at least on the current position of the delivery robot for delivering goods and the route information input by the delivery specification input unit, wherein the delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated by the movement path calculation unit, and the movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit. [Effects of the Invention]

[0016] According to this invention, the delivery system, delivery control method, and program are more convenient for the customer than before. [Brief explanation of the drawing]

[0017] [Figure 1]It is a schematic block diagram showing the configuration of the delivery system 100 according to an embodiment of the present invention. [Figure 2] It is a diagram showing a first example of a display screen by the information display unit 21 in the embodiment. [Figure 3] It is a diagram showing a second example of a display screen by the information display unit 21 in the embodiment. [Figure 4] It is a diagram showing a third example of a display screen by the information display unit 21 in the embodiment. [Figure 5] It is a diagram showing a fourth example of a display screen by the information display unit 21 in the embodiment. [Figure 6] It is a diagram showing an example of a display screen by the restricted area input unit 11 in the embodiment. [Figure 7] It is a diagram showing an example of restricted area information by the restricted area input unit 11 in the embodiment. [Figure 8] It is a diagram showing a fifth example of a display screen by the information display unit 21 in the embodiment.

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic block diagram showing the configuration of a delivery system 100 according to an embodiment of the present invention. The delivery system 100 includes an operator terminal 10, an orderer terminal 20, a server device 30, and a plurality of delivery robots 40. The operator terminal 10, the orderer terminal 20, the server device 30, and the plurality of delivery robots 40 are communicably connected by a network 50. The plurality of delivery robots 40 may include robots of different types.

[0019] Each of a plurality of delivery robots 40 autonomously patrols within a floor along a regular route using SLAM (Simultaneous Localization and Mapping) for product sales. The products stacked on each delivery robot 40 may be different for each robot. For example, one robot may stack refrigerators and warming cabinets on the shelf, and various beverages may be stored in the refrigerators and warming cabinets, or another robot may have packaged confectioneries arranged on the shelf. The delivery robot 40 autonomously travels within the building and delivers products to the delivery location specified by the order placer.

[0020] The delivery robot 40 includes a product shelf unit 41, a communication unit 42, a control unit 43, a drive unit 44, and a LiDAR (Light Detection And Ranging) unit 45. The product shelf unit 41 is a shelf for stacking products. The communication unit 42 communicates with the server device 30 via the network 50. The control unit 43 controls the drive unit 44 to move the delivery robot 40 based on the information indicating the movement route received by the communication unit 42 from the server device 30. In addition, the control unit 43 creates data of a 2D environmental map by SLAM using the LiDAR unit 45 and estimates its own position, and transmits the data of the 2D environmental map and the information indicating its own position to the server device 30 via the communication unit 42. The drive unit 44 includes means for moving the delivery robot 40 in accordance with the control by the control unit 43, such as wheels and a motor for driving the wheels. The LiDAR unit 45 irradiates near-infrared light, visible light, ultraviolet light, etc., and measures the distance by capturing the reflected light with an optical sensor.

[0021] The customer terminal 20 is a computer such as a smartphone, tablet, or personal computer with an application for the delivery system 100 installed. The customer terminal 20 includes an information display unit 21 and a delivery specification input unit 22. The information display unit 21 displays a two-dimensional environmental map of the entire floor and icons indicating the current locations of multiple delivery robots 40 patrolling the floor on an electronic display such as an organic EL display or a liquid crystal display. Furthermore, a speech bubble containing product information such as the product name and product image of the product carried by the delivery robot 40 corresponding to the icon may be displayed next to the icon. When the customer specifies a delivery robot 40, the information display unit 21 displays an image showing the area that the delivery robot 40 can reach. This image may be, for example, an image of the two-dimensional environmental map with the reachable area colored or shaded, an image of the two-dimensional environmental map with the area outside the reachable area colored or shaded, or an image of the two-dimensional environmental map with the outline of the reachable area.

[0022] The delivery specification input unit 22 inputs route information specifying the delivery location and waypoints to the delivery location. The delivery specification input unit 22 transmits the input route information to the server device 30. For example, if the ordering party selects one of the delivery robot 40 icons displayed on the 2D environmental map and specifies one or more waypoints from the current location of the selected delivery robot 40 to the delivery location, the delivery specification input unit 22 inputs route information indicating those delivery locations and waypoints. The delivery specification input unit 22 may also reject the specification of delivery locations and waypoints outside the area reachable by the delivery robot 40 selected by the ordering party.

[0023] Furthermore, the delivery specification input unit 22 inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot 40 is moving based on the movement route calculated by the movement route calculation unit 34, which will be described later. The route update information may be, for example, a change in the delivery location within the route information to a new delivery location, a change in the waypoints within the route information to new waypoints, or a change in the delivery location within the route information to a new delivery location and further changes to waypoints to new waypoints. Here, changing a waypoint to a new waypoint includes changing some or all of a plurality of waypoints, or adding waypoints. The delivery specification input unit 22 transmits the input route update information to the server device 30. The route update information may also be input by the orderer selecting one of the icons of the delivery robot 40 moving toward the delivery location and specifying one or more waypoints from the current location of the selected delivery robot 40 to the delivery location.

[0024] The server device 30 may be implemented by one or more computers loading and executing a program, or it may be located on a so-called cloud. The server device 30 includes a communication unit 31, an information storage unit 32, a map drawing unit 33, and a movement route calculation unit 34. The communication unit 31 communicates with the operator terminal 10, the ordering terminal 20, and the delivery robot 40 via the network 50. The information storage unit 32 stores restricted area information received from the operator terminal 10, route information received from the ordering terminal 20, route update information, 2D environment map data received from the delivery robot 40, and information indicating its own position. The information storage unit 32 also stores information (e.g., image data) showing the 2D environment map generated by the map drawing unit 33.

[0025] The map rendering unit 33 creates a 2D environment map from a 3D environment map, such as BIM (Building Information Modeling) data, CAD data, or shape data obtained by actually measuring the environment. For example, the map rendering unit 33 may slice the 3D environment map parallel to the floor at an arbitrary height in the 3D environment map (for example, the height of the measuring instrument used to create the 3D environment map, or the height at which the width of the delivery robot 40 is at its maximum), and then create a 2D environment map by viewing the floor from the sliced ​​height. The map rendering unit 33 may use a 3D environment map created using a VR (Virtual Reality) production engine such as Unity® or Unreal®, or it may use data measured from the actual 3D environment using shape measuring instruments such as a stereo camera, RGB-D camera, light field camera, or LiDAR.

[0026] The movement path calculation unit 34 calculates the movement path of the delivery robot 40 based at least on the current position of the delivery robot 40 and the route information or route update information. For example, the movement path calculation unit 34 may calculate the shortest path from the current position to the delivery location via each waypoint and use that as the movement path. Dijkstra's algorithm, A* algorithm, Bellman-Ford algorithm, Warsharll-Floyd algorithm, etc., can be used to calculate the shortest path. In addition, the movement path calculation unit 34 may calculate the movement path based on the current position and the route information or route update information, as well as restricted area information.

[0027] Furthermore, the movement path calculation unit 34 may determine that an area is impassable if it is too narrow to pass through, even if that area is not restricted by the restricted area information. Movement width is the width occupied when the delivery robot 40 moves. The movement path calculation unit 34 may determine whether the delivery robot 40 can pass through based at least on the width of the delivery robot 40 for which the movement path calculation is to be performed and the restricted area information input by the restricted area input unit 11, and may use the determined passability in calculating the movement path of the delivery robot 40. For example, the movement path calculation unit 34 may determine that an area is impassable if the width of an area not restricted by the restricted area information is smaller than the movement width of the delivery robot 40, or the movement width multiplied by a safety factor greater than 1, and determine that it can pass through if the opposite is true.

[0028] Furthermore, the movement path calculation unit 34 may determine that a location is impassable even in an area not restricted by the restricted area information if the delivery robot 40 being used for movement path calculation cannot pass another delivery robot 40. The movement path calculation unit 34 may determine whether the delivery robot 40 can pass based at least on the width of the delivery robot 40 being used for movement path calculation, the width of other delivery robots 40, and the restricted area information input by the restricted area input unit 11, and may use the determined passability in calculating the movement path of the delivery robot 40. For example, the movement path calculation unit 34 may determine that it is impassable if the width of an area not restricted by the restricted area information is smaller than the sum of the movement width of the delivery robot 40 and the width of other delivery robots 40, or the sum multiplied by a predetermined safety factor, and determine that it is passable if the opposite is true. Furthermore, if the route calculation unit 34 determines that the route information includes a section that is deemed impassable, it may display a warning pop-up on the information display unit 21 or sound an alarm.

[0029] Furthermore, even in areas not restricted by restricted area information, the movement path calculation unit 34 may determine as impassable areas if they are too narrow to pass or if a delivery robot 40 cannot pass another delivery robot 40, and may determine the reachable area of ​​the delivery robot 40 based at least on the determination result of impassable areas and the restricted area information input by the restricted area input unit 11. For example, the movement path calculation unit 34 may determine the reachable area of ​​the delivery robot 40 based at least on the movement width of the delivery robot 40 and the restricted area information input by the restricted area input unit 11, or it may determine the reachable area of ​​the delivery robot 40 based at least on the movement width of the delivery robot 40, the movement width of other delivery robots 40, and the restricted area information input by the restricted area input unit 11. The method of using the movement width of the delivery robot 40 and the movement width of other delivery robots 40 is the same as in the case of determining whether passage is permitted or not. The other delivery robot 40 used to determine whether passage is permitted or the area is reachable may be the delivery robot 40 with the largest travel width among the other delivery robots 40 used by the delivery system 100 for deliveries.

[0030] The operator terminal 10 is a computer such as a smartphone, tablet, or personal computer with an application for the delivery system 100 installed. The operator terminal 10 includes a restricted area input unit 11. The restricted area input unit 11 inputs restricted area information indicating areas where the delivery robot 40 is restricted from entering. Note that the restricted area information may differ depending on the delivery robot 40. For example, the restricted area input unit 11 may display a two-dimensional environmental map, and the operator may input the restricted area information by coloring in areas on the two-dimensional environmental map that are restricted from entering or areas that are not restricted from entering.

[0031] Figure 2 shows a first example of the display screen by the information display unit 21 in this embodiment. In the example in Figure 2, icons R1 to R5 indicating the current position of each of the multiple delivery robots 40 patrolling the floor are displayed on a two-dimensional environmental map of the entire floor. Next to each of these icons R1 to R5, product information such as the product name, product image, and price is displayed in a speech bubble so that it is clear what kind of products the delivery robot 40 is carrying. Point SO is the origin, and by using this origin, the multiple delivery robots 40 can use the same coordinate system.

[0032] Figure 3 shows a second example of the display screen provided by the information display unit 21 in this embodiment. In the example in Figure 3, the display screen is shown when the delivery specification input unit 22 receives route information indicating the delivery location and the points along the way to the delivery location. In addition to the example in Figure 2, the example in Figure 3 also shows the movement path of the delivery robot 40 corresponding to icon R3, which is calculated by the movement path calculation unit 34 based on the route information, indicated by arrow L3.

[0033] Figure 4 shows a third example of the display screen by the information display unit 21 in this embodiment. The example in Figure 4 shows the display screen when, after the delivery robot 40 (icon R3) has started autonomous driving based on the route information calculated by the travel route calculation unit 34, i.e., while it is moving, the delivery specification input unit 22 inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location. On this display screen, the travel route calculated by the travel route calculation unit 34 based on the route update information is displayed by the arrow L3m. In this way, after the customer has finished placing an order and the delivery robot 40 has started autonomous driving, if the customer wants to change the delivery location initially specified by the customer, the customer can freely reset the delivery location of the delivery robot 40 by redrawing a different route on the 2D environment map on the customer terminal 20.

[0034] Figure 5 shows a fourth example of the display screen by the information display unit 21 in this embodiment. The example in Figure 5 is an image showing the reachable area (hatched area A3) determined by the movement path calculation unit 34. Area A3 is, for example, the reachable area of ​​the delivery robot 40 of icon R3, which is displayed when the customer selects icon R3. The reachable area may differ for each delivery robot 40. In this way, the reachable area of ​​the delivery robot 40 is visualized on the 2D environment map, making it convenient for the customer to determine which delivery robot 40 can deliver to which area and which cannot.

[0035] Figure 6 shows an example of the display screen provided by the restricted area input unit 11 in this embodiment. In the example in Figure 6, the restricted area input unit 11 displays a two-dimensional environmental map for inputting restricted area information, and the operator specifies the restricted area by filling in the areas on the two-dimensional environmental map with a specific color (hatching in Figure 6), leaving only the areas where the delivery robot 40 is restricted from entering. In other words, the areas in Figure 6 where the desk, chair, floor, etc. are displayed are the restricted areas.

[0036] The operator of the delivery system 100 can change the restricted area at any time using the restricted area input unit 11. For example, if the operator knows that an event or other activity will be held on the route that the delivery robot 40 will travel today, they can pre-set the area where the event or activity will be held as a restricted area for the delivery robot 40 to enter. In Figure 6, an example is shown where the operator fills in the area other than the restricted area for the delivery robot 40 to enter, but the operator may also fill in the area where the restricted area for the delivery robot 40 to enter.

[0037] Figure 7 shows an example of restricted area information provided by the restricted area input unit 11 in this embodiment. Generally, a two-dimensional environment map created based on SLAM or the like is divided into fine square grids (occupied grids) at equal intervals vertically and horizontally (occupied grid map). Each grid in the occupied grid map has an 8-bit (0-255) pixel value embedded in it. When a restricted area is input as shown in Figure 6, the restricted area input unit 11 generates an image in which the area outside the restricted area (white area) has a pixel value (luminance) of 255, and the restricted area (hatched area) has a pixel value (luminance) of 0, and inputs this image as restricted area information. When the movement path calculation unit 34 calculates the shortest movement path using a shortest path search method (Dijkstra's algorithm, A* method, Bellman-Ford method, Warsharll-Floyd method, etc.), it calculates the path so as to avoid the hatched area (pixel value 0) and travel through the white area (pixel value 255). In other words, the delivery robot 40 uses an environmental map created by SLAM for self-localization, and the movement path calculation unit 34 uses restricted area information for generating movement paths (using Dijkstra's algorithm, A* method, Bellman-Ford method, Warsharll-Floyd method, etc.). Thus, in this embodiment, instead of estimating the restricted area as in Patent Document 1, the restricted area is precisely defined, resulting in superior accuracy in defining the restricted area compared to Patent Document 1.

[0038] Figure 8 shows a fifth example of the display screen by the information display unit 21 in this embodiment. In the example in Figure 8, the movement paths of the delivery robot 40 corresponding to icon R3 and the movement paths of the delivery robot 40 corresponding to icon R4 are displayed by arrows L3m and L4. Arrows L3m and L4 are drawn as line segments of the movement paths of each delivery robot 40, with the same thickness as the movement width of each delivery robot 40 on the scale of the 2D environment map. In other words, the movement width of the delivery robot 40 and the width of the arrow line segments match on the scale of the 2D environment map. There are various types of delivery robots 40, and the movement width differs for each delivery robot 40.

[0039] By combining the aforementioned restricted area with the width of the line segment of this movement path, for example, when a customer wants to order goods from a delivery robot 40, they can check whether the delivery robot 40 can only come as far as the entrance to their office, or whether it can enter the office and come to their desk. If the movement path is too narrow for the delivery robot 40 to pass, or if the movement path is too narrow for two or more delivery robots 40 to pass each other, drawing of the line beyond that point is prohibited, and the customer terminal 20 may sound an alarm or display a warning pop-up.

[0040] In this way, the delivery system 100 allows the customer to freely set and change the delivery location and travel route of the delivery robot 40, and also allows them to check in advance how far the delivery robot 40 can enter the floor, thereby providing the customer with a convenient and versatile delivery method.

[0041] For example, if a customer places an order with a delivery robot 40 to deliver goods to office A where they are currently located, and then the customer needs to leave office A and move to another office B, they can conveniently change the delivery location of the delivery robot 40 from office A to office B using their own customer terminal 20.

[0042] Furthermore, for example, if you want the delivery robot 40 to deliver the goods to the vicinity of the desk where the customer is sitting, it is convenient because you can know in advance how far into the office the delivery robot 40 can enter, allowing you to summon the delivery robot 40 as close to the customer as possible.

[0043] In the above-described delivery system 100, the restricted area input unit 11 is provided by the operator terminal 10, the information display unit 21 and the delivery specification input unit 22 are provided by the customer terminal 20, the information storage unit 32, the map drawing unit 33 and the movement route calculation unit 34 are provided by the server device 30, and the control unit 43 is provided by the delivery robot 40. However, each or part of these may be provided by other devices. For example, the delivery robot 40 may provide part of the map drawing unit 33 and the movement route calculation unit 34, or the server device 30 may provide the restricted area input unit 11. In addition, the operator terminal 10 or the customer terminal 20 may have a general-purpose web browser installed, and the server device 30 may transmit data, programs, etc., to cause the web browser of the operator terminal 10 or the customer terminal 20 to function as the restricted area input unit 11, the information display unit 21, and the delivery specification input unit 22.

[0044] The present invention may also be in the following embodiments. (1) One embodiment of the present invention is a delivery system for delivering goods using a delivery robot, comprising: a delivery specification input unit for inputting route information indicating a delivery location and waypoints to the delivery location; and a movement path calculation unit for calculating the movement path of the delivery robot based at least on the current position of the delivery robot and the route information input by the delivery specification input unit, wherein the delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated by the movement path calculation unit, and the movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit.

[0045] (2) Another embodiment of the present invention is a delivery system as described in (1), comprising a restricted area input unit for inputting restricted area information indicating an area that restricts the intrusion of the delivery robot, wherein the movement path calculation unit calculates the movement path of the delivery robot based on at least the current position of the delivery robot, the route information or route update information input by the delivery designation input unit, and the restricted area information input by the restricted area input unit.

[0046] (3) Another embodiment of the present invention is the delivery system described in (2), wherein the movement path calculation unit determines whether the delivery robot can pass based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit, and uses the determined passability in calculating the movement path of the delivery robot.

[0047] (4) Another embodiment of the present invention is the delivery system described in (2), wherein the movement path calculation unit determines whether the delivery robot can pass based on at least the movement width of the delivery robot, the movement width of other delivery robots, and the restricted area information input by the restricted area input unit, and uses the determined passability in calculating the movement path of the delivery robot.

[0048] (5) Another embodiment of the present invention is a delivery system according to any one of (2) to (4), comprising an information display unit that displays an image showing an area reachable by the delivery robot, wherein the movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit.

[0049] (6) Another embodiment of the present invention is a delivery system as described in any of (2) to (5), comprising an information display unit that displays an image showing an area reachable by the delivery robot, wherein the movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot, the movement width of other delivery robots, and restricted area information input by the restricted area input unit.

[0050] (7) Another embodiment of the present invention is the delivery system described in (4) or (6), wherein the other delivery robot is the delivery robot with the largest travel width among the multiple delivery robots used by the delivery system for delivery.

[0051] (8) Another embodiment of the present invention is a delivery control method for delivering goods using a delivery robot, comprising: a first step of inputting route information indicating a delivery location and waypoints to the delivery location; a second step of calculating a movement path for the delivery robot based at least on the current position of the delivery robot and the route information input in the first step; a third step of inputting route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated in the second step; and a fourth step of calculating a movement path for the delivery robot based on the current position of the delivery robot and the route update information input in the third step.

[0052] (9) Another embodiment of the present invention is a program for causing a computer to function as a delivery specification input unit that inputs route information indicating a delivery location and waypoints to the delivery location, and a movement path calculation unit that calculates the movement path of the delivery robot based at least on the current position of the delivery robot for delivering goods and the route information input by the delivery specification input unit, wherein the delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement path calculated by the movement path calculation unit, and the movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit.

[0053] Alternatively, the operator terminal 10, client terminal 20, and server device 30 in Figure 1 may be realized by recording the programs necessary to implement these functions on a computer-readable recording medium, loading the programs recorded on this recording medium into a computer system, and executing them. The term "computer system" here includes hardware such as the operating system and peripheral devices.

[0054] Furthermore, "computer system" shall also include the homepage provisioning environment (or display environment) if a WWW system is being used. Furthermore, "computer-readable recording media" refers to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. In addition, "computer-readable recording media" also includes those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs over networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside computer systems that act as servers or clients in such cases. Moreover, the above-mentioned programs may be for the purpose of realizing some of the functions described above, and may also be able to realize the above-mentioned functions in combination with programs already recorded in the computer system.

[0055] While embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may include design modifications and the like that do not depart from the spirit of this invention. [Explanation of Symbols]

[0056] 10 Operator terminal 11. Regulated area input section 20 Orderer terminal 21 Information display section 22 Delivery Specification Input Section 30 Server Devices 31 Communications Department 32 Information storage section 33 Map Drawing Section 34 Movement path calculation unit 40 Delivery Robots 41 Product shelf section 42 Communications Department 43 Control Unit 44 Drive unit 45 LiDAR section 50 Networks 100 Delivery Systems

Claims

1. A delivery system that uses delivery robots to deliver goods, A delivery specification input unit for inputting route information indicating the delivery location and intermediate points to the delivery location, A movement path calculation unit calculates the movement path of the delivery robot based at least on the current position of the delivery robot and the route information input by the delivery specification input unit. Equipped with, The delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement route calculated by the movement route calculation unit. The movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit. Delivery system.

2. The system includes a restricted area input unit that inputs restricted area information indicating an area where the delivery robot is restricted from entering, The movement path calculation unit calculates the movement path of the delivery robot based at least on the current position of the delivery robot, the route information or route update information input by the delivery specification input unit, and the restricted area information input by the restricted area input unit. The delivery system according to claim 1.

3. The movement path calculation unit determines whether the delivery robot is permitted to pass through an area based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit, and uses the determined passability in calculating the movement path of the delivery robot. The delivery system according to claim 2.

4. The movement path calculation unit determines whether the delivery robot is permitted to pass based at least on the movement width of the delivery robot, the movement width of other delivery robots, and the restricted area information input by the restricted area input unit, and uses the determined passability in calculating the movement path of the delivery robot. The delivery system according to claim 2.

5. The delivery robot is equipped with an information display unit that displays an image showing the area it can reach, The movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot and the restricted area information input by the restricted area input unit. The delivery system according to claim 2.

6. The delivery robot is equipped with an information display unit that displays an image showing the area it can reach, The movement path calculation unit determines the reachable area based at least on the movement width of the delivery robot, the movement width of other delivery robots, and the restricted area information input by the restricted area input unit. The delivery system according to claim 2.

7. The aforementioned other delivery robot is the delivery robot with the largest movement range among the multiple delivery robots used by the delivery system for delivery. The delivery system according to claim 4 or claim 6.

8. A delivery control method for delivering goods using a delivery robot, A first step involves inputting route information indicating the delivery location and intermediate points to the delivery location, A second step of calculating the delivery robot's movement path based at least on the delivery robot's current location and the path information input in the first step, A third step in which, while the delivery robot is moving based on the movement path calculated in the second step, the delivery robot inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location. A fourth step of calculating the delivery robot's movement path based on the delivery robot's current location and the route update information input in the third step. A delivery control method having the following features.

9. Computers, A delivery specification input unit for inputting route information indicating the delivery location and intermediate points to the delivery location. A movement path calculation unit calculates the movement path of the delivery robot based at least on the current location of the delivery robot for delivering the goods and the route information input by the delivery designation input unit. It is a program designed to function as such. The delivery specification input unit inputs route update information indicating either a new delivery location and waypoints to the new delivery location, or new waypoints to the delivery location, while the delivery robot is moving based on the movement route calculated by the movement route calculation unit. The movement path calculation unit calculates the movement path of the delivery robot based on the current position of the delivery robot and the route update information input by the delivery specification input unit. program.

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