Delivery management server, delivery method, program, and mobile object

Abstract

To provide a delivery technology capable of reducing loss caused by delays in deliveries, while controlling traffic in a bottleneck section where congestion of mobile bodies delivering packages occurs.SOLUTION: A delivery management server 32 controls behaviors of a plurality of mobile bodies 20A and 20B, and causes the mobile bodies 20A and 20B to travel autonomously to designated destinations so that the mobile bodies 20A and 20B deliver packages 60A and 60B. When the number of the mobile bodies 20A and 20B gathered in a bottleneck section 42 is greater than the number of mobile bodies capable of passing through the bottleneck section 42 at the same time, the delivery management server 32 preferentially causes the mobile body 20B delivering the package 60B with a higher delivery priority level to pass through the bottleneck section 42.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a technology for delivering parcels to a specified delivery destination by an autonomously driven mobile object. [Background technology]

[0002] Patent Document 1 discloses a technology for delivering parcels to delivery boxes installed in parking lots using an autonomous vehicle.

[0003] The travel route of a mobile object that delivers packages includes places where free movement is not possible due to interference with other mobile objects, such as narrow roads where two-way traffic is not possible, indoor corridors, elevators with a limited number of seats, etc. However, the above-mentioned conventional technology does not consider the behavior that a mobile object should take in such places. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6164599 Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that can reduce disadvantages caused by delivery delays while controlling traffic in bottleneck sections where congestion occurs among mobile objects delivering packages. [Means for solving the problem]

[0006] The present disclosure provides a delivery management server. The delivery management server of the present disclosure is a server connected via a communication network to a plurality of mobile objects that deliver packages to designated delivery destinations by autonomous driving. The delivery management server of the present disclosure includes one or more memories that store a delivery priority for each package being delivered, and one or more processors that control the behavior of the plurality of mobile objects. When the number of mobile objects that have gathered in a bottleneck section is greater than the number of mobile objects that can pass through the bottleneck section at the same time, the one or more processors allow mobile objects that are delivering packages with high delivery priority to pass through the bottleneck section preferentially.

[0007] According to the delivery management server of the present disclosure configured in this manner, by giving priority to mobile vehicles delivering packages with high delivery priority through bottleneck sections, it is possible to organize traffic in the bottleneck sections while reducing disadvantages caused by delivery delays.

[0008] In the delivery management server of the present disclosure, the one or more processors may change the delivery priority according to the residence time of a mobile object in a bottleneck section. This makes it possible to prevent a situation in which a single mobile object remains in a bottleneck section for a long time.

[0009] In the delivery management server of the present disclosure, the one or more processors may change the delivery priority over time depending on the contents of the package being delivered. This can reduce delivery delays of packages whose value depends on the delivery time, for example.

[0010] In the delivery management server of the present disclosure, the one or more processors may change the priority according to the remaining time until the reserved delivery time. This can reduce delays in delivery of packages at the reserved delivery time.

[0011] In the delivery management server of the present disclosure, the one or more processors may change the priority according to the expected stay period of the resident of the delivery destination, so that the package can be delivered within the period during which the resident stays at the delivery destination.

[0012] In the delivery management server of the present disclosure, the one or more processors may change the priority according to the expected return time of the resident of the delivery destination. This allows the package to be delivered according to the time when the resident is expected to return home to the delivery destination.

[0013] In the delivery management server of the present disclosure, the one or more processors may change the priority according to the time elapsed since leaving the delivery origin. This can prevent, for example, a situation in which a package that has been sent a long time ago wastes more time in a bottleneck section.

[0014] In the delivery management server of the present disclosure, the one or more processors may change the priority according to the time elapsed since the delivery addressee's order, which can prevent the resident who ordered the delivery of the package from becoming dissatisfied due to an increase in waiting time.

[0015] In the delivery management server of the present disclosure, when there is no difference in the priority of the packages being delivered among the multiple moving objects gathered in the bottleneck section, the one or more processors may request remote support from an operator to determine the order in which the moving objects pass through the bottleneck section. In this way, the order in which the moving objects pass through the bottleneck section is determined by remote support from the operator, so that it is possible to prevent the moving objects from bunching up in front of the bottleneck section and becoming unable to move.

[0016] The present disclosure also provides a delivery method. The delivery method of the present disclosure is a method of controlling the behavior of a plurality of moving objects by a computer and autonomously driving the moving objects to a specified delivery destination to deliver packages. The delivery method of the present disclosure includes a step of preferentially allowing moving objects delivering packages with high delivery priority to pass through the bottleneck section when the number of moving objects gathered in a bottleneck section is greater than the number of moving objects that can pass through the bottleneck section at the same time.

[0017] The present disclosure also provides a program. The program of the present disclosure causes a computer to control the behavior of multiple mobile objects that deliver packages to specified delivery destinations by autonomous driving. The program of the present disclosure causes the computer to preferentially allow mobile objects delivering packages with high delivery priority to pass through the bottleneck section when the number of mobile objects that have gathered in a bottleneck section is greater than the number of mobile objects that can pass through the bottleneck section at the same time.

[0018] The present disclosure also provides a mobile body. The mobile body of the present disclosure is a mobile body that delivers parcels to a specified delivery destination by autonomous driving. The mobile body of the present disclosure includes a memory that stores the delivery priority of parcels delivered by the mobile body, and a processor that controls the behavior of the mobile body. When the number of mobile bodies including the mobile body that have gathered in a bottleneck section is greater than the number of mobile bodies that can pass through the bottleneck section at the same time, the processor compares the priority of parcels being delivered between the mobile body and other mobile bodies that have gathered in the bottleneck section. Then, after a mobile body that delivers parcels with a higher priority than the mobile body has passed through the bottleneck section, the processor causes the mobile body to pass through the bottleneck section before a mobile body that delivers parcels with a lower priority than the mobile body. Effect of the Invention

[0019] As described above, according to the technology disclosed herein, by allowing mobile vehicles delivering packages with high delivery priority to pass through bottleneck sections preferentially, it is possible to organize traffic in the bottleneck sections while reducing the disadvantages caused by delivery delays. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a configuration diagram of a delivery system according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of a delivery robot. [Diagram 3] FIG. 2 is a block diagram showing an example of a configuration of a delivery management server. [Figure 4] FIG. 2 is a diagram for explaining the operation of parcel delivery by the delivery system according to the first embodiment of the present disclosure. [Diagram 5] FIG. 13 is a diagram showing an example of a table for managing delivery priorities of packages. [Figure 6] FIG. 13 is a diagram showing a specific example of arbitration of the passing order in a bottleneck section by the delivery management server. [Figure 7] FIG. 13 is a diagram showing a specific example of arbitration of the passing order in a bottleneck section by the delivery management server. [Figure 8] A sequence diagram showing the flow of processing between a delivery management server and multiple delivery robots gathered in a bottleneck section in the delivery system according to the first embodiment of the present disclosure. [Figure 9] FIG. 11 is a sequence diagram showing the flow of processing between multiple delivery robots gathered in a bottleneck section in a delivery system according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. However, when the number, quantity, amount, range, etc. of each element is mentioned in the embodiments shown below, the idea of ​​the present disclosure is not limited to the mentioned number unless it is specifically stated or clearly specified in principle. Furthermore, the structures etc. described in the embodiments shown below are not necessarily essential to the idea of ​​the present disclosure unless it is specifically stated or clearly specified in principle.

[0022] 1. First embodiment 1-1. Distribution system configuration FIG. 1 is a configuration diagram of a delivery system according to a first embodiment of the present disclosure. The delivery system 100 is a system that delivers luggage 60 using a delivery robot 20. The delivery robot 20 is a small mobile body capable of autonomous driving. The delivery robot 20 is configured, for example, with a chassis having multiple wheels and a container for storing luggage 60. There is no limitation on the type of luggage 60 delivered by the delivery system 100, as long as it is physically possible for the delivery robot 20 to deliver it and is legally permitted. For example, various products such as daily necessities, food, alcohol, books, electrical appliances, and dishes can be delivered as luggage 60. If the container of the delivery robot 20 has a heat retention function, it is also possible to deliver refrigerated or frozen foods and hot dishes.

[0023] In the delivery system 100, a plurality of delivery robots 20 are operated. All the delivery robots 20 are connected to a delivery management server 32 via a communication network 10 including 4G and 5G. The delivery management server 32 is installed in a monitoring center 30 that monitors the operational status of the delivery robots 20. A plurality of operators 36 are employed in the monitoring center 30. The operators 36 monitor the operational status of the delivery robots 20 on a monitoring terminal 34, and can also operate the monitoring terminal 34 to provide remote support to the delivery robots 20 when necessary.

[0024] 2 is a block diagram showing an example of the configuration of the delivery robot 20. The delivery robot 20 includes a control device 21. The control device 21 is a collection of multiple ECUs (Electronic Control Units) mounted on the delivery robot 20. The delivery robot 20 also includes an external sensor 22, an internal sensor 23, an actuator 24, and a communication device 25. These are connected to the control device 21.

[0025] The control device 21 includes one or more processors 21a (hereinafter simply referred to as processor 21a) and one or more memories 21b (hereinafter simply referred to as memory 21b) coupled to the processor 21a. The memory 21b stores one or more programs 21c (hereinafter simply referred to as program 21c) executable by the processor 21a and various data 21d associated therewith.

[0026] The processor 21a executes the program 21c, thereby realizing various processes by the processor 21a. The program 21c includes, for example, a program for driving the delivery robot 20 autonomously. The data 21d includes, for example, map data used in the autonomous driving. The memory 21b includes a main storage device and an auxiliary storage device. The program 21c can be stored in the main storage device, or can be stored in a computer-readable recording medium that is an auxiliary storage device.

[0027] The external sensor 22 includes a recognition sensor that acquires information for recognizing the situation around the delivery robot 20. The recognition sensor includes a camera that captures images of the surroundings of the delivery robot 20, particularly the area in front of the delivery robot 20. Examples of recognition sensors other than a camera include LiDAR (Laser Imaging Detection and Ranging) and millimeter wave radar. The external sensor 22 also includes a position sensor that detects the position and orientation of the delivery robot 20. Examples of the position sensor include a GPS (Global Positioning System) sensor. The information obtained by the external sensor 22 is transmitted to the control device 21.

[0028] The internal sensor 23 includes a status sensor that acquires information regarding the movement of the delivery robot 20. Examples of the status sensor include a wheel speed sensor, an acceleration sensor, an angular velocity sensor, and a steering angle sensor. The acceleration sensor and the angular velocity sensor may be an IMU. The information obtained by the internal sensor 23 is transmitted to the control device 21. The information obtained by the internal sensor 23 and the information obtained by the external sensor 22 are used as information for autonomous driving.

[0029] The actuator 24 includes a steering device for steering the delivery robot 20, a drive device for driving the delivery robot 20, and a braking device for braking the delivery robot 20. The actuator 24 may be, for example, an electric motor provided for each wheel. In this case, the delivery robot 20 can be steered, driven, and braked by independently controlling the rotation of each wheel. In other words, the electric motor as the actuator 24 may function as a steering device, a drive device, and a braking device. The actuator 24 operates according to a control signal transmitted from the control device 21.

[0030] The communication device 25 is a device that controls wireless communication between the delivery robot 20 and the outside. The communication device 25 communicates with the delivery management server 32 via the communication network 10. Information processed by the control device 21 is transmitted to the delivery management server 32 using the communication device 25. The information transmitted to the delivery management server 32 includes monitoring information for monitoring the operation status of the delivery robot 20. The monitoring information includes information acquired by the external sensor 22 and the internal sensor 23, as well as information (e.g., a target trajectory) obtained by calculation using an autonomous driving program. The information processed by the delivery management server 32 is taken into the control device 21 using the communication device 25. In addition, when vehicle-to-vehicle communication with other delivery robots or road-to-vehicle communication with infrastructure facilities is required, communication with these external devices is also performed by the communication device 25.

[0031] 3 is a block diagram showing an example of the configuration of the delivery management server 32. The delivery management server 32 is installed in the monitoring center 30 together with a monitoring terminal 34 and a communication device 38. The communication device 38 is a device that controls communication with the outside of the monitoring center 30. The communication device 38 mediates communication between the delivery management server 32 and multiple delivery robots 20 via the communication network 10. Information processed by the delivery management server 32 is transmitted to the delivery robot 20 using the communication device 38. Information processed by the delivery robot 20 is taken into the delivery management server 32 using the communication device 38.

[0032] The delivery management server 32 is a single computer or a collection of multiple computers connected via a communication network. The delivery management server 32 includes one or more processors 32a (hereinafter simply referred to as processor 32a) and one or more memories 32b (hereinafter simply referred to as memory 32b) coupled to the processor 32a. The memory 32b stores one or more programs 32c (hereinafter simply referred to as program 32c) executable by the processor 32a and various data 32d related thereto.

[0033] The processor 32a executes the program 32c, thereby realizing various processes by the processor 32a. The program 32c includes an arbitration program for arbitration, which will be described later. The data 32d includes a parcel delivery priority, which will be described later. The memory 32b includes a main storage device and an auxiliary storage device. The program 32c can be stored in the main storage device, or can be stored in a computer-readable recording medium, which is an auxiliary storage device.

[0034] The monitoring terminal 34 includes a display. The display can display the operation status of all delivery robots 20, or the operation status of a specific delivery robot 20. Furthermore, the display can display images captured by a camera of a specific delivery robot 20. The monitoring terminal 34 also includes an input device for remote support of the delivery robot 20 by the operator 36. Specific examples of the input device include a button, a lever, and a touch panel.

[0035] 1-2. Operation of parcel delivery using the delivery system Next, the operation of parcel delivery by the delivery system 100 according to the first embodiment will be described with reference to Fig. 4. The delivery system 100 is a system that uses a delivery robot to deliver parcels to a delivery destination specified by a delivery source. In the example shown in Fig. 4, a delivery center 52, a restaurant 54, and a shop 56 are exemplified as delivery sources. In addition, a dwelling unit 44A on the second floor of an apartment building 40, a dwelling unit 44B on the third floor of the same apartment building 40, and a detached house 48 are exemplified as delivery destinations.

[0036] In the delivery system 100, packages are delivered upon receiving an order from an orderer. An order is placed, for example, on a PC website or a smartphone app, and the order is sent to the delivery management server 32. Information at the time of ordering includes the product ID and quantity of the ordered product, the delivery address, and the orderer's phone number. Furthermore, the order information may include the desired delivery time (reserved delivery time) and the period during which the orderer can receive the product (the planned period during which the orderer will be at the delivery destination). If the orderer is out, the order information may include the planned time of return home. The delivery management server 32 extracts only the information necessary for delivery of the product from the information included in the order from the orderer, and transmits it to the shipper as a delivery instruction.

[0037] In the example shown in FIG. 4, the delivery management server 32 receives an order from a resident 46A of a dwelling unit 44A on the second floor of an apartment building 40, and transmits a delivery instruction to a delivery source that handles the ordered product, which is, in the example shown in FIG. 4, a delivery center 52, to deliver the product to the instructed dwelling unit 44A. At the delivery center 52, the product is entrusted as a package 60A to a delivery robot 20A in charge of delivery. Then, a delivery report is transmitted from the delivery center 52 to the delivery management server 32. The delivery report includes the time when the delivery robot 20A departs from the delivery center 52.

[0038] The delivery robot 20A carrying the package 60A generates a travel route RA from the delivery center 52 to the residence 44A of the apartment building 40, which is the delivery destination, based on the map data stored in the memory 21b. The delivery robot 20A then autonomously drives along the travel route RA while generating a target trajectory to avoid obstacles detected by the recognition sensor. While moving autonomously, the delivery robot 20A continuously transmits monitoring information to the delivery management server 32.

[0039] In the example shown in Fig. 4, parcels 60B and 60C are delivered by delivery robots 20B and 20C during the same time period as delivery robot 20A. In reality, many more delivery robots 20 deliver various parcels 60 during the same time period, but here, delivery robots 20A, 20B, and 20C represent delivery robots 20, and parcels 60A, 60B, and 60C represent parcels 60.

[0040] Delivery robot 20B delivers package 60B ordered by resident 46B of dwelling unit 44B on the third floor of apartment building 40 from restaurant 54 to dwelling unit 44B. Specifically, package 60B delivered from restaurant 54 is delivery of ramen, soba, sushi, pizza, etc. Delivery robot 20C delivers package 60C ordered by resident 46C of detached house 48 from store 56 to dwelling unit 44C. Delivery robots 20B and 20C drive autonomously along driving routes RB and RC, respectively, and continuously transmit monitoring information to delivery management server 32 while moving autonomously.

[0041] Each delivery robot 20A, 20B, 20C generates an optimal driving route RA, RB, RC based on map data. However, since the area on the map where the delivery robots can travel is limited, overlapping of the driving routes will occur naturally. Even if the driving routes overlap, there is no problem if the location is a wide road where multiple delivery robots can pass at the same time. However, problems may occur if the driving routes overlap in a bottleneck section where there is a limit to the number of delivery robots that can pass at the same time.

[0042] In the example shown in FIG. 4, the travel routes RA and RB of the delivery robots 20A and 20B include an elevator 42 in an apartment building 40. The elevator 42 may be a logistics elevator or a dual-purpose elevator for both people and logistics. The number of delivery robots that can ride in the elevator 42 is limited, and waiting time occurs because the delivery robots must wait for the elevator to go back and forth. In other words, the waiting time for the elevator 42 varies greatly depending on the order of boarding, and the elevator 42 corresponds to a bottleneck section. If the delivery robots 20A and 20B arrive at the apartment building 40 at the same time, a problem arises as to which of the delivery robots 20A and 20B will board the elevator 42 first.

[0043] 4, the travel routes RA and RC of the delivery robots 20A and 20C include a narrow road 50. However, the narrow road 50 does not allow two delivery robots to pass through it, so the narrow road 50 is a bottleneck section. If the delivery robots 20A and 20C arrive at one side and the other side of the narrow road 50 at the same time, a problem arises as to which of the delivery robots 20A and 20C will pass through the narrow road 50 first.

[0044] In the delivery system 100, the delivery management server 32 is provided with an arbitration function to solve the above-mentioned problem. The arbitration function is a function in which, when the number of delivery robots 20 gathered at a bottleneck section is greater than the number of delivery robots that can simultaneously pass through the bottleneck section, the delivery management server 32 determines the order in which the delivery robots 20 pass through the bottleneck section. The arbitration of the passing order through the bottleneck section by the delivery management server 32 will be described below.

[0045] 1-3. Arbitration of passing order at bottleneck sections The delivery management server 32, when determining the order in which the delivery robot 20 passes through the bottleneck section, refers to the delivery priority of the package 60 being delivered by the delivery robot 20. The delivery priority is a numerical value indicating the degree to which the package should be given priority in delivery over other packages.

[0046] The memory 32b of the delivery management server 32 stores a table (delivery priority management table) as shown in FIG. 5. In the delivery priority management table, the number of the delivery robot 20 is associated with the delivery priority of the parcel 60 being delivered. The delivery priority is expressed, for example, as an integer from 1 to 10, and the higher the numerical value, the higher the delivery priority. Also, a delivery robot 20 with a delivery priority of zero, which is an invalid value, means that it is not delivering any parcels. The fact that a delivery robot 20 has not delivered any parcels includes, for example, that it has completed delivery of the parcel, that it is on its way to pick up the parcel, and that it is waiting.

[0047] Parameters for determining the delivery priority include, for example, the following (1) to (7).

[0048] (1) Time spent by delivery robots in bottleneck sections For example, the longer a delivery robot 20 remains in a bottleneck section, the higher the delivery priority is set. This makes it possible to prevent a situation in which one delivery robot 20 remains in a bottleneck section for a long time.

[0049] (2) Contents of the package being delivered The delivery priority is determined according to the contents of the package being delivered. For example, the following packages have a high delivery priority: - Items that require temperature control (e.g. refrigerated or frozen items) ·Delivery food and drinks ·· Food that needs to be delivered hot (e.g. pizza, ramen, coffee) Food that needs to be delivered before it starts to melt (e.g. iced coffee, shaved ice) Anything of monetary value (e.g. gold bars, jewellery, cash, securities) -Items with a specified delivery time (e.g. coffee for a meeting, a birthday gift) Furthermore, the value of the following packages among the above packages depends on the delivery time, so it is preferable to increase the delivery priority of these packages over time. Ramen and soba noodles become unpalatable when they become soggy Sushi etc. that becomes unpalatable when its freshness is reduced - Iced coffee, shaved ice, etc. that lose their value once melted On the other hand, examples of packages that do not have a high delivery priority include the following: Items that are not affected by time (e.g. household items such as detergent, magazines, newspapers) Items of low monetary value (e.g. household items such as detergent, magazines, newspapers) In addition, when the parcel is food, the delivery priority may be changed according to the season, or the priority may be changed according to the outside temperature.

[0050] (3) The remaining time until the scheduled delivery time When a package delivery time is reserved, the shorter the remaining time until the reserved delivery time, the higher the delivery priority is set, which makes it possible to prevent the package delivery from being delayed beyond the reserved delivery time.

[0051] (4) The intended length of stay of the recipient When the expected stay period of the resident at the delivery destination can be predicted, for example, the closer the expected arrival time of the delivery robot 20 at the delivery destination is to the beginning of the expected stay period, the lower the delivery priority is, and the closer the expected arrival time is to the end of the expected stay period, the higher the delivery priority is. This allows the package to be delivered within the period the resident will be staying at the delivery destination. The expected stay period may be input by the orderer when placing the order, may be obtained from a schedule on the cloud that the orderer normally uses, or may be learned by AI from the orderer's usual behavioral patterns.

[0052] (5) The expected time the recipient will be home When the expected return time of the resident of the delivery destination can be predicted, the longer the margin time until the expected return time, the lower the delivery priority, and the shorter the margin time, the higher the delivery priority. This allows the package to be delivered according to the time the resident will return to the delivery destination. If the orderer wishes to receive the package at the parking lot when returning home, the expected return time may be the expected time when the car arrives at the parking lot. The expected return time may be input by the orderer when placing the order, or may be obtained from a schedule on the cloud that the orderer normally uses, or may be learned by AI from the orderer's usual behavior pattern. The expected return time may also be estimated based on GPS information from a mobile phone or gate ID passage information (information such as leaving work, passing through the town entrance gate, and the car passing through the parking lot gate).

[0053] (6) The time elapsed since the delivery originated For example, the longer the time that has passed since the delivery robot left the delivery origin, the higher the delivery priority is set. This can prevent a situation in which a package that has been sent a long time ago from wasting time in a bottleneck section.

[0054] (7) Time elapsed since order For example, the longer the time that has passed since the order is placed, the higher the delivery priority is set. This makes it possible to prevent the increase in dissatisfaction of the orderer who has placed the parcel delivery order due to the increase in waiting time. If the time that has passed since the order exceeds a predetermined allowable time, the delivery priority may be increased in accordance with the increase in the elapsed time.

[0055] The delivery management server 32 comprehensively determines the delivery priority based on the above parameters (1) to (7). For example, the delivery management server 32 calculates the delivery priority using the formula shown below. In the following formula 1, X1, X2,...,X7 are the exemplified parameters (1) to (7). Each parameter (1) to (7) is expressed as an integer from 1 to 10, and the larger the value, the higher the delivery priority. Also, c1, c2,...,c7 are weighting coefficients. The more important a parameter is in determining the delivery priority, the larger the weighting coefficient is set. Also, the weighting coefficient is set so that the maximum value of the delivery priority is 10. The value obtained by rounding off the calculation result of the following formula 1 to one decimal place is determined as the delivery priority of the target package. Delivery priority=c1×X1+c2×X2+···+c7×X7···Formula 1

[0056] Next, a specific example of arbitration of the passing order in a bottleneck section by the delivery management server 32 will be described with reference to FIGS.

[0057] FIG. 6A shows an example in which two delivery robots 20A and 20B arrive at the entrance of the elevator 42, which is a bottleneck section, at approximately the same time. Based on the monitoring information transmitted from the delivery robots 20A and 20B, the delivery management server 32 confirms that the delivery robots 20A and 20B are gathering at the entrance of the elevator 42. In this case, the delivery management server 32 determines that it is necessary to adjust the boarding order of the elevator 42, and compares the delivery priorities of the packages 60A and 60B carried by each delivery robot 20A and 20B with reference to the delivery priority management table. Then, based on the comparison result, it instructs each delivery robot 20A and 20B to act.

[0058] As a result of the comparison, it is assumed that the delivery priority of the package 60B is higher than that of the package 60A. In this case, as shown in FIG. 6B, the delivery management server 32 instructs the delivery robot 20A to wait and instructs the delivery robot 20B to board the elevator 42. In other words, the delivery robot 20B is given priority. Then, after the delivery robot 20B uses the elevator 42, the delivery management server 32 instructs the delivery robot 20A to board the elevator 42.

[0059] FIG. 7A shows an example in which the delivery robot 20A arrives at one side of the narrow road 50, which is a bottleneck section, and the delivery robot 20C arrives at the other side of the narrow road 50 at approximately the same time. The delivery management server 32 confirms that the delivery robots 20A and 20C are gathering on either side of the narrow road 50 based on the monitoring information transmitted from the delivery robots 20A and 20C. In this case, the delivery management server 32 determines that it is necessary to adjust the order of passage through the narrow road 50, and compares the delivery priorities of the packages 60A and 60C carried by the delivery robots 20A and 20C with reference to the delivery priority management table. Then, based on the comparison result, it instructs the delivery robots 20A and 20C to act.

[0060] As a result of the comparison, it is assumed that the delivery priority of the package 60C is higher than that of the package 60A. In this case, as shown in FIG. 7B, the delivery management server 32 instructs the delivery robot 20A to wait and instructs the delivery robot 20C to pass through the narrow passage 50. In other words, the delivery robot 20C is given priority. Then, after the delivery robot 20C passes through the narrow passage 50, the delivery management server 32 instructs the delivery robot 20A to pass through the narrow passage 50.

[0061] In addition to the above examples, other bottleneck sections include shafts through which the delivery robots 20A ascend and descend by themselves, and narrow entrances or gates through which multiple delivery robots 20A cannot enter or exit at the same time.

[0062] In addition, there may be cases where there is no difference in the delivery priority of the packages 60 being delivered among the delivery robots 20 gathered in the bottleneck section. In this case, the delivery management server 32 requests the operator 36 for remote support to determine the order in which the delivery robots 20 will pass through the bottleneck section. The operator 36, upon receiving the request for remote support, determines the order in which the delivery robots 20 will pass through the bottleneck section through the remote support. This prevents the delivery robots 20 from clumping together in front of the bottleneck section and becoming unable to move.

[0063] 1-4. Processing flow between the delivery robot and the delivery management server Here, the flow of processing between a plurality of delivery robots assembled in a bottleneck section in the delivery system according to the first embodiment and the delivery management server will be described with reference to Fig. 8. This sequence diagram also shows a delivery method according to the first embodiment of the present disclosure.

[0064] In the example shown in FIG. 8, the delivery management server acquires monitoring information from each of delivery robots A and B. Based on the acquired monitoring information of each of delivery robots A and B, the delivery management server checks the gathering of delivery robots A and B in the bottleneck section. Then, the delivery priority of the packages carried by delivery robots A and B is compared. In the example shown in FIG. 8, it is assumed that the delivery priority of the package carried by delivery robot A is determined to be higher than the delivery priority of the package carried by delivery robot B.

[0065] The delivery management server sends a waiting instruction to delivery robot B and a passing instruction to delivery robot A. Upon receiving the waiting instruction, delivery robot B waits at the location. Meanwhile, delivery robot A, which has received a passing instruction, passes through the bottleneck section.

[0066] The delivery management server confirms that delivery robot A has passed the bottleneck section based on the monitoring information obtained from delivery robot A. The delivery management server sends a passing instruction to delivery robot B. Upon receiving the passing instruction, delivery robot B passes through the bottleneck section.

[0067] As is clear from the above description, the delivery system according to the first embodiment allows delivery robots delivering packages with high delivery priority to pass through bottleneck sections on a priority basis. As a result, traffic in the bottleneck sections can be regulated while reducing disadvantages caused by delivery delays.

[0068] 2. Second embodiment Next, a delivery system according to a second embodiment of the present disclosure will be described. The second embodiment is characterized in that each delivery robot stores the delivery priority of packages in a memory and negotiates with other delivery robots about the order of passage in a bottleneck section. Below, the flow of processing between multiple delivery robots gathered in a bottleneck section in the delivery system according to the second embodiment will be described with reference to FIG. 9.

[0069] In the example shown in Fig. 9, delivery robot A and delivery robot B exchange position information with each other through vehicle-to-vehicle communication. Based on the position information, delivery robot A confirms the presence of other delivery robots B gathered in the bottleneck section, and delivery robot B confirms the presence of other delivery robots A gathered in the bottleneck section. Delivery robot A then transmits the delivery priority of package A being carried by delivery robot A to delivery robot B, and delivery robot B transmits the delivery priority of package B being carried by delivery robot B to delivery robot A.

[0070] The delivery robots A and B compare the delivery priorities of the respective packages A and B. In the example shown in FIG. 9, it is assumed that the delivery priority of the package of the delivery robot A is determined to be higher than the delivery priority of the package of the delivery robot B.

[0071] Delivery robot B waits there because it is determined that the delivery priority of package B is lower than that of package A. Meanwhile, delivery robot A passes through the bottleneck section while delivery robot B is waiting because it is determined that the delivery priority of package A is higher than that of package B.

[0072] Delivery Robot B confirms that Delivery Robot A has passed the bottleneck section based on the position information obtained from Delivery Robot A. After confirming this, Delivery Robot B passes through the bottleneck section.

[0073] As is clear from the above description, the delivery system according to the second embodiment allows delivery robots delivering packages with high delivery priority to pass through bottleneck sections on a priority basis, as in the first embodiment. As a result, traffic in the bottleneck sections can be regulated while reducing disadvantages due to delivery delays.

[0074] 3. Other embodiments When a high-priority item is being delivered, the resident may be notified of this fact, which can encourage the resident who is the recipient of the package to be at home and increase the certainty of the package being delivered.

[0075] In addition, in a building such as an apartment building, where elevators for people and elevators for goods are separate, it is preferable for the delivery robot 20 to use the elevator for goods. However, if the delivery priority of the package 60 carried by the delivery robot 20 is high, the use of the elevator for people may be permitted.

[0076] The delivery robot 20 may have a function of connecting to an operator 36 in an emergency and receiving remote assistance from the operator 36. In this case, the delivery robot 20 delivering a package with a high delivery priority may be given a higher priority for connecting to the operator 36.

[0077] The delivery robot 20 may be provided with a color-variable light, and the color of the light may be changed depending on the priority of the package being delivered. This makes it possible to alert people around the delivery robot 20. [Explanation of symbols]

[0078] 10. Communications Networks 20, 20A, 20B, 20C Delivery robot (mobile body) 21 Control device 21a Processor 21b Memory 30 Monitoring Center 32 Delivery management server 32a processor 32b memory 34 Monitoring terminal 36 Operator 42 Elevator (bottleneck section) 44A, 44B, 44C Delivery destination 46A, 46B, 46C Customer (Resident) 50 Narrow Road (Bottleneck Section) 52,54,56 Shipping source 60, 60A, 60B, 60C Luggage 100 Delivery System RA, RB, RC driving route

Claims

1. A delivery management server connected to a plurality of mobile objects that deliver packages to designated delivery destinations by autonomous driving via a communication network, one or more memories storing a delivery priority for each package being delivered; one or more processors for controlling the behavior of the plurality of moving objects; The one or more processors: When an elevator is included in the travel route to the delivery destination and the number of moving objects gathered at the elevator is greater than the number of moving objects that can be simultaneously accommodated in the elevator, the moving object delivering the package with a high priority is allowed to board the elevator with priority, and the moving object delivering the package with a low priority is allowed to wait until the elevator goes and returns. A delivery management server comprising:

2. In the delivery management server according to claim 1, The one or more processors: The priority is changed according to the residence time of the moving object in the elevator. A delivery management server comprising:

3. In the delivery management server according to claim 1 or 2, The one or more processors: The priority is changed over time according to the contents of the package being delivered. A delivery management server comprising:

4. The delivery management server according to any one of claims 1 to 3, The one or more processors: The priority is changed according to the remaining time until the scheduled delivery time. A delivery management server comprising:

5. The delivery management server according to any one of claims 1 to 4, The one or more processors: The priority is changed according to the expected stay period of the resident of the delivery destination. A delivery management server comprising:

6. The delivery management server according to any one of claims 1 to 5, The one or more processors: The priority is changed according to the expected return time of the resident of the delivery destination. A delivery management server comprising:

7. The delivery management server according to any one of claims 1 to 6, The one or more processors: The priority is changed according to the time elapsed since the delivery origin was left. A delivery management server comprising:

8. The delivery management server according to any one of claims 1 to 7, The one or more processors: The priority is changed according to the time elapsed since the delivery destination resident placed the order. A delivery management server comprising:

9. The delivery management server according to any one of claims 1 to 8, The one or more processors: When there is no difference in the priority of the packages being delivered among the multiple moving objects gathered at the elevator, a remote support is requested from an operator to determine the order in which the packages will board the elevator. A delivery management server comprising:

10. A delivery method in which the actions of a plurality of moving objects are controlled by a computer, and the moving objects are autonomously driven to a designated delivery destination to deliver packages, comprising the steps of: When an elevator is included in the travel route to the delivery destination and the number of moving objects gathered at the elevator is greater than the number of moving objects that can be simultaneously accommodated in the elevator, the moving object delivering the package with a high delivery priority is allowed to board the elevator with priority, and the moving object delivering the package with a low delivery priority is allowed to wait until the elevator goes and returns. A delivery method characterized by:

11. A program for causing a computer to execute control of the behavior of a plurality of moving objects that deliver packages to a specified delivery destination by autonomous driving, When an elevator is included in the travel route to the delivery destination and the number of moving objects gathered at the elevator is greater than the number of moving objects that can be simultaneously accommodated in the elevator, the computer is caused to preferentially accommodate moving objects delivering packages with high delivery priority in the elevator, and to make moving objects delivering packages with low delivery priority wait until the elevator leaves and returns. A program characterized by:

12. A mobile object that delivers luggage to a specified delivery destination by autonomous driving, A memory that stores the delivery priority of packages delivered by the mobile body; A processor for controlling the behavior of the moving object, The processor, When an elevator is included in the travel route to the delivery destination, and the number of moving objects including the moving object gathered at the elevator is greater than the number of moving objects that can be simultaneously accommodated in the elevator, comparing the priorities of packages being delivered with those of other moving objects gathered at the elevator; After a moving body delivering a package with a higher priority than the moving body gets on the elevator, the moving body is made to wait until the elevator goes and returns, and the moving body is made to get on the elevator before a moving body delivering a package with a lower priority than the moving body. A moving object characterized by:

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