Autonomous Delivery Robot

Abstract

To provide an autonomous travel type delivery robot capable of supporting both systems of unattended delivery and normal delivery.SOLUTION: An autonomous travel type delivery robot R comprises: traveling means T capable of autonomous traveling; an unattended delivery device 2 mounted on a robot body 1 having a cargo chamber; and a control part C for performing an unattended delivery process. The robot can perform the unattended delivery process by operating a lift-down mechanism 4 which lifts down a movable basket part 3 capable of storing a cargo from a storage position (3A) for storing in the cargo chamber to an unattended delivery position (3B) where a bottom plate part 31 of the movable basket part 3 is brought into contact with a floor F of a delivery destination, a push-up mechanism 6 for pushing up an unattended delivery non-object cargo in the cargo chamber, and a door opening and closing mechanism 7 for switching a door D capable of opening / closing an opening part of the cargo chamber between an open state (DB) and a close state (DA), and can perform a normal delivery process without operating the lift-down mechanism 4 and the push-up mechanism 6.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous mobile robot (AMR), and more particularly to an autonomous mobile delivery robot device capable of delivering parcels stored in a cargo compartment inside the robot to a destination. [Background technology]

[0002] The number of parcels has increased sharply in recent years due to the spread and expansion of electronic commerce (EC) and the special demand for EC caused by the COVID-19 pandemic, and the parcel delivery market is booming. According to the Ministry of Land, Infrastructure, Transport and Tourism, since the state of emergency was declared in April 2020, the number of parcels delivered by parcel delivery has remained about 10% higher than the previous year. On the other hand, the increase in parcels delivered has increased the burden on delivery drivers, and labor shortages have become an issue in the logistics industry. In addition, the COVID-19 pandemic has led to an increase in demand for non-face-to-face and non-contact delivery, and it is expected that the demand for non-contact delivery will increase even more during and after the COVID-19 pandemic.

[0003] As one response to the increase in parcels delivered, the growing burden on delivery drivers, and labor shortages, domestic trials are underway to reduce the workload of delivery drivers by entrusting part of the work to autonomous mobile robots (AMRs) for automatic delivery, and practical application overseas is progressing (see non-patent document 1 below).

[0004] In addition, as a response to the increasing burden on delivery drivers, labor shortages, and the demand for non-contact delivery, a demonstration experiment is being conducted in which the delivery driver's job of leaving the parcel at a designated location (a delivery method in which the delivery person does not hand the parcel directly to the recipient but leaves the parcel at the designated location) is entrusted to an autonomous robot, which automatically leaves the parcel at the destination (see Non-Patent Document 2 below). As the delivery person does not hand the parcel over, but leaves the parcel at a designated location whether the recipient is at home or not, it also contributes greatly to improving work efficiency (delivery efficiency) by effectively reducing the effort and time required for redelivery. It has also been reported that delivery efficiency has improved as the redelivery rate has dropped significantly under the circumstances of refraining from going out due to the COVID-19 pandemic. [Prior art documents] [Patent documents]

[0005] [Non-Patent Document 1] “Delivery Robot DeliRo”, [online], [searched May 20, 2021], Internet,<URL:https: / / www.zmp.co.jp / products / lrb / deliro> [Non-Patent Document 1] “Amoeba Energy, Japan Post / Succeed in Continuous Delivery by Robot”, [online], [Retrieved May 20, 2021], Internet,<URL:https: / / www.lnews.jp / 2020 / 01 / m0130401.html> Summary of the Invention [Problem to be solved by the invention]

[0006] When using the delivery robot described in Non-Patent Document 1, the recipient of the package can collect the package by removing it from the delivery robot's box. However, if the recipient is not at the delivery address, the robot must either wait at the delivery address for a certain period of time or return to the base and then redelive the package.

[0007] In addition, the delivery robot described in Non-Patent Document 2 can automatically place and deliver the parcel by itself, so that even if the recipient is absent, it is possible to avoid a situation where the robot continues to wait at the delivery destination for a certain period of time or returns to the base and then redelivers the parcel. However, there are the following problems. First, in the delivery robot described in Non-Patent Document 2, the loading space for the parcel is set near the floor so that the parcel can be placed on the floor, so that even during normal delivery, the recipient is forced to crouch down to receive the parcel. This is also true when loading and unloading parcels to be delivered in the loading space at a delivery base, etc., and this is a factor that reduces the efficiency of the parcel loading work by workers. In addition, the delivery robot described in Non-Patent Document 2 employs a pair of dedicated crawler parts on the left and right as a running means, so it is impossible or extremely difficult to apply or replace it with a delivery robot having more practical tires, and in this respect, it can be said that the degree of freedom is low.

[0008] Demand for delivery robots that can cover labor shortages and also handle contactless delivery is not limited to the home delivery industry, but is also seen in retail, hospitals, hotels, and other industries. The question of how to provide last-mile logistics services (logistics services from the final base to the end user) is becoming an important issue for industries that require parcel delivery.

[0009] The present invention has been made with attention to these problems in mind, and its main objective is to provide an autonomous delivery robot that can handle both types of delivery, either drop-off or regular delivery, and that can automatically drop-off the package even if the recipient is absent or cannot be met in person, thereby eliminating the need for redelivery, while also significantly reducing the time and location constraints on the recipient when receiving the package, such as requiring the recipient to crouch down in regular delivery, and requiring workers at delivery centers, etc. to crouch or stoop when loading and unloading packages. [Means for solving the problem]

[0010] In other words, the autonomous delivery robot of the present invention comprises a driving means capable of autonomous travel, a box-shaped robot body with part of the internal space set as a luggage compartment, a drop-off and delivery device mounted on the robot body, and a control unit that executes at least a drop-off and delivery process.The drop-off and delivery device comprises a movable basket section capable of storing luggage, a lift-down mechanism that lifts down the movable basket section from a storage position where the entire movable basket section is stored in the luggage compartment to a drop-off and delivery position where at least a part of the bottom plate section of the movable basket section is in contact with or close to the floor of the delivery destination, and a door opening and closing mechanism that switches a door that can open and close the opening of the luggage compartment between an open state that allows the movable basket section to be moved by the lift-down mechanism and a closed state that closes the luggage compartment to prevent access from the outside.The autonomous delivery robot of the present invention is characterized in that it is configured to be able to select between a drop-off and delivery process that is executed by operating the lift-down mechanism and the door opening and closing mechanism by the control unit, and a normal delivery process that allows users to access luggage other than the luggage to be left and delivered in the luggage compartment through the opening of the luggage compartment that is opened without operating the lift-down mechanism.

[0011] In such an autonomous delivery robot according to the present invention, the door opening / closing mechanism is switched from a closed state to an open state, and the lift-down mechanism is operated in a state in which the lift-down movement of the movable basket part by the lift-down mechanism is permitted to move the movable basket part to the placement position (lift-down movement), thereby moving the parcel to be placed in the luggage compartment to the floor of the delivery destination. In addition, in the autonomous delivery robot according to the present invention, for parcels whose delivery type is not placement but normal delivery, the opening of the luggage compartment can be opened to allow the recipient of the parcel to access the parcel, and the parcel can be handed over to the recipient as normal delivery. In particular, by setting the height position of the movable basket part in the storage position to a height position around the waist of an average adult or an appropriate height position higher than that, the recipient of the parcel can smoothly receive the parcel without being forced to crouch or bend down. In addition, when performing normal delivery processing, the door is opened so as to open only the luggage compartment in which the parcel to be placed in normal delivery is placed, allowing the recipient of the parcel to intuitively recognize the parcel to be received and preventing the recipient from receiving another parcel by mistake.

[0012] In addition, if the autonomous delivery robot of the present invention is equipped with an outrigger mechanism that grounds the tip of the ground contact part on the floor while extending in the direction of lifting down the movable basket part from the storage position toward the placement position, it is possible to prevent the entire robot from tilting due to a shift in its center of gravity when the movable basket part is lifted down by the lift-down mechanism.

[0013] Furthermore, if the lift-down mechanism in the autonomous delivery robot according to the present invention gradually tilts the bottom plate (luggage placement surface) of the movable basket on which the luggage is placed in the luggage removal direction as it approaches the placement position, the luggage can be smoothly moved by sliding under its own weight to a position where the bottom edge of the luggage contacts the floor when lowering the luggage placed at a high position near the floor of the delivery destination. In particular, if the bottom plate of the movable basket is configured to have rollable rollers at least in the area that contacts the luggage, the luggage can be moved more smoothly and accurately by sliding on the rollers after the bottom plate is tilted.

[0014] Furthermore, if the autonomous delivery robot according to the present invention is equipped with an evacuation mechanism that evacuates the luggage (non-target luggage) stored in the movable basket section in the luggage compartment to a position that is not affected by the movement of the movable basket section by the lift-down mechanism when the luggage stored in the movable basket section in the luggage compartment is not a target luggage for leaving the luggage, the evacuation mechanism can evacuate the luggage (non-target luggage) to a position that is not affected by the lift-down movement of the movable basket section when the luggage stored in the movable basket section in the luggage compartment is not a target luggage for leaving the luggage, thereby cutting off the relationship between the luggage not to be left and the lift-down mechanism, and only the luggage to be left can be moved with the lift-down operation of the movable basket section by the lift-down mechanism. Here, with the delivery robot described in Non-Patent Document 2, it is difficult to select and leave any luggage from multiple loaded luggage, and it is necessary to determine the order of leaving and leaving when the luggage is loaded. Therefore, it is not possible to respond to cases where the delivery order or the desired delivery type (selection of leaving or normal delivery) is changed after the delivery departure. In view of such a problem, the autonomous delivery robot according to the present invention is provided with an evacuation mechanism, and by using the evacuation mechanism to evacuate only the parcels not to be left at the delivery site among the multiple parcels housed in the movable basket section in the luggage compartment to a position that is not affected by the lift-down movement of the movable basket section, only the parcels to be left at the delivery site can be selected and moved with the lift-down movement of the movable basket section by the lift-down mechanism, and it is not necessary to determine the order of leaving and delivery when loading the parcels into the movable basket section, and it is possible to flexibly and appropriately respond to changes in the delivery order or the desired delivery type (selection of leaving and delivery or normal delivery) after departure for delivery. Examples of the evacuation mechanism in the present invention include a lifting mechanism that lifts parcels not to be left at the delivery site to a predetermined evacuation position (a position that is not affected by the movement of the movable basket section by the lift-down mechanism) and a sliding mechanism that slides parcels not to be left at the delivery site to a predetermined evacuation position. However, from the viewpoint of realizing space saving without securing a separate dedicated space for evacuation in the luggage compartment, it is preferable to apply a push-up mechanism that pushes up parcels not to be left at the delivery site to an evacuation position that is not affected by the movement of the movable basket section by the lift-down mechanism. Effect of the Invention

[0015] According to the present invention, it is possible to provide an autonomous delivery robot that can handle either the delivery method of leaving the parcel at the door or the normal delivery, and can automatically leave the parcel at the door even if the recipient is absent or cannot be met in person, thereby eliminating the need for redelivery, and also significantly reducing the time and location constraints on the recipient in receiving the parcel, and does not force the recipient into a crouching position as in the case of normal delivery, or the worker at the delivery base, etc., into a crouching or stooping position when loading the parcel. The autonomous delivery robot according to the present invention can be used not only in the home delivery field, but also in fields such as retail, hospitals, and hotels. [Brief description of the drawings]

[0016] [Figure 1] 1 is an overall schematic diagram of an autonomous delivery robot according to one embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram corresponding to FIG. 1 and showing the autonomous delivery robot at the time of completion of leaving and leaving in the same embodiment. [Diagram 3] FIG. 2 is a diagram corresponding to FIG. 1 and showing the autonomous delivery robot in the same embodiment at the time of completing the door opening process. [Figure 4] FIG. 13 shows an autonomous delivery robot executing a normal delivery process in the same embodiment. [Diagram 5] FIG. 4 is an overall perspective view of the lift-down mechanism in a stored state in the embodiment. [Figure 6] FIG. 6 is a view taken in the x direction (right side view) of FIG. 5 . [Figure 7] 6 is a view (front view) taken in the y direction of FIG. 5 . [Figure 8] FIG. 6 is a plan view taken in the z direction of FIG. 5 . [Figure 9] FIG. 4 is an overall perspective view of the lift-down mechanism in the embodiment in a lift-down state. [Figure 10] FIG. 10 is a view (right side view) taken in the x direction of FIG. [Figure 11] FIG. 10 is a view (front view) taken in the y direction of FIG. [Figure 12] FIG. 10 is a plan view taken in the z direction of FIG. [Figure 13] FIG. 2 is an overall perspective view of the outrigger mechanism in the embodiment. [Figure 14] A diagram showing the outrigger mechanism as viewed from the x1, x2, and y directions of FIG. 13(b). [Figure 15] FIG. 2 is an overall perspective view of the retraction mechanism in the embodiment. [Figure 16] FIG. 2 is an overall perspective view of the door opening / closing mechanism and the outrigger mechanism in the embodiment. [Figure 17] FIG. 17 is a plan view taken in the z direction of FIG. [Figure 18] 11 is a flowchart showing a process for leaving and delivering in the embodiment; [Figure 19] FIG. 2 is a diagram corresponding to FIG. 1 and showing the autonomous delivery robot in the same embodiment at the point where the outrigger grounding process and the lift-up process of luggage not to be left on delivery are completed. [Figure 20] FIG. 2 corresponds to FIG. 1 and shows an autonomous delivery robot undergoing a lift-down process in the same embodiment. [Figure 21] A figure corresponding to Figure 1 showing the autonomous delivery robot at the time of completing the lift-down process in the same embodiment. [Figure 22] FIG. 2 is a diagram corresponding to FIG. 1 and showing the autonomous delivery robot at the time of completing the stationary processing in the same embodiment. [Figure 23] A figure corresponding to Figure 1 showing the autonomous delivery robot at the time of completion of the lift-down return process in the same embodiment. [Figure 24] A figure corresponding to Figure 1 showing the autonomous delivery robot at the point in time when the lift-up and return process for non-delivery parcels and the outrigger return process are completed in the same embodiment. [Diagram 25] FIG. 2 is a diagram corresponding to FIG. 1 and showing the autonomous delivery robot in the same embodiment at the point where the door closing process is completed. [Figure 26] A figure corresponding to Figure 1 showing the autonomous delivery robot at the time of completing the stationary return process in the same embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0018] As shown in Figures 1 and 2, the autonomous delivery robot R according to this embodiment includes a traveling means T capable of autonomous travel, a robot body 1 with part of its internal space set as a luggage compartment 1S, a delivery device 2 mounted on the robot body 1, and a control unit C that controls the operation of the autonomous delivery robot R to perform delivery or normal delivery depending on the selected delivery type (delivery method). Note that Figure 1 shows an overall external view of the autonomous delivery robot R in a state where delivery processing is not being performed (normal state) upon arrival at the delivery destination, and Figure 2 shows an overall external view of the autonomous delivery robot R performing delivery and leaving processing.

[0019] In this embodiment, the running means T is equipped with two front wheels T1 and two rear wheels T2, and can move forward and backward in the front-rear direction X in which the front wheels T1 and rear wheels T2 are aligned, and can move in the lateral direction Y by performing steering when stopped (a process in which the front wheels T1 and rear wheels T2 are each turned 90 degrees to change the forward and backward movement direction). It is also possible to turn left and right by changing the direction of the front wheels T1 and rear wheels T2 (swivel). Of the autonomous delivery robot R, the part on which such running means T is provided and which supports the robot body 1 can be regarded as a dolly B.

[0020] The robot body 1 is an autonomous mobile robot (AMR) that can move autonomously to a destination by a traveling means T and has a function of recognizing surrounding conditions. The robot body 1 of this embodiment is box-shaped and has a door D that can open and close the internal space. A part of the internal space of the robot body 1 is set as a luggage compartment 1S that can accommodate luggage N (see FIG. 2). In this embodiment, a robot body 1 that has a long planar shape in the front-rear direction X where the front wheels T1 and the rear wheels T2 are lined up and has a substantially rectangular parallelepiped shape with a predetermined height dimension is applied, and an opening K formed only on one side of the robot body 1 is configured to be openable and closable by a door D (right door D1, left door D2). Specifically, a pair of doors D (right door D1, left door D2) are configured to be openable and closable in a double-door manner (see FIG. 2). In this embodiment, the pair of doors D are arranged side by side in the front-rear direction X. In the following description, the door D on the front wheel T1 side is the left door D2, and the door D on the rear wheel T2 side is the right door D1.

[0021] The autonomous delivery robot R according to this embodiment is configured to be able to store packages N in a movable basket unit 3 set in a luggage compartment 1S, as shown in Fig. 3. Then, as shown in Fig. 4, when at least one of the left and right doors D (right door D1, left door D2) is in an open state (DB), a user (a luggage recipient P, a luggage sorter, etc.) can access the luggage compartment 1S through the opening K, and the luggage recipient P can take out the packages N set in the luggage compartment 1S, and the luggage sorter can load (store) the packages N in the luggage compartment 1S or take out (collect) the packages N from the luggage compartment 1S.

[0022] In this embodiment, as shown in Fig. 4, the movable basket 3 is mounted at a height position that allows an adult P of average height to access the movable basket 3 set in the luggage compartment 1S without having to crouch down. That is, in the case of normal delivery, the movable basket 3 is mounted at an appropriate height position that allows the parcel recipient P to easily take out the parcel N from the movable basket 3 set in the luggage compartment 1S. This also means that the movable basket 3 is mounted at an appropriate height position that allows a parcel sorter at the delivery source to easily store and collect the parcel N from the movable basket 3 set in the luggage compartment 1S.

[0023] As shown in Figs. 2, 3 and 5, the movable basket section 3 includes a bottom plate section 31 on which luggage N can be placed, and a pair of standing plate sections 32 arranged in an upright position from the edge of the bottom plate section 31 on the front wheel T1 side and the edge of the bottom plate section 31 on the rear wheel T2 side. In this embodiment, as shown in Fig. 2, a partition 33 is provided between the pair of standing plate sections 32 to separate the luggage N storage space. The partition 33 divides the luggage storage space in the movable basket section 3 into a luggage storage space (right luggage storage space) that can be accessed from the outside when the right door D1 is in the open state (DB), and a luggage storage space (left luggage storage space) that can be accessed from the outside when the left door D2 is in the open state (DB). Note that the partition is omitted in Fig. 5. Rotatable rollers 34 are arranged in multiple rows in a predetermined area of ​​the bottom plate section 31 of the movable basket section 3 that directly contacts the luggage N (see Fig. 5). In this embodiment, rollers 34 are arranged in multiple rows (three rows in the illustrated example) at a predetermined pitch in a lateral direction Y perpendicular to the front-rear direction X in an area of ​​the bottom plate portion 31 that comes into contact with luggage N placed in the right luggage storage space and an area of ​​the bottom plate portion 31 that comes into contact with luggage N placed in the left luggage storage space. The upper ends of the standing plate portions 32 are connected to each other by a rod-shaped connecting portion 35. The movable basket portion 3 constitutes the delivery device 2, and is movable by a lift-down mechanism 4.

[0024] The delivery device 2 includes a lift-down mechanism 4 that lifts down the movable basket 3 set in the luggage compartment 1S to a position where it contacts or is close to the floor F, an outrigger mechanism 5 that protrudes to the side of the robot body 1 to prevent the robot body 1 from falling over, an evacuation mechanism 6 that evacuates the luggage N stored in the movable basket 3 in the luggage compartment 1S to an evacuation position according to the delivery type, and a door opening / closing mechanism 7 that opens and closes the doors D (right door D1, left door D2). In this embodiment, the control unit C is configured to be able to control the travel of the cart B and the operation of each mechanism (lift-down mechanism 4, outrigger mechanism 5, evacuation mechanism 6, door opening / closing mechanism 7). The control unit C is mounted at an appropriate position in the autonomous delivery robot R and is only shown diagrammatically in FIG. 1.

[0025] The autonomous delivery robot R of this embodiment has a delivery device 2 and its control unit C mounted on the top of a cart B, which consists of an assembly with the four functions mentioned above (lift-down mechanism 4, outrigger mechanism 5, evacuation mechanism 6, door opening and closing mechanism 7).

[0026] 2, 3, 5 to 12, the lift-down mechanism 4 lifts down the movable basket 3 from a storage position (3A) where the entire movable basket 3 is stored in the luggage compartment 1S to a placement position (3B) where at least a part of the bottom plate 31 of the movable basket 3 contacts or is close to the floor F of the delivery destination. Note that Fig. 5 is an overall perspective view of the lift-up mechanism 4 in a storage state (a state where the movable basket 3 is set at the storage position (3A)), and Figs. 6, 7, and 8 are views in the x direction (side view), y direction (front view), and z direction (plan view) of Fig. 5, respectively. Moreover, Figure 9 is an overall oblique view of the lift-up mechanism 4 in a lift-down state (a state in which the movable basket section 3 has been moved to the placement position (3B)), and Figures 10, 11, and 12 are views in the x direction (side view), y direction (front view), and z direction (plan view) of Figure 9, respectively.

[0027] In this embodiment, the lift-down mechanism 4 is configured using a parallel link mechanism 41, and by operating the parallel link mechanism 41, the movable basket section 3 is lifted down from the storage position (3A) to the placement position (3B).

[0028] The parallel link mechanism 41 is a link mechanism comprising a first link arm 43 having one end attached to a drive input shaft 42 (first parallel link shaft 42) and a second link arm 45 having one end attached to a second parallel link shaft 44 fixed at a position relatively close to the first parallel link shaft 42, and in which a predetermined location on the other end of the first link arm 43 is attached to the standing plate portion 32 of the movable cage section 3 via an axis (third parallel link shaft 46), and the other end of the second link arm 45 is attached to the standing plate portion 32 of the movable cage section 3 via an axis (fourth parallel link shaft 47). Such a parallel link mechanism 41 is switched between a storage position (4A) (see Figs. 5 to 8) in which the first link arm 43 and the second link arm 45 are stored in the internal space of the robot body 1 in a position where they are arranged substantially parallel to each other in an upright position (upright position inclined at a predetermined angle), and a lift-down position (4B) (see Figs. 9 to 12) in which the first link arm 43 and the second link arm 45 are tilted in a direction in which the movable basket unit 3 is thrown out of the luggage compartment 1S through the opening K of the robot body 1, and the first link arm 43 and the second link arm 45 are overlapped in the height direction in a sideways position (sideways position inclined at a predetermined angle). By switching such a parallel link mechanism 41 from the storage position (4A) to the lift-down position (4B), the movable basket unit 3 can be lifted down from the storage position (3A) to the placement position (3B), and the luggage N stored in the luggage compartment 1S is lowered to the vicinity of the floor F of the delivery destination.

[0029] In particular, in this embodiment, as shown in Figures 5 and 9, a bearing 48 is provided at a predetermined location of the parallel link mechanism 41 (the other end of the first link arm 43 in the illustrated example), and when the parallel link mechanism 41 switches from the storage position (4A) to the lift-down position (4B), the bearing 48 continues to press one end of a bottom plate tilt lever 49 provided on the standing plate portion 32 of the movable basket section 3, so that the pulling arm 40, the upper end of which is pivoted to the bottom plate tilt lever 49, is gradually pulled upward, and the bottom plate portion 31 of the movable basket section 3 attached to the lower end of this pulling arm 40 gradually tilts in the direction of throwing the luggage N out of the movable basket section 3. As long as the bearing 48 does not press one end of the bottom plate tilt lever 49 provided on the upright plate 32 of the movable basket 3, the bottom plate 31 of the movable basket 3 is maintained in a horizontal or approximately horizontal position, and the bottom plate 31 gradually tilts from the point when the bearing 48 starts pressing one end of the bottom plate tilt lever 49. Here, regarding the position where the bottom plate 31 of the movable basket 3 starts to tilt (the tilt start position of the bottom plate 31), in the case of placement and distribution, it is essential that the bottom plate 31 be tilted at a relatively low position so that the baggage N does not fly out due to inertia during lift-down. In addition, in the case of collection of baggage, the tilt start position of the bottom plate 31 can be set in consideration of the height of the belt conveyor (about lower than the waist of a person) when the robot R is directly connected to the belt conveyor to put the baggage in. The position where the bottom plate 31 starts to tilt (the tilt start position of the bottom plate 31) can be adjusted by changing the length of the pulling arm 40. This set of parallel link mechanism 41, bottom plate tilt lever 49, and pulling arm 40 is disposed in the internal space of the robot main body 1 at a position sandwiching the movable basket section 3 (the side of the standing plate section 32 that does not face the cargo compartment 1S, i.e., the outward facing side of the standing plate section 32).

[0030] The lift-down mechanism 4 includes a lift drive motor 4M that drives the parallel link mechanism 41 between a storage position (4A) and a lift-down position (4B) (see Figs. 7 and 8, etc.). In this embodiment, by driving the lift drive motor 4M, the rotation of the drive output shaft (gear head output shaft) rotates an input shaft (first parallel link shaft 42) attached to the lower end of the first link arm 43 of the parallel link mechanism 41 via a reduction gear train associated with each parallel link mechanism 41, and as a result, the parallel link mechanism 41 is set to change its position between the storage position (4A) and the lift-down position (4B).

[0031] The lift-down mechanism 4 is equipped with a lift-down angle encoder 4E that detects the absolute angle of at least one of the first link arm 43 or the second link arm 45 that constitute the parallel link mechanism 41 (see Figs. 6 to 8, etc.). In this embodiment, the lift-down angle encoder 4E is provided at the lower end of the first link arm 43 of one of the parallel link mechanisms 41. Based on the detection value (detected angle) by the lift-down angle encoder 4E, the parallel link mechanism 41 is set to reciprocate (reciprocate between the stored position (4A) and the lift-down position (4B)) within a preset target angle range (0 degree to target angle).

[0032] The lift-down mechanism 4 is also provided with a storage position side limiter 4LA (photo sensor) that detects a physical stroke limit when the movable car section 3 returns to the storage position (3A) shown in FIG. 5 (see FIG. 8). The storage position side limiter 4LA detects that the movable car section 3 has reached the storage position (3A) by blocking light when the movable car section 3 is in the storage position (3A) and transmitting light when the movable car section 3 is not in the storage position (3A), thereby making it possible to detect a physical stroke limit when the movable car section 3 returns to the storage position (3A). The lift drive motor 4M is set to stop at the point when the storage position side limiter 4LA detects that the movable car section 3 has reached the storage position (3A). Note that the control by the control section C (operation control of the lift-down mechanism 4) is configured to be performed by prioritizing the presence or absence of detection by the storage position side limiter 4LA (detection of the movable car section 3 reaching the storage position (3A)) over the angle detected by the lift-down angle encoder 4E.

[0033] The lift-down mechanism 4 is provided with a limiter 4LB (photo sensor) for detecting a physical stroke limit when the movable basket 3 is moved to the placement position (3B) near the floor F of the delivery destination shown in FIG. 9 (see FIG. 11 and FIG. 12, etc.). The limiter 4LB for the placement position transmits light when the movable basket 3 is at the placement position (3B) and blocks light when the movable basket 3 is not at the placement position (3B), thereby detecting that the movable basket 3 has reached the placement position (3B), and can detect a physical stroke limit when the movable basket 3 is moved to the placement position (3B). The lift drive motor 4M is set to stop at the point when the limiter 4LB for the placement position detects that the movable basket 3 has reached the placement position (3B). Note that the control by the control unit C is configured to prioritize the presence or absence of detection by the limiter 4LB for the placement position (detection of the movable basket 3 reaching the placement position (3B)) over the angle detected by the lift-down angle encoder 4E.

[0034] In such a lift-down mechanism 4, after the initial operation, the value (absolute angle) of the lift-down angle encoder 4E is 0 degrees (origin position) or the stored position side limiter 4LA is light-shielded (detecting that the movable cage section 3 is in the stored position (3A)). In this state, when the lift drive motor 4M is driven, the rotation of the drive output shaft (gear head output shaft) rotates the input shaft (first parallel link shaft 42) attached to the lower end of the first link arm 43 of the parallel link mechanism 41 via a reduction gear train associated with each parallel link mechanism 41, and as a result, the parallel link mechanism 41 changes its posture from the stored posture (4A) to the lift-down posture (4B). At this time, the detection value of the lift-down angle encoder 4E increases. Then, in the process of changing the position of the parallel link mechanism 41 from the storage position (4A) to the lift-down position (4B), the bearing 48 provided in the parallel link mechanism 41 presses the bottom plate tilt lever 49, and the bottom plate portion 31 of the movable cage portion 3 tilts. Since a plurality of rollers 34 are provided at the contact portion of the bottom plate portion 31 with the luggage N, the luggage N is carried out while sliding on the rollers 34 which rotate in conjunction with the inclination of the bottom plate portion 31. The lift-down operation by the lift drive motor 4M is stopped when the detection value by the lift-down angle encoder 4E reaches a preset target value or when the placement position side limiter 4LB becomes light-shielded (when it is detected that the movable cage portion 3 has reached the placement position (3B)). After the lift drive motor 4M is stopped, the parallel link mechanism 41 maintains the lift-down position (4B) by a non-excitation type electromagnetic brake included in the lift drive motor 4M. When the movable cage 3 is moved from the placement position (3B) to the storage position (3A), the lift drive motor 4M is driven to change the position of the parallel link mechanism 41 from the lift down position (4B) to the storage position (4A) (lift down return). At this time, the lift down return operation by the lift drive motor 4M is stopped when the detection value by the lift down angle encoder 4E is 0 degrees or the storage position side limiter 4LA is light-shielded (when it is detected that the movable cage 3 has reached the storage position (3A)).

[0035] As shown in Figs. 2, 3, 13 and 14, the outrigger mechanism 5 is a mechanism for supporting the autonomous delivery robot R so that it does not tip over when the lift-down mechanism 4 lifts and lowers the package N. The outrigger mechanism 5 includes a ground arm 51 (corresponding to the "grounding portion" of the present invention) whose tip portion touches the floor F while extending in a direction to lift down the movable basket portion 3 from the storage position (3A) toward the placement position (3B). In this embodiment, the ground arm 51 is configured such that the auxiliary wheels 52 provided at the tip portion thereof touch the floor F. The ground arm 51 switches between a storage position (5A) shown in Fig. 13(a) in which the arm 51 is not exposed to the outside on the outside (outward facing surface side) of the upright plate portion 32 of the movable basket portion 3, and a grounding position (5B) shown in Figs. 13(b) and 14 in which the arm 51 is tilted from the storage position (5A) to an angle at which the auxiliary wheels 52 at the tip portion touch the floor F through the opening K of the robot body 1. 14(a), (b), and (c) are respectively views in the y direction, the x1 direction, and the x2 direction of FIG. 13(b). The base ends of the ground arms 51 provided on the outer sides of the respective upright plate sections 32 of the movable cage section 3 are connected to a rotating shaft 53, and the pair of ground arms 51 rotate around the rotating shaft 53 between the storage position (5A) and the ground position (5B). The outrigger mechanism 5 is provided with an outrigger angle encoder 5E that detects the rotation angle of the ground arms 51 from the storage position (5A) to the ground position (5B) (see FIGS. 14(a) and (c)). The detection value (detected angle) by the outrigger angle encoder 5E when the ground arm 51 is rotated from the storage position (5A) to the ground position (5B) can be used to set the target angle of the lift-down mechanism 4 (angle of the placement position (3B)). In this embodiment, the absolute angle of the outrigger angle encoder 5E when the ground contact arm 51 is positioned in the stored posture (5A) after the initial operation is set to be at the origin position (0 degrees).

[0036] The outrigger mechanism 5 is equipped with an outrigger drive motor 5M, and when the outrigger drive motor 5M is driven (FW) with the grounding arm 51 in the stored position (5A), the rotating shaft 53 (e.g., reduction ratio 1 / 200) rotates via a gear train, and when a current equivalent to grounding detection is detected for the outrigger drive motor 5M, the outrigger drive motor 5M is stopped and the detection value of the outrigger angle encoder 5E at this point is recorded. After the outrigger drive motor 5M is stopped, the grounding arm 51 is held in the grounding position (5B) by a non-excitation type electromagnetic brake contained in the outrigger drive motor 5M.

[0037] In such an outrigger mechanism 5, the auxiliary wheels 52 touch the floor F before the lift-down mechanism 4 operates, thereby preventing the robot R from tipping over in the roll direction due to the movement of the center of gravity associated with the operation of the lift-down mechanism 4. When returning the ground arm 51 from the ground posture (5B) to the storage posture (5A), the outrigger drive motor 5M is driven (BW) after the movable cage section 3 is moved to the storage position (3A) by the lift-down mechanism 4, and the outrigger drive motor 5M is stopped when the detection value of the outrigger angle encoder 5E reaches 0 degrees (when the outrigger drive motor 5M reaches the origin position that is the ground posture (5B)). At this time, the value of the outrigger angle encoder 5E recorded during the previous outrigger operation (the detection value of the outrigger angle encoder 5E at the time when the outrigger drive motor 5M is stopped after detecting a current equivalent to ground detection for the outrigger drive motor 5M) can be newly recorded when the ground arm 51 is rotated from the storage posture (5A) to the ground posture (5B) during the next outrigger processing.

[0038] Taking into consideration an error in the detection value by the outrigger angle encoder 5E when the ground arm 51 is in the stored position (5A), the outrigger mechanism 5 may also be provided with a first sub-sensor (not shown) that detects the position of the auxiliary wheels 52 provided at the tip of the ground arm 51 (the position of the auxiliary wheels 52 when the ground arm 51 is in the stored position (5A) or the position of the auxiliary wheels 52 when the ground arm 51 is in the grounding position (5B). The first sub-sensor may detect that the auxiliary wheels 52 have reached a position slightly higher than the position of the auxiliary wheels 52 in the designed grounding position (5B), and use this detection to determine whether to switch to the current detection mode. The outrigger mechanism 5 may also be provided with a second sub-sensor (not shown) that detects the moment when the auxiliary wheels 52 touch the ground and a large torque is required and stops the lift drive motor 4M. The second sub-sensor may be set to detect the moment when the auxiliary wheels 52 touch the ground and a large torque is required, and to stop the lift drive motor 4M at the detection point. An inertial measurement unit (IMU) may be used as the second sub-sensor. In addition, when the autonomous delivery robot R is tilted, the outrigger mechanism 5 and the lift-down mechanism 4 are also tilted, so if correction of the target angle by the IMU is not required, the second sub-sensor can be omitted.

[0039] 13 and 14, the outrigger mechanism 5 has a base plate 54 provided near the base end of each of a pair of left and right ground arms 51, with an outrigger drive motor 5M attached to one of the base plates 54 and an outrigger angle encoder 5E attached to the other base plate 54. The pair of base plates 54 are connected to each other by a connecting plate 55, and these base plates 54 and connecting plate 55 form a base frame 5F. The above-mentioned first sub-sensor and second sub-sensor can also be attached to appropriate locations on the base plate 54.

[0040] As shown in FIG. 2, FIG. 3 and FIG. 15, the evacuation mechanism 6 is a mechanism for evacuating the luggage N (non-dispatch luggage Nb) to a position that is not affected by the lift-down movement of the movable basket unit 3 by the lift-down mechanism 4 when the luggage N stored in the movable basket unit 3 at the storage position (3A) in the luggage compartment 1S is not a drop-off target luggage Na. In this embodiment, the evacuation mechanism 6 is configured by a push-up mechanism using a cam mechanism 61. In the following description, the push-up mechanism that is the evacuation mechanism 6 may be given the same reference number 6 as the evacuation mechanism 6. The cam mechanism 61 is provided in an area below the bottom plate portion 31 of the movable basket unit 3, and is a mechanism for lifting the luggage N placed on the bottom plate portion 31 by a cam 62, and leaving the luggage N that is not a drop-off target luggage N (non-dispatch luggage Nb) in the luggage compartment 1S without being affected by the movement of the movable basket unit 3 by the lift-down mechanism 4. Such cam mechanisms 61 are arranged according to the number and formation locations of luggage storage spaces in the movable basket unit 3. In this embodiment, two cam mechanisms 61 (right cam mechanism, left cam mechanism) are arranged to correspond to the right-side luggage storage space that can be accessed from outside when the right door D1 is in the open state (DB), and the left-side luggage storage space that can be accessed from outside when the left door D2 is in the open state (DB).

[0041] As shown in FIG. 15, the cam mechanism 61 of this embodiment comprises a plurality of cams 62 (four in the illustrated example), a cam rotation shaft 63 to which the four cams 62 are attached so that they can rotate together, a cam drive motor 6M that rotates the cam rotation shaft 63, and a case 64 that houses these components, and is switchable between a non-lift-up position (6A) in which the cams 62 do not protrude to the outside through slits 64a formed in the upward surface of the case 64 (contained within the case 64), and a lift-up position (6B) in which the cams 62 protrude upward through the slits 64a of the case 64 (see FIG. 15(a); FIG. 15(b) is a diagram in which parts of the case 64 other than the front cover 641 have been omitted). In this embodiment, the cam mechanism 61 is configured to switch from the non-lift-up position (6A) to the lift-up position (6B) to temporarily push up only the portion 31a (lift-up bottom plate portion 31a, see Figs. 2 and 8, etc.) of the bottom plate portion 31 of the movable basket portion 3 on which the luggage N is placed, thereby lifting up the luggage N on the lift-up bottom plate portion 31a. Note that it is also possible to adopt a configuration in which, without providing the lift-up bottom plate portion 31a in the bottom plate portion 31 of the movable basket portion 3, an appropriate slit is formed to allow the cam 62 to rotate from the non-lift-up position (6A) to the lift-up position (6B), and the cam 62 directly lifts up the luggage N.

[0042] As shown in Fig. 15(b), the cam mechanism 61 of this embodiment has two cam rotating shafts 63 at positions straddling the cam drive motor 6M in a plan view, and two cams 62 are arranged on each cam rotating shaft 63 so as to be integrally rotatable at a predetermined interval. When the cam drive motor 6M is driven, the cam 62 fixed to the cam rotating shaft 63, which is the output shaft of the cam drive motor 6M, rotates and moves between a non-lift-up position (6A) where the luggage N (the luggage Na to be left and delivered) is not lifted up and a lift-up position (6B) where the luggage N (the luggage Nb not to be left and delivered) is lifted up. The cam mechanism 61 includes a cam non-lift-up position sensor (not shown) that detects that the cam 62 is in the non-lift-up position (6A), and a cam lift-up position sensor (not shown) that detects that the cam 62 is in the lift-up position (6B). The cam non-lift-up position sensor detects that the cam 62 is in the non-lift-up position (6A) by transmitting light when the cam 62 is in the non-lift-up position (6A) and blocking light when the cam 62 is not in the non-lift-up position (6A), while the cam lift-up position sensor detects that the cam 62 is in the lift-up position (6B) by transmitting light when the cam 62 is in the lift-up position (6B) and blocking light when the cam 62 is not in the lift-up position (6B). The cam mechanism 61 also includes a brake means (built into the cam drive motor 6M or separate) that locks the cam 62 at the lift-up position (6B).

[0043] As shown in Figs. 16 and 17, the door opening / closing mechanism 7 switches the doors D (right door D1, left door D2) that can open and close the opening K of the luggage compartment 1S between a closed state (DA) and an open state (DB). Fig. 16 is a perspective view of the door opening / closing mechanism 7 and the retraction mechanism 6 (push-up mechanism 6) when the right door D1 and the left door D2 are in an intermediate state between the closed state (DA) and the open state (DB), and Fig. 17 is a view in the z direction of Fig. 16. Note that the opening / closing mechanism 7 is omitted in Figs. 1 to 4 and Figs. 19 to 24 described later. The closed state (DA) is a state in which the luggage compartment 1S is closed so that it cannot be accessed from the outside, and the open state (DB) is a state in which the luggage compartment 1S is opened so that it can be accessed from the outside. In particular, in this embodiment, by setting the right door D1 and the left door D2 to the open state (DB), the lift-down movement of the movable basket section 3 by the lift-down mechanism 4 is permitted.

[0044] The door opening / closing mechanism 7 includes a right door opening / closing motor 71 for opening and closing the right door D1, a left door opening / closing motor 72 for opening and closing the left door D2, a right door closed state detection sensor 74 for detecting when the right door D1 is in a closed state (DA), a right door open state detection sensor 73 for detecting when the right door D1 is in an open state (DB), a left door closed state detection sensor 76 for detecting when the left door D2 is in a closed state (DA), and a left door open state detection sensor 75 for detecting when the left door D2 is in an open state (DB). The right door closed state detection sensor 74 and the left door closed state detection sensor 76 detect that the right door D1 and the left door D2 are in the closed state (DA) by blocking light when the right door D1 and the left door D2 are in the closed state (DA) and transmitting light when they are not in the closed state (DA), and the right door open state detection sensor 73 and the left door open state detection sensor 75 detect that the right door D1 and the left door D2 are in the open state (DB) by blocking light when the right door D1 and the left door D2 are in the open state (DB) and transmitting light when they are not in the open state (DB). Specifically, the right door open state detection sensor 73 and the left door open state detection sensor 75 are set to detect that the right door D1 and the left door D2 are in the open state (DB) by rotating 90 degrees from the closed state (DA).

[0045] 17, in this embodiment, a right door rotating shaft 77a which rotates in the forward and reverse directions by the drive of the right door opening / closing motor 71 is assembled to a right door fixing frame 77 fixed to the right door D1 so as to be rotatable together with the right door fixing frame 77, the right door opening / closing motor 71, the right door closed state detection sensor 74, the right door open state detection sensor 73 and the right door rotating shaft 77a are mounted on a common right door bracket 78, and the right door bracket 78 is attached to the base plate 54 (right side base plate 54) of the outrigger mechanism 5. Similarly, a left door rotating shaft 79a which rotates in the forward and reverse directions by the drive of the left door opening / closing motor 72 is assembled to a left door fixing frame 79 fixed to the left door D2 so as to be rotatable together with the left door fixing frame 79, the left door opening / closing motor 72, the left door closed state detection sensor 76, the left door open state detection sensor 75 and the left door rotating shaft 79a are mounted on a common left door bracket 70, and the left door bracket 70 is attached to the base plate 54 (left side base plate 54) of the outrigger mechanism 5.

[0046] As described below, the door opening / closing mechanism 7 having such a configuration is a mechanism that during normal delivery, opens the door D (either the right door D1 or the left door D2) to an open state (DB) so that the parcel recipient P can collect the parcel N from the luggage compartment 1S, and during left-delivery, opens both the right door D1 and the left door D2 to an open state (DB) to enable the lift-down process S4 of the parcel N by the lift-down mechanism 4.

[0047] In the autonomous delivery robot R of this embodiment, the operation of each of the above mechanisms (lift down mechanism 4, outrigger mechanism 5, cam mechanism 61 (right side cam mechanism, left side cam mechanism) and door opening and closing mechanism 7) is controlled by a control unit C. In addition, the operation of the traveling means T is also controlled by a common control unit C.

[0048] Next, the delivery process performed by the autonomous delivery robot R according to this embodiment will be described with reference to the flowchart shown in Fig. 18. The following describes a case where, with two packages N stored in the movable basket 3 set in the luggage compartment 1S, the first package N (e.g., the left package N stored in the left package storage space of the movable basket 3) is placed and delivered to the first delivery destination, and the second package N (e.g., the right package N stored in the right package storage space of the movable basket 3) is delivered normally to the second delivery destination.

[0049] After the luggage N is loaded into the movable basket 3 of the luggage compartment 1S by an operator such as a delivery worker at the delivery origin, and when the autonomous delivery robot R arrives at the first delivery destination (destination) (see FIG. 1), the control unit C of the autonomous delivery robot R according to this embodiment operates the door opening and closing mechanism 7 of the delivery device 2 based on a signal (including information specifying the luggage to be delivered) to switch the right door D1 and the left door D2, which are in the closed state (DA), to the open state (DB) (door opening process S1, see FIG. 3). Specifically, the right door D1 and the left door D2 can be switched from the closed state (DA) to the open state (DB) by driving the right door opening and closing motor 71 and the left door opening and closing motor 72 of the door opening and closing mechanism 7 (activating the door opening and closing mechanism 7). In this state, the right door open state detection sensor 73 and the left door open state detection sensor 75 detect that the right door D1 and the left door D2 are each in the open state (DB), and based on this detection signal (a signal indicating that the right door D1 and the left door D2 have been confirmed to be in the open state (DB)), the control unit C operates the outrigger mechanism 5 to ground the tip end (auxiliary wheel 52) of the outrigger mechanism 5 on the floor F (outrigger ground contact process S2, see Figure 19).

[0050] The outrigger ground contact process S2 is a process for switching the ground contact arm 51 from the stored position (5A) to the ground contact position (5B) by driving the outrigger drive motor 5M of the outrigger mechanism 5 (starting the outrigger mechanism 5). In this embodiment, a detection value (encoder information related to the ground contact angle) by the outrigger angle encoder 5E at the time when the ground contact arm 51 is rotated from the stored position (5A) to the ground contact position (5B) is obtained, and this detection value is used to set the target angle of the lift-down mechanism 4 (target angle during lift-down).

[0051] Simultaneously with or after the outrigger touchdown process S2, in the autonomous delivery robot R according to this embodiment, the control unit C drives the cam mechanisms 61 (right cam mechanism, left cam mechanism) as necessary to execute a process (not-to-be-left-delivered parcel lift-up process S3) of cutting the connection between the lift-down mechanism 4 and parcels N other than the parcels N to be left-delivered in this delivery process (left parcels N in this embodiment), i.e., the parcels on the right side (parcels not to be left-delivered Nb). The not-to-be-left-delivered parcel lift-up process S3 is a process of selecting the cam mechanism 61 to be activated according to the storage position of the not-to-be-left-delivered parcel Nb in the movable basket unit 3, and switching the cam 62 of the selected cam mechanism 61 from the non-lift-up position (6A) to the lift-up position (6B). When the non-delivery baggage Nb is the baggage N on the right side, the cam driving motor 6M of the right cam mechanism is driven to rotate the multiple cams 62 (four cams 62 in this embodiment) in the non-lift-up position (6A) so that the cams 62 protrude from the right door D1 and the left door D2 side through the slits 64a of the case 64, and can be switched to the lift-up position (6B). By performing the non-delivery baggage lift-up process S3, the right baggage N that is the non-delivery baggage Nb is lifted up together with the part (lift-up bottom plate part 31a) of the bottom plate part 31 of the movable basket part 3 on which the baggage N is placed, and thereafter, it remains in the luggage compartment 1S without being affected by the operation of the lift-down mechanism 4 (see FIG. 19). In this state, the cam lift-up position sensor of the right cam mechanism detects that the cam 62 of the right cam mechanism is in the lift-up position (6B), and the non-lift-up position sensor of the left cam mechanism detects that the cam 62 of the left cam mechanism is in the non-lift-up position (6A).

[0052] In the autonomous delivery robot R according to this embodiment, based on these detection signals (signals indicating that the cam mechanism 61 selected from the right cam mechanism and the left cam mechanism has confirmed that the non-delivery target parcel Nb is being lifted up), the control unit C operates the lift-down mechanism 4 to execute a process (lift-down process S4, see Figs. 20 and 21) in which the movable basket unit 3 moves from the storage position (3A) to the delivery position (3B) while the left-side parcel N, which is the parcel Na to be delivered, is placed on the bottom plate 31. The lift-down process S4 is a process in which the lift drive motor 4M is driven to change the position of the parallel link mechanism 41 of the lift-down mechanism 4 from the storage position (4A) to the lift-down position (4B), and the movable basket unit 3 is lowered to the floor F of the delivery destination. In this embodiment, in the process of changing the position of the parallel link mechanism 41 from the storage position (4A) to the lift-down position (4B), the bearing 48 provided on the parallel link mechanism 41 presses the bottom plate tilt lever 49, thereby tilting the bottom plate portion 31 of the movable basket portion 3.Therefore, the left-side luggage N, which is the luggage Na to be left and delivered, slides in the tilt direction 31x (see Figure 10) of the bottom plate portion 31 due to its own weight, and moves smoothly to a position where part of the bottom (one side of the bottom) contacts the floor F (see Figure 21) while sliding smoothly due to the rollers 34 provided on the part of the bottom plate portion 31 that contacts the luggage N. When the detection value by the lift-down angle encoder 4E reaches a preset target value (a target value set with reference to the detection value (encoder information related to the grounding angle) by the outrigger angle encoder 5E at the time when the grounding arm 51 is rotated from the storage position (5A) to the grounding position (5B)) or when the placement position side limiter 4LB becomes light-blocking (when it is detected that the movable basket section 3 has reached the placement position (3B)), the lift drive motor 4M is stopped and the lift-down process S4 by the lift-down mechanism 4 is terminated.As described above, in this embodiment, in the process of changing the position of the parallel link mechanism 41 from the storage position (4A) to the lift-down position (4B), the bottom plate portion 31 of the movable basket portion 3 is maintained in a horizontal or approximately horizontal position (see Figure 20) unless the bearing 48 presses one end of the bottom plate tilt lever 49 provided on the upright plate portion 32 of the movable basket portion 3, and the bottom plate portion 31 is set to gradually tilt from the point in time when the bearing 48 begins to press one end of the bottom plate tilt lever 49 (see Figure 21).

[0053] Next, the control unit C executes a process to steer the travel means T (front wheels T1, rear wheels T2) of the cart B of the autonomous delivery robot R (stationary process S5, see Fig. 22) and moves the cart B in the lateral direction Y (crab walking), and the parcel Na to be left at rest is completely carried out from the movable basket unit 3 to the floor F of the delivery destination, as shown in Fig. 2. Through the above procedure, the parcel N on the left side, which is the parcel Na to be left at rest, can be left at the destination.

[0054] After the placement and delivery is completed, the control unit C operates the lift-down mechanism 4 to move the movable basket unit 3 on which no luggage N is placed from the placement and delivery position (3B) to the storage position (3A) (lift-down return process S6, see Figure 23), and then operates the cam mechanism 61 (the right-side cam mechanism in this embodiment) having a cam 62 located in the lift-up position (6B) to switch the cam 62 from the lift-up position (6B) to the non-lift-up position (6A) (lift-up return process S7 for luggage not to be placed and delivered, see Figure 24). Simultaneously with or after the non-delivery target baggage lift-up return process S7, the outrigger mechanism 5 is operated to switch the ground arm 51 from the ground position (5B) to the storage position (5A) (outrigger return process S8, see FIG. 24), and these mechanisms (lift-down mechanism 4, cam mechanism 61, outrigger mechanism 5) are stored in the internal space of the robot body 1 and not exposed to the luggage compartment 1S, and finally, the door opening / closing mechanism 7 is operated to switch the doors D (right door D1, left door D2) from the open state (DB) to the closed state (DA) (door closing process S9, see FIG. 25). In this state, the right door closed state detection sensor 74 and the left door closed state detection sensor 76 detect that the right door D1 and the left door D2 are in the closed state (DA), respectively, and based on this detection signal (signal indicating that the right door D1 and the left door D2 are in the closed state (DA)), the control unit C outputs a signal indicating that the delivery process has been completed (delivery completion signal). Finally, the traveling means T (front wheels T1, rear wheels T2) in the stationary state is returned to its original position (stationary return process S10, see FIG. 26), and the drop-off and delivery process is completed.

[0055] In this embodiment, the autonomous delivery robot R begins autonomous driving toward the second delivery destination based on the drop-off and delivery completion signal, and when it arrives at the second delivery destination, if the delivery type for the second package N (package N on the right) has been changed from the initial normal delivery to drop-off and delivery, the right-side package N can be left and delivered by the delivery device 2 as a package Na to be left and delivered in a procedure approximately similar to that described above (the only difference is that the lift-up process S3 for packages not to be left and delivered changes the cam 62 of the left-side cam mechanism from the waiting position to the lift-up position (6B) instead of the right-side cam mechanism).

[0056] Furthermore, when the second delivery destination is reached, if the delivery type for the second parcel N (parcel N on the right side) is not changed from the initial normal delivery, the autonomous delivery robot R according to this embodiment operates the door opening / closing mechanism 7 of the delivery device 2 based on a signal (including designation information for the parcel Nb to be delivered normally) to start the delivery device 2, and switches the door D (the right door D1 in this embodiment) corresponding to the parcel storage space in which the parcel Nb to be delivered normally is stored, out of the right door D1 or the left door D2 in the closed state (DA), to the open state (DB) (see FIG. 4). Specifically, the right door opening / closing motor 71 of the door opening / closing mechanism 7 is driven (the door opening / closing mechanism 7 is started) to switch only the right door D1 from the closed state (DA) to the open state (DB). In this state, the right door open state detection sensor 73 and the left door closed state detection sensor 76 detect that the right door D1 is in the open state (DB) and the left door D2 is in the closed state (DA). A recipient P of the parcel N can receive (take out) the parcel N (parcel N on the right side) stored in a parcel storage space accessible from the outside through the opening K opened by the door D (right door D1) in the open state (DB). At this time, the height position of the parcels Nb to be normally delivered stored in the movable basket section 3 is at a height position that allows an average adult to receive (take out) the parcel N without bending or squatting, so the recipient P can receive (take out) the parcel N in a comfortable position. In addition, the only parcel storage space that the parcel recipient P can access among the parcel storage spaces in the movable basket section 3 is the space in which the parcel N addressed to the parcel recipient P is stored, so erroneous delivery can be prevented. In this way, in the autonomous delivery robot R of this embodiment, when performing a drop-off process, the door opening / closing mechanism 7 switches all the doors D (right door D1, left door D2) from a closed state (DA) to an open state (DB), thereby allowing the lift-down mechanism 4 to lift down the movable basket section 3, and when performing a normal delivery process, the door D (right door D1 in Figure 4) is set to the open state (DB) so as to open only the cargo compartment in which the package Nb to be delivered is stored, thereby allowing the recipient P of the package Nb to access the package Nb.

[0057] In the autonomous delivery robot R according to this embodiment, the control unit C operates the door opening / closing mechanism 7 to switch the door D (right door D1) in the open state (DB) to the closed state (DA) based on a signal indicating that the normal delivery target package Nb has been handed over to the recipient P (this may be a signal that detects that the package N has been removed from the package storage space, or a signal based on an operation by the recipient P (an appropriate receiving and accepting operation)). In this state, the right door closed state detection sensor 74 and the left door closed state detection sensor 76 detect that the right door D1 and the left door D2 are in the closed state (DA), respectively, and based on this detection signal (a signal indicating that it has been confirmed that the right door D1 and the left door D2 are in the closed state (DA)), the control unit C outputs a signal indicating that the normal delivery process has been completed (normal delivery completion signal).

[0058] In this way, according to the autonomous delivery robot R of this embodiment, the door opening / closing mechanism 7 is switched from the closed state (DA) to the open state (DB), and the lift-down mechanism 4 is operated in a state in which the lift-down movement of the movable basket section 3 by the lift-down mechanism 4 is permitted, and the movable basket section 3 is lifted down to the placement position (3B), thereby moving the placement target baggage Na stored in the luggage compartment 1S to the floor F of the delivery destination. Furthermore, with the autonomous delivery robot R of this embodiment, when the baggage N stored in the movable basket section 3 in the luggage compartment 1S is not a placement target baggage, the evacuation mechanism 6 evacuates the baggage N (non-placement target baggage Nb) to a position that is not affected by the lift-down movement of the movable basket section 3, specifically, the push-up mechanism 6 pushes the baggage N (non-placement target baggage Nb) to a position that is not affected by the lift-down movement of the movable basket section 3, thereby cutting the connection between the non-placement target baggage Nb and the lift-down mechanism 4, and lifting down only the placement target baggage Na with the lift-down movement of the movable basket section 3 by the lift-down mechanism 4, thereby performing placement processing.

[0059] According to the autonomous delivery robot R of this embodiment, the selection / switching of whether to continue the connection state between the package N and the lift-down mechanism 5 or to temporarily disconnect (cut off) the package N can be performed by the retraction mechanism 6 (push-up mechanism 6), and for the package N whose delivery type is not drop-off delivery but normal delivery, the retraction mechanism 6 (push-up mechanism 6) is not operated, and the opening K of the luggage compartment 1S is opened to allow the recipient P of the package N to access the package N, and the package N can be handed over to the recipient P as a normal delivery. In particular, by setting the height position of the movable basket section 3 in the storage position (3A) to a height position around the waist of an average adult or an appropriate height position higher than that, the recipient P of the package can smoothly receive the package without being forced to crouch or bend down. In addition, when performing normal delivery processing, the door D is opened (DB) so as to open only the luggage compartment 1S in which the package Nb to be delivered is stored, so that the recipient P of the package can intuitively recognize the package to be received and can prevent the recipient P from receiving another package by mistake.

[0060] In this way, according to the autonomous delivery robot R of this embodiment, when performing normal delivery processing, the door D is opened (DB) so as to open only the luggage compartment 1S in which the luggage N to be normally delivered is stored, thereby allowing the recipient P of the luggage N to access the luggage N, and when performing a drop-off processing, all the doors D are switched to the open state (DB) to allow the lift-down movement of the movable basket unit 3 by the lift-down mechanism 4. Therefore, even if the order of delivery is changed due to a request to change the delivery time on the way to the first delivery destination with multiple luggage N loaded in the luggage compartment 1S, the original second delivery destination can be changed to the first delivery destination, and the original first delivery destination can be changed to the second delivery destination, and normal delivery or drop-off can be performed at each delivery destination.

[0061] By using the autonomous delivery robot R according to this embodiment, it is possible to deliver packages to multiple destinations in one round of delivery, and it is possible to flexibly combine regular delivery and drop-off delivery. Therefore, it is possible to completely solve the current problems such as an increase in packages, an increase in the burden on delivery drivers, a driver shortage, and a demand for non-contact delivery.

[0062] In addition, the autonomous delivery robot R according to this embodiment is equipped with an outrigger mechanism 5 in which the tip 52 of the ground contact part (ground contact arm 51) contacts the floor F while projecting in a direction in which the movable basket part 3 is lifted down from the storage position (3A) toward the placement position (3B), so that the outrigger mechanism 5 can bear the load of the entire robot R falling in the roll direction when the movable basket part 3 is lifted down by the lift-down mechanism 4, and it is possible to prevent the robot from falling over due to the movement of the center of gravity of the robot accompanying the lift-down movement of the movable basket part 3 by the lift-down mechanism 4. In particular, this embodiment employs an outrigger mechanism 5 configured so that the auxiliary wheels 52 provided at the tip of the ground contact arm 51 contact the floor F, so that a stable ground contact state can be secured that can flexibly respond to unevenness of the floor F by contacting the auxiliary wheels 72 with the floor F, despite the relatively simple configuration.

[0063] In addition, in the autonomous delivery robot R according to this embodiment, the lift-down mechanism 4 is configured to gradually tilt the bottom plate 31 of the movable basket 3 on which the package N is placed in the package carrying-out direction as it approaches the placement position (3B), so that the package N can be moved by sliding under its own weight to a position where the bottom of the package N contacts the floor F as the package N placed at a height position, for example, about 1 m away from the floor F (a height position that an average adult can access without crouching) is lowered to the vicinity of the floor F of the delivery destination. In particular, the autonomous delivery robot R according to this embodiment is provided with rollers 34 that can roll at least in the area of ​​the bottom plate 31 of the movable basket 3 that contacts the package N, so that the package N can be moved smoothly and accurately by sliding on the rollers 34 after the bottom plate 31 starts to tilt.

[0064] The present invention is not limited to the above-mentioned embodiment. For example, in the above-mentioned embodiment, a mechanism (luggage sending mechanism) is adopted in which the bottom plate of the movable basket is gradually tilted by a tilt link mechanism (a tilt link mechanism equipped with a bearing 48 of a parallel link mechanism, a bottom plate tilt lever 49, and a pulling arm 40) during the lift-down process, thereby sending out the luggage to be left at the delivery destination floor. However, a mechanism (luggage sending mechanism) may be adopted in which the bottom plate of the movable basket, which is in a horizontal or approximately horizontal position at the time of completion of the lift-down process, is tilted by an electric motor or an appropriate link mechanism or the like after the lift-down process is completed, thereby sending out the luggage to be left at the delivery destination floor.

[0065] In addition, a mechanism (luggage sending mechanism) for sending out parcels to be left at the delivery destination toward the floor of the delivery destination can be realized by providing an electric transport conveyor or roller conveyor on the bottom plate of the movable basket. The present invention includes both an embodiment in which the luggage sending mechanism is provided as a part of the lift-down mechanism, and an embodiment in which the luggage sending mechanism is provided as a mechanism separate from the lift-down mechanism. In the case where the luggage sending mechanism is a mechanism for automatically sending out parcels to be left at the delivery destination toward the floor of the delivery destination by an electric transport conveyor or the like, it is possible to eliminate the need for the stationary processing of the traveling means (lateral movement (crab walking) processing by the traveling means) mentioned in the above embodiment, and it is also possible to apply a traveling means that does not have a lateral movement function, or to omit the configuration for tilting the bottom plate of the movable basket. In this way, in the autonomous delivery robot according to the present invention, instead of adopting a configuration for tilting the bottom plate of the movable basket when the movable basket is lifted down, a configuration can be adopted in which a separate motor is added to electrically move the parcels on the bottom plate horizontally and carry them out toward the floor of the delivery destination.

[0066] When adopting a configuration in which an electric transport conveyor or roller conveyor is provided on the bottom plate of the movable basket section, by connecting a non-excited brake to the transport conveyor, roller conveyor, etc., it is possible to prevent or suppress situations in which luggage moves within the luggage compartment due to tilting of the robot body or acceleration in each direction while traveling, or collisions with parts (standing plates, partitions, etc.) that divide the luggage storage space in the movable basket section.

[0067] In addition, the number of luggage storage spaces divided by the partitions of the movable basket can be increased to three or more, or the number of luggage storage spaces can be reduced without providing partitions. The number of cam mechanisms and doors can be appropriately increased or decreased according to the number of luggage storage spaces. The partitions may be configured to move together with the movable basket.

[0068] The push-up mechanism can also be configured using a mechanism other than the cam mechanism. For example, the push-up mechanism can be configured using a piston unit that can move in and out in the height direction and a piston drive unit that operates the piston unit between a non-lift-up position (a position where baggage to be delivered and baggage not to be delivered are not lifted up) and a lift-up position (a position where baggage not to be delivered is lifted up). The push-up mechanism can also be configured using a hydraulic lift.

[0069] In the above embodiment, the push-up mechanism is exemplified as the evacuation mechanism in the present invention, but instead of the push-up mechanism, the evacuation mechanism can be realized by a lifting mechanism that lifts non-delivery target parcels to a predetermined evacuation position (a position that is not affected by the movement of the movable basket part by the lift-down mechanism), or a slide mechanism that slides non-delivery target parcels to a predetermined evacuation position. The push-up mechanism, especially the cam mechanism, is advantageous in terms of simplifying the structure while saving space by eliminating the need to secure a dedicated evacuation space in the luggage compartment. In the above embodiment, the processing by the push-up mechanism is called "non-delivery target parcel lift-up processing" and "non-delivery target parcel lift-up return processing", but since these processing are processing by the evacuation mechanism, they can be considered as "non-delivery target parcel evacuation processing" and "non-delivery target parcel evacuation return processing". In the present invention, when configuring an autonomous delivery robot that does not carry multiple parcels or an autonomous delivery robot that carries light parcels, the processing of evacuating the parcels to a predetermined space is not necessary, so the configuration can be configured without the evacuation mechanism.

[0070] The doors that are opened and closed by the door opening / closing mechanism are not limited to double-door type doors, but may also be shutter-type doors, foldable doors, or doors that can be switched to an open state by rotating the door when it is closed around an operating rotation axis provided in a horizontal position at the top end of the door (upper-type doors).

[0071] In the present invention, the lift-down mechanism may be a hydraulic lift that moves the movable basket section up and down between the storage position and the placement position. When the hydraulic lift moves the movable basket section up and down between the storage position and the placement position, an actuator that moves the movable basket section up and down and an actuator that moves the movable basket section in a direction from the luggage compartment toward the outside through the opening are required, and in consideration of the number of parts, it is advantageous to apply the parallel link mechanism described in the above embodiment.

[0072] The robot body in the present invention may be a box-shaped one, and the size of the internal space and the cargo compartment may be changed as appropriate depending on the specifications. The size of the opening that can be opened and closed by the door may also be changed as appropriate. In particular, in the above embodiment, an opening is set only on one side of the robot body, and the opening is opened and closed by the door. However, depending on the size of the internal space and the cargo compartment of the robot body, openings may be set on both sides of the robot body, and each opening may be opened and closed by the door. In this case, if the movable basket part is configured to be movable from the storage position to the placement and delivery position by the lift-down mechanism through each opening, the options for the direction in which the luggage is carried out are increased, which is expected to contribute to the efficiency of the placement and delivery work. In addition, an opening may be set on either or both of the front and back sides of the robot body, and the opening may be opened and closed by the door.

[0073] A camera may be mounted on the robot body or the delivery device to take a photo as evidence that the delivery process has been completed. If the photo is sent to the recipient, the recipient can also know the completion of the delivery process, allowing the recipient to use the delivery system using the autonomous delivery robot according to the present invention with peace of mind.

[0074] By installing a camera on the robot body or on the delivery device and configuring it to take pictures and record images of the cargo compartment and its surrounding areas while driving autonomously or when delivering packages, the delivery company will be able to remotely monitor the condition of packages and watch for theft.

[0075] In addition, the specific specifications (configurations) and locations of the various sensors in the above embodiments can be appropriately selected or changed, and some of the sensors can be omitted. In addition, the autonomous delivery robot according to the present invention can deliver multiple packages to one delivery destination simultaneously or at different times, or deliver them to the delivery destination by regular delivery or drop-off.

[0076] The autonomous delivery robot according to the present invention includes a configuration in which multiple delivery devices are mounted on the robot body, or a configuration in which multiple robot bodies are each equipped with a delivery device. With such a configuration, the number of delivery devices can be increased to accommodate an increase in the number of delivery destinations (an increase in packages to be delivered).

[0077] In addition, in the autonomous delivery robot according to the present invention, the height of the movable basket can be adjusted to match the height of the loading roller conveyor at the loading base or the height of the luggage compartment of the collection and delivery vehicle, so that the loading process of the luggage can be carried out smoothly. Furthermore, the robot can easily automate the collection and loading of luggage at the base.

[0078] Furthermore, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0079] 1S…Luggage compartment 1. Robot body 2. Delivery device 3…Movable cage section 31…Bottom plate part (3A)…Housing position (3B)…Placement location 5...Outrigger mechanism 4. Lift-down mechanism 6...Retraction mechanism (push-up mechanism) 7…Door opening / closing mechanism C…Control unit D(D1,D2)…Door (right door, left door) (DB)…Open state (DA)…Closed state R…Autonomous delivery robot T…Travel means

Claims

1. An autonomous delivery robot including a traveling means capable of autonomous traveling, a box-shaped robot body having a part of its internal space set as a cargo compartment, a delivery device mounted on the robot body, and a control unit that executes at least a delivery process, The placement and delivery device includes: A movable basket portion capable of accommodating luggage; a lift-down mechanism that lifts down the movable basket from a storage position where the entire movable basket is stored in the luggage compartment to a placement position where at least a portion of a bottom plate of the movable basket is in contact with or close to a floor of a delivery destination; a door opening / closing mechanism that switches a door capable of opening and closing an opening of the luggage compartment between an open state that allows the movable basket section to move by the lift-down mechanism and a closed state that closes the luggage compartment so that it cannot be accessed from the outside, This autonomous delivery robot is configured to be able to select between a drop-off process, which is executed by the control unit by activating the lift-down mechanism and the door opening / closing mechanism, and a normal delivery process, which does not activate the lift-down mechanism and allows the user to access packages other than those to be left in the luggage compartment through the open opening.

2. The autonomous delivery robot according to claim 1, further comprising an outrigger mechanism for grounding the tip of the grounding part on the floor while extending the movable basket part in a direction to lift it down from the storage position toward the placement position.

3. The autonomous delivery robot according to claim 1 or 2, wherein the lift-down mechanism gradually tilts the bottom plate portion of the movable basket portion on which the luggage is placed in the luggage removal direction as it approaches the placement position.

4. An autonomous delivery robot as described in any one of claims 1 to 3, further comprising an evacuation mechanism that evacuates a parcel stored in the movable basket section in the cargo area to a position that is not affected by the movement of the movable basket section by the lift-down mechanism when the parcel is not a parcel to be left at rest.

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