Management system, control method, and robot

Abstract

To provide a management system, a control method and a robot for planned delivery when packages are delivered across multiple floors in a building.SOLUTION: A physical distribution system provides distribution services using a distribution robot that delivers packages by autonomous driving. The physical distribution system is equipped with one or more processors. When destinations of packages are located on a plurality of floors in a building, one or more processors perform a priority determination process to determine the order of priority among the plurality of floors. The one or more processors then control the distribution robot to distribute the packages to the plurality of floors in order according to the priority order.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a logistics service that uses a logistics robot that delivers luggage by autonomous driving. [Background technology]

[0002] Patent Document 1 discloses a delivery system that uses an autonomously driving mobile object. The delivery system identifies a delivery box that corresponds to a delivery destination from among multiple delivery boxes. The mobile object performs autonomous driving and delivers the package to the identified delivery box. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6164599 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider a logistics service that uses a logistics robot that delivers packages by autonomous driving. There may be cases where the delivery destinations of packages are distributed across multiple floors of the same building. Patent Document 1 does not consider the delivery method in such a case. Delivering packages to multiple floors without planning is not necessarily the best method, and there is room for improvement.

[0005] One object of the present disclosure is to provide a technology that enables a robot to move across multiple floors in a planned manner. [Means for solving the problem]

[0006] The first aspect relates to a management system that manages robots. The management system comprises one or more processors. The one or more processors acquire floor status information indicating the status of each of a plurality of floors. The one or more processors determine priorities for the multiple floors based on the floor status information. The one or more processors instruct the robot to move through the multiple floors in sequence according to priority.

[0007] The second aspect relates to a control method for controlling a robot by a computer. The control method is acquiring floor status information indicating the status of each of a plurality of floors; determining a priority order for a plurality of floors based on floor status information; Controlling the robot to move through multiple floors in order according to priority Includes.

[0008] The third aspect relates to autonomous robots. The robot comprises one or more processors. The one or more processors acquire information on the priority of a plurality of floors that is determined based on floor status information indicating the status of each of the plurality of floors. The one or more processors perform autonomous driving control to move between multiple floors in order according to priority. Effect of the Invention

[0009] According to the present disclosure, the priority of multiple floors is determined based on floor status information, and the robot moves between the multiple floors in order according to the priority, i.e., the robot does not move between multiple floors unplanned, but can move between multiple floors in a planned manner. [Brief description of the drawings]

[0010] [Figure 1] 1 is a conceptual diagram for explaining a logistics system according to an embodiment of the present disclosure. [Diagram 2] 1 is a conceptual diagram for explaining a logistics system according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a conceptual diagram for explaining delivery of parcels to multiple floors according to an embodiment of the present disclosure. [Figure 4] 1 is a flowchart illustrating an overview of a process performed by a logistics system according to an embodiment of the present disclosure. [Diagram 5] FIG. 2 is a conceptual diagram for explaining a first example of a priority order determination process according to an embodiment of the present disclosure. [Figure 6] FIG. 11 is a conceptual diagram for explaining a second example of a priority order determination process according to an embodiment of the present disclosure. [Figure 7] FIG. 11 is a conceptual diagram for explaining a third example of a priority order determination process according to an embodiment of the present disclosure. [Figure 8] 1 is a block diagram showing a configuration example of a logistics robot according to an embodiment of the present disclosure. [Figure 9] 1 is a block diagram showing an example of various information in a logistics robot according to an embodiment of the present disclosure. [Figure 10] 1 is a block diagram showing a configuration example of a management system according to an embodiment of the present disclosure. [Figure 11] 1 is a block diagram showing an example of various information in a management system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0012] 1. Logistics System 1 and 2 are conceptual diagrams for explaining a logistics system 1 according to this embodiment. The logistics system 1 provides logistics services. A service area 2 is a predetermined area in which the logistics services are provided. For example, the service area 2 is a town such as a smart city. The logistics system 1 includes a plurality of logistics robots 10 and a management system 100.

[0013] The logistics robot 10 is a robot that is mainly used to deliver luggage. This logistics robot 10 is configured to be capable of autonomous travel, and travels autonomously from a departure point to a destination point. For example, the departure point is a luggage collection point (e.g., a logistics center), and the destination point is a delivery destination of the luggage (e.g., a user's residence). As another example, the departure point is a delivery destination of one luggage, and the destination point is a delivery destination of another luggage. As yet another example, the departure point is a delivery destination of the last luggage, and the destination point is a luggage collection point.

[0014] The type of logistics robot 10 is not limited to one. Multiple types of logistics robots 10 may be used. For example, as shown in Fig. 2, a small logistics robot 10-1, a medium logistics robot 10-2, a large logistics robot 10-3, etc. may be used.

[0015] The management system 100 manages logistics services and manages and controls the logistics robot 10. The management system 100 is, for example, a management server. The management system 100 may be a distributed processing system.

[0016] The management system 100 is capable of communicating with each logistics robot 10, and collects information on the location and status from each logistics robot 10. The management system 100 also receives delivery requests from users of the logistics service. In response to the delivery request, the management system 100 assigns a logistics robot 10 to perform the delivery, and determines a delivery route along which the logistics robot 10 will deliver the package. The management system 100 then notifies the logistics robot 10 of the determined delivery route, and instructs the logistics robot 10 to deliver the package according to the delivery route. The logistics robot 10 autonomously travels according to the notified delivery route, and delivers the package.

[0017] 2. Delivery of goods to multiple floors 3 is a conceptual diagram for explaining a case where delivery destinations of packages are distributed across multiple floors of the same building 3. Examples of the building 3 include an apartment building, an office building, and the like.

[0018] According to this embodiment, when the delivery destinations of packages are distributed across multiple floors of the building 3, a priority order among the multiple floors is determined. The entity that determines the priority order may be the management system 100 or the logistics robot 10. Then, the logistics robot 10 delivers the packages to the multiple floors of the building 3 in order according to the determined priority order.

[0019] For example, the management system 100 determines the priority order. The "reference information REF" described in detail later is used to determine the priority order. The management system 100 acquires the reference information REF and determines the priority order among the multiple floors based on the reference information REF. The priority order information PRI indicates the determined priority order. The management system 100 provides the priority order information PRI to the logistics robot 10 and instructs the logistics robot 10 to deliver packages to the multiple floors in order according to the priority order. Issuing instructions to the logistics robot 10 is included in controlling the logistics robot 10. The logistics robot 10 moves through the multiple floors of the building 3 in order and delivers the packages in order according to the priority order indicated by the priority order information PRI.

[0020] As another example, the logistics robot 10 determines the priority order. The logistics robot 10 acquires the reference information REF by itself, or acquires the reference information REF from the management system 100. The logistics robot 10 determines the priority order among the multiple floors based on the reference information REF, and generates priority order information PRI. Then, the logistics robot 10 moves through the multiple floors of the building 3 in order, and delivers the packages in order, according to the priority order indicated by the priority order information PRI.

[0021] 4 is a flowchart outlining the processing performed by the logistics system 1 according to the present embodiment. In particular, FIG. 4 shows the processing related to the delivery of packages to multiple floors of the building 3.

[0022] In step S100, the logistics system 1 executes a "priority determination process." Specifically, the logistics system 1 (the management system 100 or the logistics robot 10) determines the priority order among a plurality of floors based on the reference information REF, and obtains the priority order information PRI.

[0023] In step S200, the logistics system 1 executes a "logistics robot control process." Specifically, the logistics system 1 (the management system 100 or the logistics robot 10) controls the logistics robot 10 to deliver packages to multiple floors in order according to the priority order indicated by the priority order information PRI. Note that controlling the logistics robot 10 also includes the management system 100 issuing instructions to the logistics robot 10.

[0024] As described above, according to this embodiment, when the delivery destinations of parcels are distributed across multiple floors of building 3, the priorities among the multiple floors are determined. Parcels are not delivered haphazardly, but are delivered in a planned manner according to the determined priorities. This allows efficient parcel delivery.

[0025] Various examples of the "priority determination process" according to this embodiment will be described below.

[0026] 2-1. First Example FIG. 5 is a conceptual diagram for explaining a first example of the priority order determination process. A sensor 5 is installed on each floor of a building 3. The sensor 5 recognizes the status of the passage on each floor. The passage here is a passage used not only by the logistics robot 10 but also by people and other robots. The sensor 5 includes, for example, a camera that captures the status of the passage on each floor to obtain image information. The floor status information FLS is the recognition result by the sensor 5, that is, information (e.g., image information) indicating the status of the passage on each floor. The sensor 5 is capable of communicating with the management system 100, and transmits the floor status information FLS to the management system 100.

[0027] The management system 100 acquires (collects) floor status information FLS from each sensor 5. In the first example, the floor status information FLS is used as reference information REF to perform the priority order determination process.

[0028] More specifically, the management system 100 calculates the congestion degree of the passage of each floor based on the floor status information FLS of each floor. The congestion degree here indicates how crowded the passage is with moving objects. Examples of moving objects include people, robots (including other logistics robots 10), etc. The congestion degree may be the total number of moving objects present in the passage, or the density of the moving objects. For example, when the floor status information FLS includes image information showing the state of the passage, the congestion degree can be calculated by analyzing the image information and identifying the moving objects. Also, when it is recognized that a door facing the passage has been opened, an increase or decrease in the number of moving objects is predicted, so that the congestion degree may be corrected. In other words, the congestion degree may be a current value or a predicted value for the near future.

[0029] The management system 100 determines the priority of each floor according to the degree of congestion. Specifically, the management system 100 sets a lower priority as the degree of congestion increases, and sets a higher priority as the degree of congestion decreases. As an example, the two floors FA and FB shown in FIG. 5 are compared. The degree of congestion of the floor FA is lower than the degree of congestion of the floor FB. Therefore, the management system 100 sets the priority of the floor FA higher than the priority of the floor FB.

[0030] The same applies when the logistics robot 10 performs the priority order determination process. The management system 100 communicates with the logistics robot 10 and transmits floor status information FLS to the logistics robot 10. The logistics robot 10 calculates the congestion level of the aisles on each floor based on the floor status information FLS of each floor. Then, the logistics robot 10 determines the priority order of each floor according to the congestion level.

[0031] As described above, according to the first example, the lower the congestion level of a floor, the higher the priority. Therefore, the logistics robot 10 delivers luggage to a floor with a lower congestion level first. The logistics robot 10 can move smoothly through uncrowded passages. In addition, in an uncrowded passage, the risk of contact between the logistics robot 10 and other moving objects is significantly reduced. Furthermore, while the logistics robot 10 is delivering luggage to a floor with a lower congestion level, it is expected that congestion on a highly congested floor will be alleviated. In this way, the delivery efficiency when delivering luggage to multiple floors of the building 3 is improved, and safety is also improved.

[0032] 2-2. Second Example 6 is a conceptual diagram for explaining a second example of the priority order determination process. In the second example, the floor status information FLS is also used as the reference information REF to perform the priority order determination process. Explanations that overlap with the first example will be omitted as appropriate.

[0033] In the second example, children, people with disabilities, pets, and the like are considered. It is considered that when an adult notices the presence of the logistics robot 10, the adult tries to avoid contact with the logistics robot 10. However, compared to adults, children have a lower ability to recognize their surroundings and may have difficulty noticing the presence of the logistics robot 10. People with disabilities are burdened with avoiding the logistics robot 10. Pets may not recognize the logistics robot 10 as an object to be avoided.

[0034] From the above viewpoint, the management system 100 determines the priority of each floor in consideration of the number of "specific targets" such as children, people with disabilities, and pets. Specifically, the management system 100 identifies specific targets present on each floor based on the floor status information FLS. For example, when the floor status information FLS includes image information showing the status of the passage, the specific targets can be identified by analyzing the image information. The management system 100 sets a lower priority as the number of specific targets increases, and sets a higher priority as the number of specific targets decreases. As an example, two floors FA and FB shown in FIG. 6 are compared. There are more specific targets on the floor FB than on the floor FA. Therefore, the management system 100 sets the priority of the floor FA higher than the priority of the floor FB.

[0035] The same applies when the logistics robot 10 performs the priority determination process. The management system 100 communicates with the logistics robot 10 and transmits floor status information FLS to the logistics robot 10. The logistics robot 10 identifies specific targets based on the floor status information FLS of each floor. Then, the logistics robot 10 determines the priority of each floor in consideration of the number of specific targets.

[0036] As described above, according to the second example, the floor with fewer specific targets has a higher priority. Therefore, the logistics robot 10 delivers luggage to floors with fewer specific targets first. The logistics robot 10 can move smoothly through passages with fewer specific targets. In addition, in passages with fewer specific targets, the risk of contact between the logistics robot 10 and the specific targets is significantly reduced. Furthermore, while the logistics robot 10 is delivering luggage to a floor with fewer specific targets, it is expected that the specific targets will move from floors with more specific targets. In this way, the delivery efficiency when delivering luggage to multiple floors of the building 3 is improved, and safety is also improved.

[0037] 2-3.Third Example FIG. 7 is a conceptual diagram for explaining a third example of the priority order determination process. In the third example, the physical amount of luggage delivered to each floor is taken into consideration. The physical amount of luggage is at least one of weight and volume. The luggage information PKG indicates at least one of the weight and volume of each luggage. The luggage information PKG is used as reference information REF to perform the priority order determination process.

[0038] More specifically, when allocating package delivery to a logistics robot 10, the management system 100 acquires package information PKG related to the package that the logistics robot 10 is responsible for. The package information PKG indicates the delivery destination of each package in association with its physical quantity (weight, volume). Based on the package information PKG, the management system 100 calculates the total weight or total volume of the packages to be delivered to each floor of the building 3. Then, the management system 100 determines the priority order of each floor according to the calculated total weight or total volume.

[0039] For example, the management system 100 determines the priority of each floor according to the total weight of packages delivered to each floor. Specifically, the management system 100 sets a higher priority as the total weight increases and sets a lower priority as the total weight decreases. As an example, the two floors FA and FB shown in FIG. 7 are compared. The total weight of packages delivered to the floor FA is greater than the total weight of packages delivered to the floor FB. Therefore, the management system 100 sets the priority of the floor FA higher than the priority of the floor FB.

[0040] As an example, the management system 100 determines the priority of each floor according to the total volume of packages delivered to each floor. Specifically, the management system 100 sets a higher priority as the total volume increases, and sets a lower priority as the total volume decreases. As an example, the two floors FA and FB shown in FIG. 7 are compared. The total volume of packages delivered to the floor FA is greater than the total volume of packages delivered to the floor FB. Therefore, the management system 100 sets the priority of the floor FA higher than the priority of the floor FB.

[0041] The same applies when the logistics robot 10 performs the priority order determination process. The logistics robot 10 assigned to deliver a package acquires the package information PKG from the management system 100 and delivers the package in accordance with the package information PKG. The logistics robot 10 calculates the total weight or total volume of the packages to be delivered to each floor of the building 3 based on the package information PKG. Then, the logistics robot 10 determines the priority order of each floor according to the calculated total weight or total volume.

[0042] As described above, according to the third example, the higher the priority is given to a floor with a larger total weight or volume of delivered luggage. For example, when a floor with a larger total weight has a higher priority, the logistics robot 10 will unload heavy luggage first. When heavy luggage is unloaded, the logistics robot 10 becomes lighter, improving energy efficiency. As another example, when a floor with a larger total volume has a higher priority, the logistics robot 10 will unload large luggage first. When large luggage is unloaded, a large vacant space is generated. By utilizing the large vacant space, it is possible to more efficiently collect luggage at the same time as delivering the luggage.

[0043] 2-4. Fourth Example A combination of two or more of the above examples is also possible. In other words, it is also possible to perform the priority determination process by considering two or more of a plurality of parameters such as the congestion level, the number of specific targets, the total weight, and the total volume. For example, a score is calculated by combining each parameter. The higher the score, the higher the priority is set.

[0044] 3. Logistics robots 3-1. Configuration example 8 is a block diagram showing an example of the configuration of the logistics robot 10 according to the present embodiment. The logistics robot 10 includes a sensor group 20, a communication device 30, a traveling unit 40, a storage unit 50, and a control device 60.

[0045] The sensor group 20 includes a position sensor, a status sensor, a recognition sensor, and the like. The position sensor acquires the position and orientation of the logistics robot 10. An example of the position sensor is a Global Navigation Satellite System (GNSS) receiver. The status sensor detects the status of the logistics robot 10. Examples of the status of the logistics robot 10 include wheel speed, speed, acceleration (forward / backward acceleration, lateral acceleration, etc.), angular velocity (yaw rate, etc.), payload, remaining battery level, and fault state. The recognition sensor recognizes the situation around the logistics robot 10. Examples of the recognition sensor include a camera, a LIDAR (Light Detection And Ranging), a radar, and a sonar.

[0046] The communication device 30 communicates with the outside of the logistics robot 10. For example, the communication device 30 communicates with the management system 100 through a wireless communication network such as 4G or 5G. The communication device 30 may be connected to a wireless LAN. The communication device 30 may perform short-range communication with other nearby logistics robots 10. Examples of a method for short-range communication include infrared communication and Bluetooth (registered trademark).

[0047] The traveling unit 40 accelerates, decelerates, and turns the logistics robot 10. For example, the traveling unit 40 includes wheels, an electric motor that drives the wheels, a drive circuit that drives the electric motor, a battery that supplies power, and the like. The logistics robot 10 accelerates and decelerates by controlling the electric motor. Braking may be performed using regenerative braking controlled by the electric motor. In addition, any wheel may be provided with a mechanical brake. The logistics robot 10 can turn by controlling the difference in rotation speed between the left and right wheels (motors). A steering mechanism that steers the wheels may be provided. A specific wheel may be an omniwheel.

[0048] The storage unit 50 stores luggage. For example, the storage unit 50 includes a storage box, an actuator for automatically opening and closing the lid of the storage box, an actuator for changing the position and orientation of the storage box, an arm for removing luggage from the storage box, and the like.

[0049] The control device 60 controls the logistics robot 10. For example, the control device 60 includes a traveling unit control device 70 that controls the traveling unit 40, and a storage unit control device 80 that controls the storage unit 50. The traveling unit control device 70 and the storage unit control device 80 are connected to each other so as to be able to communicate with each other, and perform processing in cooperation with each other.

[0050] The traveling unit control device 70 includes one or more processors 71 (hereinafter simply referred to as "processor 71") that perform various processes, and one or more storage devices 72 (hereinafter simply referred to as "storage devices 72") that store various information. For example, the processor 71 includes a CPU (Central Processing Unit). The storage device 72 is, for example, a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like. The processor 71 executes a computer program to realize the functions of the traveling unit control device 70. The computer program may be recorded on a computer-readable recording medium.

[0051] The storage unit control device 80 includes one or more processors 81 (hereinafter simply referred to as "processor 81") that perform various processes, and one or more storage devices 82 (hereinafter simply referred to as "storage devices 82") that store various information. For example, the processor 81 includes a CPU. The storage device 82 is, for example, a volatile memory, a non-volatile memory, a HDD, an SSD, etc. The functions of the storage unit control device 80 are realized by the processor 81 executing a computer program. The computer program may be recorded on a computer-readable recording medium.

[0052] 3-2. Examples of various information 9 is a block diagram showing an example of various information in the logistics robot 10. The various information is stored in the storage device 72 and the storage device .

[0053] The service area information MAP indicates the configuration of the service area 2 (see FIG. 1) in which the logistics service is provided. For example, the service area information MAP includes a three-dimensional road map, a building layout, a floor layout in the building, a room layout on each floor, an elevator layout in the building, and the like. The service area information MAP is provided, for example, from the management system 100. The control device 60 acquires the service area information MAP from the management system 100 via the communication device 30.

[0054] The operation information OPE indicates the position and status of the logistics robot 10. The position of the logistics robot 10 is obtained by a position sensor of the sensor group 20. The control device 60 may obtain highly accurate position information by a well-known self-position estimation process (Localization). The status of the logistics robot 10 is detected by a status sensor of the sensor group 20. Examples of the status of the logistics robot 10 include wheel speed, speed, acceleration (longitudinal acceleration, lateral acceleration, etc.), angular velocity (yaw rate, etc.), payload, remaining battery power, failure state, etc. The control device 60 obtains the operation information OPE from the sensor group 20.

[0055] The surrounding situation information SUR indicates the situation around the logistics robot 10. The surrounding situation information SUR is obtained from the recognition results by the recognition sensors of the sensor group 20. For example, the surrounding situation information SUR includes an image (video) captured by a camera. The surrounding situation information SUR may include object information related to objects around the logistics robot 10. Examples of objects around the logistics robot 10 include pedestrians, mobility (vehicles and robots), signs, white lines, roadside structures, buildings, etc. The object information indicates the relative position and relative speed of the object with respect to the logistics robot 10.

[0056] The delivery information DLV is information related to parcel delivery. For example, the delivery information DLV includes route information RTE and parcel information PKG. The route information RTE indicates the delivery route traveled by the logistics robot 10. The parcel information PKG indicates the delivery destination of each parcel. As described above, the parcel information PKG may indicate the delivery destination of each parcel in association with its physical quantity (weight, volume). The delivery information DLV is generated by the management system 100. The control device 60 acquires the delivery information DLV from the management system 100 via the communication device 30.

[0057] The floor status information FLS indicates the status of the corridors on each floor of the building 3. The floor status information FLS is provided by the management system 100. The control device 60 acquires the floor status information FLS from the management system 100 via the communication device 30.

[0058] The priority order information PRI indicates the priority order among multiple floors when delivering packages to multiple floors of the building 3. When the priority order information PRI is generated by the management system 100, the control device 60 acquires the priority order information PRI from the management system 100 via the communication device 30. Alternatively, the control device 60 of the logistics robot 10 may generate the priority order information PRI.

[0059] 3-3.Shipping process The traveling unit control device 70 (processor 71) performs traveling control (acceleration control, deceleration control, and turning control) by controlling the traveling unit 40. The speed, acceleration, and angular velocity of the logistics robot 10 are obtained from operation information OPE. The traveling unit control device 70 may perform traveling control based on surrounding situation information SUR so as to avoid collisions between the logistics robot 10 and objects around it.

[0060] In particular, the traveling unit control device 70 (processor 71) performs autonomous traveling control so that the logistics robot 10 travels toward the destination. More specifically, the traveling unit control device 70 performs autonomous traveling control so that the logistics robot 10 travels along the delivery route based on the service area information MAP, the operation information OPE (position information), and the delivery information DLV (route information RTE).

[0061] When the logistics robot 10 arrives at the delivery destination of the package, the storage unit control device 80 (processor 81) controls the storage unit 50 to unload the package. For example, the storage unit control device 80 automatically opens and closes the lid of the storage box, changes the position and orientation of the storage box, and removes the package from the storage box. Similarly, the storage unit control device 80 may control the storage unit 50 to collect the package.

[0062] The process when the delivery destinations of packages are distributed across multiple floors of the same building 3 is as follows.

[0063] For example, the traveling unit control device 70 communicates with the management system 100 via the communication device 30 and requests the management system 100 to provide priority order information PRI. The timing of the request is preferably when the logistics robot 10 arrives at the building 3 or immediately before that. In response to the request, the management system 100 performs a priority order determination process and generates priority order information PRI (FIG. 4, step S100). The traveling unit control device 70 acquires the priority order information PRI from the management system 100 via the communication device 30. Then, the traveling unit control device 70 performs autonomous traveling control so that the logistics robot 10 delivers luggage to multiple floors in order according to the priorities indicated by the priority order information PRI (FIG. 4, step S200).

[0064] As another example, the traveling unit control device 70 communicates with the management system 100 via the communication device 30 and requests the management system 100 to provide floor status information FLS. The timing of the request is preferably when the logistics robot 10 arrives at the building 3 or immediately before that. In response to the request, the management system 100 provides the floor status information FLS to the logistics robot 10. The traveling unit control device 70 acquires the floor status information FLS from the management system 100 via the communication device 30. Next, the traveling unit control device 70 performs a priority determination process using the floor status information FLS as reference information REF to generate priority information PRI (FIG. 4, step S100). Then, the traveling unit control device 70 performs autonomous traveling control so that the logistics robot 10 delivers luggage to multiple floors in order according to the priority indicated by the priority information PRI (FIG. 4, step S200).

[0065] As yet another example, the traveling unit control device 70 has already acquired the luggage information PKG. The traveling unit control device 70 performs a priority determination process using the luggage information PKG as reference information REF, and generates priority order information PRI (FIG. 4, step S100). Then, the traveling unit control device 70 performs autonomous traveling control so that the logistics robot 10 delivers luggage to multiple floors in order according to the priority indicated by the priority order information PRI (FIG. 4, step S200).

[0066] 4.Management System 4-1. Configuration example 10 is a block diagram showing a configuration example of a management system 100 according to the present embodiment. The management system 100 is, for example, a management server. The management system 100 may be a distributed processing system. The management system 100 includes an input / output device 110, a communication device 120, an information processing device 130, and a database 160.

[0067] The input / output device 110 is an interface for receiving information from an operator of the management system 100 and for providing information to the operator. Examples of the input device include a keyboard, a mouse, a touch panel, a switch, etc. Examples of the output device include a display device, a speaker, etc. The operator can use the input / output device 110 to monitor the status of the logistics service.

[0068] The communication device 120 communicates with the outside. For example, the communication device 120 communicates with each logistics robot 10 through a wireless communication network such as 4G or 5G. The communication device 120 may be connected to a wireless LAN. The communication device 120 also communicates with a sensor 5 that recognizes the status of the floor of the building 3. The communication device 120 may also communicate with a user terminal (e.g., a PC, a tablet, or a smartphone).

[0069] The information processing device 130 includes one or more processors 140 (hereinafter simply referred to as "processor 140") and one or more storage devices 150 (hereinafter simply referred to as "storage device 150"). The processor 140 performs various information processing. For example, the processor 140 includes a CPU. The storage device 150 stores various information required for processing by the processor 140. Examples of the storage device 150 include a volatile memory, a non-volatile memory, a HDD, and an SSD. The functions of the information processing device 130 are realized by the processor 140 executing a computer program. The computer program is stored in the storage device 150. The computer program may be recorded in a computer-readable recording medium. The computer program may be provided via a network.

[0070] Furthermore, the information processing device 130 can access a database 160. The database 160 is realized by a predetermined storage device. The database 160 may be included in the storage device 150. The database 160 holds various information necessary for providing logistics services. The information processing device 130 reads out necessary information from the database 160 and stores it in the storage device 150.

[0071] 4-2. Examples of various information 11 is a block diagram showing an example of various information in the management system 100. The various information is stored in the storage device 150 and the database 160.

[0072] The service area information MAP indicates the configuration of the service area 2 (see FIG. 1) in which the logistics service is provided. For example, the service area information MAP includes a three-dimensional road map, building layout, floor layout within the building, room layout on each floor, elevator layout in the building, etc. The service area information MAP is created in advance. The service area information MAP may be updated at regular intervals.

[0073] The logistics robot information RBT is information related to the logistics robot 10, and is generated for each logistics robot 10. For example, the logistics robot information RBT includes operation information OPE and delivery information DLV.

[0074] The operation information OPE indicates the position and state of the logistics robot 10. The processor 140 communicates with each logistics robot 10 via the communication device 120, and periodically acquires the operation information OPE from each logistics robot 10.

[0075] The delivery information DLV is information related to parcel delivery. For example, the delivery information DLV includes route information RTE and parcel information PKG. The route information RTE indicates the delivery route along which the logistics robot 10 travels. The parcel information PKG indicates the delivery destination of each parcel. As described above, the parcel information PKG may indicate the delivery destination of each parcel in association with its physical quantity (weight, volume).

[0076] The logistics robot information RBT may further include performance information indicating the performance of the logistics robot 10. For example, the performance information includes the size, luggage storage capacity, maximum payload, battery capacity, maximum travel distance, maximum movement speed, etc. of the logistics robot 10. The performance information is created in advance.

[0077] The floor status information FLS indicates the status of the corridors on each floor of the building 3. The floor status information FLS is obtained by the sensors 5 installed on each floor of the building 3 (see FIGS. 5 and 6). The processor 140 communicates with each sensor 5 via the communication device 120 and obtains the floor status information FLS from each sensor 5.

[0078] The priority information PRI indicates the priority among multiple floors when delivering packages to multiple floors of building 3.

[0079] 4-3.Shipping process The processor 140 receives a delivery request from a user of the logistics service. More specifically, the processor 140 receives a delivery request from a user terminal via the communication device 120. The delivery request includes a desired delivery location, a desired delivery date, a desired delivery time, and the like.

[0080] In response to the delivery request, the processor 140 assigns a logistics robot 10 to perform the delivery. More specifically, the processor 140 selects a logistics robot 10 that can reach the desired delivery location at the desired delivery time on the desired delivery date, based on the service area information MAP, operation information OPE, and performance information. Furthermore, the processor 140 determines an appropriate delivery route based on the service area information MAP and the desired delivery location (delivery destination), and generates route information RTE. The processor 140 also generates package information PKG regarding the package to be delivered.

[0081] In this way, in response to a delivery request from a user, the processor 140 assigns a logistics robot 10 to perform the delivery, and generates delivery information DLV for the logistics robot 10. The processor 140 communicates with the logistics robot 10 via the communication device 120, provides the delivery information DLV to the logistics robot 10, and instructs the logistics robot 10 to perform delivery processing in accordance with the delivery information DLV. In other words, the processor 140 controls the logistics robot 10 by providing the delivery information DLV to the logistics robot 10. The logistics robot 10 performs autonomous driving control based on the delivery information DLV and delivers the package.

[0082] The process when the delivery destinations of packages are distributed across multiple floors of the same building 3 is as follows.

[0083] For example, the logistics robot 10 requests the management system 100 to provide priority order information PRI. The processor 140 receives the request from the logistics robot 10 via the communication device 120. In response to the request, the processor 140 performs a priority order determination process and generates the priority order information PRI (FIG. 4, step S100). In this priority order determination process, the floor status information FLS or the baggage information PKG is used as reference information REF (see Section 2). The processor 140 communicates with the logistics robot 10 via the communication device 120 and provides the priority order information PRI to the logistics robot 10. The processor 140 instructs the logistics robot 10 to deliver the baggage to multiple floors in order according to the priority order information PRI (FIG. 4, step S200).

[0084] As another example, the logistics robot 10 requests the management system 100 to provide floor status information FLS. The processor 140 receives the request from the logistics robot 10 via the communication device 120. In response to the request, the processor 140 provides the floor status information FLS to the logistics robot 10. The logistics robot 10 performs a priority order determination process using the floor status information FLS as reference information REF (FIG. 4, step S100). Then, the logistics robot 10 performs a logistics robot control process based on the priority order information PRI (FIG. 4, step S200). [Explanation of symbols]

[0085] 1. Logistics System 2 Service Area 5 Sensors 10 Logistics Robot 20 Sensor Group 30 Communication Equipment 40 Traveling Unit 50 Storage Unit 60 Control device 70 Travel unit control device 80 Storage unit control device 100 Management Systems 110 I / O Devices 120 Communication Equipment 130 Information processing equipment 140 processors 150 Storage device 160 Databases DLV Shipping Information FLS Floor Status Information MAP Service area information OPE Operation Information PKG Baggage Information PRI Priority Information RBT Logistics Robot Information REF Reference information RTE Route Information SUR Surrounding Area Information

Claims

1. A management system for managing a robot, comprising: One or more processors; The one or more processors: Acquire floor status information indicating the status of each of a plurality of floors; determining a priority order for the plurality of floors based on the floor status information; Instructing the robot to move through the plurality of floors in sequence according to the priority order. Management system.

2. The management system according to claim 1, The floor status information includes images showing the status of each of the plurality of floors, the images being captured by cameras installed on each of the plurality of floors. Management system.

3. The management system according to claim 1 or 2, The one or more processors: Calculating a congestion degree of each of the plurality of floors based on the floor status information; The priority order is determined based on the degree of congestion. Management system.

4. The management system according to claim 3, The one or more processors set the priority of the floor with a low degree of congestion higher than the priority of the floor with a high degree of congestion. Management system.

5. The management system according to claim 3, The congestion degree is a degree of congestion of people. Management system.

6. The management system according to claim 3, The congestion degree is a congestion degree of a robot other than the robot. Management system.

7. A management system according to claim 1 or 2, The specific object includes at least one of a child, a person with a disability, and a pet; The one or more processors: Identifying the specific object present on each of the plurality of floors based on the floor status information; The priority order of a floor having a small number of specific targets is set higher than the priority order of a floor having a large number of specific targets. Management system.

8. A control method for controlling a robot by a computer, comprising: acquiring floor status information indicating the status of each of a plurality of floors; determining a priority order for the plurality of floors based on the floor status information; controlling the robot to move through the plurality of floors in sequence according to the priority order; Includes Control methods.

9. An autonomously moving robot, One or more processors; The one or more processors: acquiring information on the priority order of the plurality of floors, which is determined based on floor status information indicating the status of each of the plurality of floors; The autonomous driving control is performed so that the vehicle moves through the plurality of floors in order according to the priority order. robot.

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