Goods collection and distribution system, goods collection and distribution center device, and goods collection and distribution management method

Abstract

To improve the reliability of collection and delivery of goods performed by entering a building.SOLUTION: A collection and delivery system has: a mobility which autonomously moves to deliver a good to a collection and delivery place in a building; a collection and delivery center device which holds specification information indicating the specifications of the mobility and manages the delivery of the good by the mobility; and an in-building delivery management system which holds building information related to the building and supports the movement of the mobility in the building. The collection and delivery center device and the in-building delivery management system cooperate with each other to determine the mobility which is to deliver the good to the collection and delivery place in the building. The collection and delivery center device instructs the mobility to deliver the good to the collection and delivery place. The mobility carries out the delivery of the good to the collection and delivery place in accordance with the instruction provided from the collection and delivery center device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a technology for realizing the collection and delivery of articles carried out when entering a building.

Background Art

[0002] Patent Document 1 discloses a technology that enables the delivery of articles to prior arrivals in a building by an article transport robot.

[0003] The article transport system of Patent Document 1 includes a self-propelled pallet capable of transporting articles to the residence of a prior arrival and a guiding robot capable of traveling inside a building. The guiding robot includes a BIM data storage unit, a confirmation unit, a route creation unit (route acquisition unit), and an instruction unit. The BIM data storage unit can store internal structure data of the building where the guiding robot is located. The confirmation unit inquires the self-propelled pallet waiting at the entrance of the building where it is registered about the destination information. When the prior arrival included in the destination information is included in the users of the building where it is registered, the route creation unit acquires a route from its own position to the residence of the prior arrival based on the internal structure data of the building where it is registered. The instruction unit instructs the self-propelled pallet to execute a following operation with the guiding robot as the leader. The guiding robot includes a camera and a LiDAR (Light Detection and Ranging) unit, and acquires information on the surrounding environment for use in autonomous driving control.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Since the technology disclosed in Patent Document 1 is such that a guiding robot guides a self-propelled pallet waiting at the entrance of a building to the residence of the person who has arrived first in the building, it is not known whether the self-propelled pallet can reach the residence of the person who has arrived first in the building until the self-propelled pallet arrives at the entrance of the building. Therefore, it is not always possible to surely deliver goods to the residence of the person who has arrived first in the building.

[0006] One object of the present disclosure is to provide a technology for improving the certainty of goods collection and delivery performed when entering a building.

Means for Solving the Problems

[0007] A collection and delivery system according to one aspect of the present disclosure includes a plurality of mobile devices that autonomously move to deliver goods to a collection and delivery location in a building and / or receive goods at the collection and delivery location, a collection and delivery center device that holds specification information representing the specifications of each of the mobile devices and manages the delivery and / or receipt of goods by the mobile devices, and a building movement support device that holds building information that is information related to movement in the building and supports the movement of the mobile devices in the building. The collection and delivery center device and the building movement support device cooperate to determine a mobile device that delivers goods to a collection and delivery location in the building and / or receives goods at the collection and delivery location. The collection and delivery center device instructs the determined mobile device to deliver goods to the collection and delivery location and / or receive goods at the collection and delivery location, and the mobile device performs the delivery of goods to the collection and delivery location and / or the receipt of goods at the collection and delivery location according to the instruction from the collection and delivery center device.

Effects of the Invention

[0008] According to one aspect of the present disclosure, the certainty of goods collection and delivery can be improved.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

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Figure 12

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] (First Embodiment) FIG. 1 is a block configuration diagram of the distribution system in the first embodiment.

[0012] As shown in FIG. 1, the collection and distribution system in this form is configured such that a plurality of mobilities 102, a collection and distribution center device 103, and an in-building delivery management system 101 can be connected via a network 104.

[0013] A mobility 102, which is an example of a mobile device, autonomously travels from the delivery start point where the mobility 102 is currently located to a building having a collection and distribution location, i.e., a building, according to an instruction from the collection and distribution center device 103, and further autonomously travels inside the building using building information about the building obtained from the in-building delivery management system 101. Thereby, the mobility 102 autonomously moves according to an instruction from the collection and distribution center device 103 to deliver goods to the collection and distribution location inside the building or pick up goods at the collection and distribution location. The mobility 102 is an unmanned mobile body that can move by carrying goods on roads, sidewalks, and inside buildings, and examples thereof include unmanned vehicles, robots, drones, and the like.

[0014] Each of the plurality of mobilities 102 has a transmission / reception unit 119, a management unit 120, a self-information storage unit 121, a building information storage unit 122, an indoor integration unit 123, an outdoor integration unit 124, a sensor group 125, a wide-area map 129, a GPS (Global Positioning System) 130, an integrated specification switching unit 131, and an autonomous driving program 132.

[0015] The transmission / reception unit 119 communicates with the collection and distribution center device 103 and the in-building delivery management system 101 via the network 104.

[0016] The management unit 120 receives information transmitted from the collection and distribution center device 103 and the building internal distribution management system 101 via the transceiver unit 119, and transmits to the building internal distribution management system 101, via the transceiver unit 119, the fact that it has arrived at the building which is the building having the collection and distribution location of the article or that the collection and distribution of the article has been completed. Also, the management unit 120 passes the specification information representing its own specifications stored in the self-information storage unit 121 and its own position information detected by the GPS 130 to the autonomous driving program 132. Further, the management unit 120 stores the building information regarding the building received via the transceiver unit 119 in the building information storage unit 122.

[0017] The sensor group 125 includes a camera 126, a TOF (Time Of Flight) 127, and a LiDAR (Light Detection and Ranging) 128, and acquires environmental information around the mobility 102.

[0018] The indoor integration unit 123 integrates the building information regarding the building stored in the building information storage unit 122 and the environmental information acquired by the sensor group 125, and generates movement information within the building having the collection and distribution location.

[0019] The outdoor integration unit 124 integrates the wide-area map 129 and the environmental information acquired by the sensor group 125, and generates movement information to the building having the collection and distribution location.

[0020] The integrated specification switching unit 131 passes either the movement information generated by the indoor integration unit 123 or the movement information generated by the outdoor integration unit 124 to the autonomous driving program 132 based on the position information of the mobility 102 detected by the GPS 130.

[0021] The autonomous driving program 132 is a program for automatically driving the mobility 102 unmanned.

[0022] The consolidation center device 103 holds specification information representing the specifications of each of the plurality of mobilities 102, manages the delivery and receipt of articles by the mobility 102, and in cooperation with the in-building delivery management system 101, determines the mobility 102 that delivers articles to or receives articles from the consolidation location, and instructs the determined mobility 102 to deliver articles to the consolidation location or receive articles at the consolidation location.

[0023] The consolidation center device 103 includes a transmission / reception unit 133, a delivery management unit 134, a delivery route search unit 135, an in-jurisdiction map storage unit 136, and an affiliated mobility information storage unit 137.

[0024] The transmission / reception unit 133 communicates with the mobility 102 and the in-building delivery management system 101 via the network 104.

[0025] In response to a delivery request received via the transmission / reception unit 133, the delivery management unit 134 refers to the specification information of the mobility 102 stored in the affiliated mobility information storage unit 137, and selects candidates for the mobility 102 that delivers articles to the consolidation location or receives articles at the consolidation location. The delivery management unit 134 designates to the in-building delivery management system 101 the candidates for the mobility 102 and the consolidation partner destination that is the delivery destination or receipt source of the articles, and inquires via the transmission / reception unit 133 whether the mobility 102 can move to the partner consolidation location that is the consolidation location of the consolidation partner destination within the building. At this time, the delivery management unit 134 notifies the in-building delivery management system 101 of the specification information of the selected candidate for the mobility 102 among the specification information of the mobility 102 stored in the affiliated mobility information storage unit 137. And if the determination result determined by the in-building delivery management system 101 for this inquiry is that the queried mobility 102 can move to the partner consolidation location, based on the constraint information acquired from the in-building delivery management system 101, the delivery management unit 134 instructs the mobility 102 to deliver articles to the consolidation location or receive articles at the consolidation location via the transmission / reception unit 133, or revises the delivery plan.

[0026] The delivery route search unit 135 refers to the map information stored in the in - jurisdiction map storage unit 136, and searches for a delivery route to a building having a counter - party collection and delivery location in response to a delivery request received via the transmission - reception unit 133.

[0027] The in - building delivery management system 101 is an in - building movement support device that holds building information, which is information regarding movement within a building, and supports the movement of the mobility 102 within the building. The in - building delivery management system 101 acquires the specification information of the mobility 102 notified from the collection and distribution center device 103, and presents constraint information for the mobility 102 thereto.

[0028] The in - building delivery management system 101 includes a transmission - reception unit 105, a management unit 106, a determination unit 107, a customer list 108, a destination determination unit 109, a destination list 110, a route search simulator 111, an in - building map 112, a sensor group 113, an integration unit 116, a constraint extraction unit 117, and a presentation unit 118.

[0029] The transmission - reception unit 105 communicates with the mobility 102 and the collection and distribution center device 103 via the network 104.

[0030] The management unit 106 transfers information regarding the collection and distribution center device 103 among the information received via the transmission - reception unit 105 to the determination unit 107, and transfers information regarding the collection and delivery location and the building (building) having the same, and the specification information of the mobility 102 notified from the collection and distribution center device 103 to the destination determination unit 109.

[0031] The determination unit 107 compares the information regarding the collection and distribution center device 103 transferred from the management unit 106 with the customer list 108, determines whether the collection and distribution center device 103 is reliable, and returns the result to the management unit 106.

[0032] If the distribution center device 103 is reliable, the destination determination unit 109 compares the distribution location and the building (structure) having the same with the destination list 110, acquires the floor information within the building (structure), and transfers the result and the specification information of the mobility 102 notified from the distribution center device 103 to the route search simulator 111.

[0033] The in-building map 112 is building information consisting of three-dimensional building data or two-dimensional building data, and includes in-building map information showing a map within the building (structure) such as rooms, people, and paths along which mobility can move, and path profile information showing the profile of the paths within the building (structure). The path profile information includes information such as the surface shape and steps of the passage portion, and manages movement means information including elevators from the building entrance to each room, step information, passage width information for each height, and access authority.

[0034] The sensor group 113 is installed within the building and has a camera 114 and a TOF 115, and observes the state of the paths within the building and acquires the observation results.

[0035] The integration unit 116 integrates the in-building map 112 and the observation results acquired by the sensor group 113, and transfers the spatial data of the building to the route search simulator 111.

[0036] The route search simulator 111 refers to the spatial data transferred from the integration unit 116 and searches for a route from the entrance of the building to the destination collection and distribution location specified by the floor information transferred from the destination determination unit 109. Specifically, the route search simulator 111 searches for a route from the entrance of the building to the destination collection and distribution location based on the building interior map information included in the spatial data transferred from the integration unit 116. For the obtained route, based on the specification information of the mobility 102 notified from the destination determination unit 109 and the route profile information included in the spatial data transferred from the integration unit 116, it simulates the movement of the mobility 102 to the destination collection and distribution location. Also, the route search simulator 111 continuously obtains the observation results acquired by the sensor group 113. When it receives via the transceiver 105 that the mobility 102 has arrived at the entrance of the building, based on the specification information of the mobility 102 notified from the destination determination unit 109, the route profile information included in the spatial data transferred from the integration unit 116, and the observation results obtained from the sensor group 113, it simulates the movement of the mobility 102 to the destination collection and distribution location.

[0037] The constraint extraction unit 117 extracts and provides the load capacity, passage width, gate height, etc. that the mobility 102 is restricted by during movement as a result of the simulation in the route search simulator 111.

[0038] The prompting unit 118 determines, based on the simulation result in the route search simulator 111, whether the mobility 102 can move to the destination distribution location, and responds to the distribution center device 103 via the transmission / reception unit 105 with the determination result. Specifically, when the mobility 102 can move to the destination distribution location, the prompting unit 118 notifies the distribution center device 103 to that effect. Also, when the mobility 102 cannot move to the destination distribution location, the prompting unit 118 notifies the distribution center device 103, and if necessary, the distribution center device 103 may use a different mobility 102 to perform the delivery. When the prompting unit 118 determines that the mobility 102 can move to the destination distribution location, it sends, via the transmission / reception unit 105, route guidance information indicating the route from the entrance of the building to the destination distribution location to the mobility 102 to permit entry into the building.

[0039] Note that the in-building delivery management system 101 and the distribution center device 103 can also be configured by a computer. By describing the processing of each part of the in-building delivery management system 101 or the distribution center device 103 in a software program and causing the computer to execute the software program, the in-building delivery management system 101 or the distribution center device 103 can be realized.

[0040] The operation of the distribution system configured as described above will be described below. In the following description, an example is given in which the mobility 102 delivers an article to a distribution location within the building, but the description is also applicable to a case where the mobility 102 receives an article at a distribution location within the building.

[0041] First, the process of searching for a route within the building in the in-building delivery management system 101 shown in FIG. 1 will be described.

[0042] FIG. 2 is a diagram for explaining the process of searching for a route within the building in the in-building delivery management system 101 shown in FIG. 1. In the figure, (a) is a diagram showing the data integrated by the integration unit 116. (b) is a diagram showing an image of the route searched by the route search simulator 111 from the perspective of the mobility.

[0043] As an example of the static data of a building, there is BIM (Building Information Modeling), which is designed before the construction of the building and registered as the internal floor plan 112. On the other hand, in the sensor group 113, changes inside the building, such as the presence or absence of static installations and the entry or movement of people, are observed as dynamic data of the building using, for example, cameras 114, TOF 115, LiDAR, etc., installed at various locations inside the building. In the integration unit 116, these static data and dynamic data of the building are integrated.

[0044] As shown in (a) of FIG. 2, the BIM data 201 registered as the internal floor plan 112 and the three-dimensional data obtained by sensing the sensing target 203 by the sensor 202 constituting the sensor group 113 are integrated by the integration unit 116, and the space data 204 of the building in which the sensor 205, the sensing target 206, and the elevator 207 are arranged is generated. In the figure, the sensing target 206 is a flower pot, but it may also be other cases than the installed flower pot, or it may be a person, or it may be a delivery mobility. In this way, the building information includes at least one of the BIM of the building and the three-dimensional data of the building.

[0045] The sensor 202 is a device for detecting an object within the sensing range of the building, such as a camera, LiDAR, or TOF sensor, and observes and detects a sensing target 203 such as a static object like a flower pot or a person.

[0046] The integration unit 116 integrates the BIM data 201 and the detection data acquired by sensing by the sensor 202 into one expression space, and generates space data 204 showing a virtual space that reproduces the so-called site.

[0047] When the path search simulator 111 receives the spatial data 204 generated by the integration unit 116, it visualizes the virtual space in which the scene inside the building is reproduced for the path along which the mobility 102 moves inside the building (the building), simulates the movement of people and mobility inside the virtual space, the scenery and appearance from the viewpoints of people and mobility, visualizes the information inside the building, and generates a simulation result visualization example 208. In (b) of FIG. 2, as a simulation result visualization example 208, an image of the path and the sensing target 210 existing thereon seen from inside the elevator 209 is shown.

[0048] FIG. 3 is a diagram for explaining the result of simulating whether or not the mobility 102 can move to the destination distribution location of the article in the simulation result visualization example 208 shown in FIG. 2.

[0049] The movement path of the mobility 102 in the simulation result visualization example 208 shown in FIG. 2 is calculated using the specification information of the mobility 102 based on the idea that the optimal path differs depending on the width, height, and operating performance of the mobility 102.

[0050] As shown in (a) to (e) in FIG. 3, assuming that the room A on the xth floor of the building (the building) is designated as the destination distribution location of the article, as shown in (a) in FIG. 3, for the first floor of the building, the path 304 from the entrance 301 through the side of the reception counter 30 to the elevator 302 is shown.

[0051] Also, on the xth floor where the destination distribution location of the article is located, as shown in (b) in FIG. 3, the shortest path 306 from the elevator 302 to the destination distribution location 305 of the room A is shown.

[0052] Also, as shown in (c) in FIG. 3, an alternative path 307 is shown when the shortest path 306 from the elevator 302 on the xth floor to the destination distribution location 305 of the room A cannot be selected.

[0053] Also, as shown in (d) of FIG. 3, a path 309 to an alternative delivery destination collection location 308 is shown when the mobility 102 cannot move from the elevator 302 on the xth floor to the delivery destination collection location 305 of Room A.

[0054] Also, as shown in (e) of FIG. 3, a path 311 from the entrance 301 to an alternative delivery collection location 310 on the first floor is shown when the mobility 102 cannot move to the xth floor where there is a delivery destination collection location for articles.

[0055] The paths 304, 306, 307, 309, and 311 shown in (a) to (e) of FIG. 3 may be presented as a visualization screen for instructing path search to an operator or a delivery robot that becomes the mobility 102 equipped with a camera, or may be transmitted as data to the delivery robot.

[0056] Next, the processing in the delivery center device 103, the in-building delivery management system 101, and the mobility 102 of the delivery system shown in FIG. 1 will be described.

[0057] FIG. 4 is a flowchart for explaining an example of the processing in the delivery center device 103 of the delivery system shown in FIG. 1.

[0058] When the delivery center device 103 confirms the presence or absence of a delivery request from a customer or a delivery backbone center and accepts the delivery request (step S401), first, in the delivery management unit 134, the contents of a certain number of packages to be delivered are totaled (step S402). Then, referring to the affiliated mobility information storage unit 137, candidates for the mobility to deliver the packages to the delivery destination are selected based on the totaled contents (step S403).

[0059] FIG. 5 is a diagram showing an example of the specification information of the mobility 102 stored in the affiliated mobility information storage unit 137 shown in FIG. 1.

[0060] As shown in FIG. 5, the mobility information storage unit 137 stores specification information regarding the shape and running performance of mobility that is necessary for the route search simulation using the in-facility model. Specifically, for the mobility 102, name, model number, left and right width, height, front and rear length, weight, running speed, achievable gradient, achievable step, turning radius of curvature, water resistance, presence or absence of in-vehicle sensors, autonomous driving level, etc. are stored, but it suffices to include one or more of these. Also, the types / characteristics of the in-vehicle sensor group and the autonomous driving level for realizing a higher level of autonomous driving may also be managed. Furthermore, if the mobility 102 is an off-the-shelf product, it may be managed by the product model number. Also, when the mobility 102 is a drone, there are items not required in FIG. 5, such as the maximum achievable slope and maximum step, but it is important that there are items contributing to the determination of whether it can move or not, and it is not limited to these.

[0061] In the delivery management unit 134, the current position of each of the plurality of mobilities 102 is managed, and using this information, candidates for the mobility to deliver the goods to the collection and distribution location are selected.

[0062] Also, in the delivery route search unit 135, referring to the jurisdiction map storage unit 136, a delivery route from the current position of the mobility 102 selected as a candidate in step S403 to the building (structure) having the goods collection and distribution location is searched (step S404).

[0063] Next, in the delivery management unit 134, it is determined whether the mobility 102 selected as a candidate in step S403 can reach the building (structure) having the goods collection and distribution location without restriction or within the time limit by moving along the movement route searched in step S404 (step S405).

[0064] And, when it is determined that the mobility 102 selected as a candidate in step S403 can reach the building having the goods collection and distribution location without problems by moving along the movement route searched in step S404, the delivery management unit 134 notifies the in-building delivery management system 101, via the transmission / reception unit 133, that there is a delivery item which is the goods, and the specification information of the mobility 102 that delivers the delivery item (step S406). At this time, information that can identify the collection and distribution center device 103 is also notified to the in-building delivery management system 101. Since the specification information of the mobility 102 is registered in the affiliated mobility information storage unit 137 as described above, the delivery management unit 134 can extract the specification information of the corresponding mobility from the affiliated mobility information storage unit 137 and notify the in-building delivery management system 101.

[0065] Thereafter, as will be described later, in the in-building delivery management system 101, it is determined whether the notified mobility can move within the building, and in order to respond to the collection and distribution center device 103 with the determination result, this response will be received by the transmission / reception unit 133 (step S407).

[0066] And, when the response received from the in-building delivery management system 101 indicates that the mobility 102 can move within the building, in the delivery management unit 134, the mobility notified to the in-building delivery management system 101 in step S406 is finally determined as the mobility that delivers the delivery item (step S408), and an instruction to deliver the delivery item is given to the determined mobility 102 (step S409). This instruction includes information necessary for delivery, for example, the goods collection and distribution location and the route information from the waiting location where the mobility 102 is currently located to the building having the collection and distribution location.

[0067] On the other hand, if the response received from the in-building delivery management system 101 indicates that the mobility device 102 cannot move within the building, the process returns to step S403 to reselect a candidate mobility device to deliver the package to the collection and delivery location, and the subsequent search for the delivery route and the like is also carried out again in the same manner as described above, and the loop continues until a notification is received in step S407 indicating that the mobility device 102 can move within the building.

[0068] In this way, since the in-building delivery management system 101 having the building information determines whether movement is possible within the building, it is possible to determine whether movement is possible through detailed calculations.

[0069] FIG. 6 is a flowchart for explaining an example of the process in the in-building delivery management system 101 of the collection and delivery system shown in FIG. 1.

[0070] In the in-building delivery management system 101, it is confirmed whether there is a delivery notification from the collection and delivery center device 103 (step S501). When the specification information of the delivery item and the mobility device 102 for delivering the delivery item, which are transmitted from the collection and delivery center device 103 in step S406 of FIG. 4, are received via the transmission / reception unit 105 (step S502), first, in the determination unit 107, the information about the collection and delivery center device 103 received from the collection and delivery center device 103 is compared with the customer list 108 to determine whether the collection and delivery center device 103 is reliable, and the result is returned to the management unit 106.

[0071] If the collection and delivery center device 103 is reliable, next, in the destination determination unit 109, the collection and delivery location and the building (building) having the same are compared with the destination list 110 to obtain the floor information within the building (building), and the room or area within the premises of the building serving as the collection and delivery location is specified (step S503).

[0072] FIG. 7 is a diagram showing an example of the destination list 110 shown in FIG. 1.

[0073] As shown in FIG. 7, the destination list 110 stores information about customers living in the building managed by the in-building delivery management system 101. Therefore, the destination determination unit 109 can identify a room or area inside the building that is the collection and delivery location by referring to the destination list 110.

[0074] Next, in the route search simulator 111, the room or area that is the collection and delivery location identified in step S503 is set, and for the mobility route from the building entrance to the collection and delivery location, based on the specification information of the mobility 102 notified from the destination determination unit 109 and the route profile information included in the space data transferred from the integration unit 116, the movement of the mobility 102 to the counterparty collection and delivery location is simulated (step S504). Note that the route search simulator 111 also has a passage model inside the building and performs route search based on the specification information of the mobility received from the collection and delivery center device 103 in step S502.

[0075] Then, in the presentation unit 118, based on the result of the in-building route simulation in step S504, it is determined whether the mobility 102 can move to the destination or area that is the counterparty collection and delivery location (step S505). If the movement is possible, a message to that effect is transmitted to the collection and delivery center device 103 via the transceiver 105 (step S506). At this time, the in-building delivery management system 101 also provides the weight capacity, passage width, gate height, etc. that the mobility 102 is restricted by, extracted by the constraint extraction unit 117. Note that the collection and delivery location may be determined by referring to a schedule management system such as the building access management system, or it may be determined whether to permit movement inside the building using the presence / absence information of the delivery target person. Thus, when there is a notification of absence, the in-building delivery management system 101 can set the destination to an alternative location, such as a delivery location beside the reception desk on the first floor.

[0076] If the movement is impossible, a message to that effect is transmitted to the collection and delivery center device 103 via the transceiver 105 (step S507).

[0077] In this way, since it is determined by simulation whether the mobility 102 can move to the collection and distribution location within the building, it is possible to make a determination with high accuracy.

[0078] After that, when the in-building delivery management system 101 receives a message indicating that the mobility 102 has arrived at the building (building) having the collection and distribution location from the mobility 102 (step S508), in the route search simulator 111, based on the specification information of the mobility 102 notified from the destination determination unit 109, the route profile information included in the space data transferred from the integration unit 116, and the observation results acquired from the sensor group 113, the movement of the mobility 102 to the partner collection and distribution location is simulated (step S509). In this way, in step S509, it is carried out based on the latest information in the building, that is, the observation results acquired from the sensor group 113.

[0079] Then, in the presentation unit 118, based on the result of the in-building route simulation in step S509, it is determined whether the mobility 102 can move to the destination, or area that is the partner collection and distribution location (step S510). If the movement is possible, a message to that effect is transmitted to the mobility 102 via the transmission / reception unit 105 (step S511). At that time, information necessary for the mobility 102 to move within the building, such as a map and route information, is provided to the mobility 102.

[0080] After that, when the transmission / reception unit 105 receives the delivery completion report transmitted from the mobility 102 (step S512), the management unit 106 recognizes the end of the collection and distribution, notifies the mobility 102 of the permission to leave the building, and a series of processes ends (step S513).

[0081] Also, if movement is impossible, instead of entering the building, for example, instruct to place the item beside the building entrance (step S514). If the movement of the mobility 102 was impossible in step S505, it will be notified to the collection and delivery center device 103 to that effect in step S507. However, if it is premised on or allows placing the item, the processes of steps S504 and S505 may be skipped.

[0082] In this way, when the mobility 102 arrives at the building, by using the observation results of the sensors to perform the route simulation inside the building again, it becomes possible to further improve the certainty of the collection and delivery of items.

[0083] FIG. 8 is a flowchart for explaining an example of the processing in the mobility 102 of the collection and delivery system shown in FIG. 1.

[0084] The mobility 102 waits in a state of waiting for a delivery instruction from the collection and delivery center device 103. When the instruction transmitted from the collection and delivery center device 103 in step S409 of FIG. 4 is received by the transmission / reception unit 119 (step S601), in the management unit 120, the collection and delivery location included in the received instruction is set, and the load to be actually carried is loaded (step S602).

[0085] After that, in the management unit 120, the set collection and delivery information and the own position information detected by the GPS 130 are passed to the autonomous driving program 132. Using the movement information to the building generated by integrating the wide-area map 129 and the environmental information acquired by the sensor group 125 by the autonomous driving program 132 in the outdoor integration unit 124, the mobility 102 moves to the entrance of the building having the set collection and delivery location (step S603).

[0086] When the mobility 102 arrives at the building having the collection and delivery location, the management unit 120 notifies the building internal delivery management system 101 that it has arrived at the building having the collection and delivery location and applies for permission to enter the building (step S604).

[0087] Once the mobility device 102 receives the permission to enter the building from the in-building delivery management system 101 (step S605), it applies to the in-building delivery management system 101 for permission to move to the room that will serve as the collection and delivery location, and receives the response via the transceiver 119 (step S606).

[0088] On the other hand, if the permission to enter the building is not received, normal delivery services such as leaving the package or returning it to the delivery center are carried out (step S607).

[0089] In response to the application for permission to move to the room that will serve as the collection and delivery location, in the in-building delivery management system 101, the processes in steps S508 to S511 shown in FIG. 6 are performed, and at step S511, the mobility device 102 obtains information necessary for the mobility device 102 to move inside the building, such as a map and route information about the collection and delivery location, sent from the in-building delivery management system 101, and a movement permit indicating that it is possible to move inside the building (step S608). Note that the movement permit is used when security gates are installed on the routes inside the building.

[0090] Then, the mobility device 102 stores information necessary for the mobility device 102 to move inside the building, such as a map and route information about the collection and delivery location, in the building information storage unit 122, and uses the movement information generated by integrating the building information about the building stored in the building information storage unit 122 and the environmental information obtained by the sensor group 125 in the indoor integration unit 123 by the autonomous driving program 132 to move inside the building and perform unloading when it arrives at the collection and delivery location (step S609).

[0091] On the other hand, if permission to move to the room serving as the collection and delivery location cannot be obtained, the building interior delivery management system 101 acquires route information from a designated location in the building to the designated location (step S610), and uses the movement information generated by integrating the route information acquired from the building interior delivery management system 101 and the environmental information acquired by the sensor group 125 in the indoor integrated unit 123 to move inside the building. When arriving at the designated location, unloading is performed (step S611).

[0092] After finishing unloading, the mobility 102 sends a delivery completion report to the building interior delivery management system 101 (step S612), returns to the entrance of the building by the autonomous driving program 132, and prepares for departure (step S613).

[0093] Also, the mobility 102 deletes data such as the movement information acquired from the building interior delivery management system 101 and stored in the building information storage unit 122 from a security perspective (step S614).

[0094] After receiving the departure permission sent from the building interior delivery management system 101 in step S513 shown in FIG. 6 (step S615), it moves to the base in the collection and delivery center device 103 (step S616)

[0095] On the other hand, if the building interior delivery management system 101 notifies that departure is not possible, it contacts the collection and delivery center device 103 to inquire about subsequent countermeasures (step S617).

[0096] This embodiment is premised on the mobility being of a type and shape that can move inside and outside the building in the area of delivery and the like, and aims to efficiently and quickly realize movement while cooperating not only with the in-vehicle self-owned sensors and information but also with the building where the goods are collected and delivered. In that case, the processes in steps S606, S608, S614, and S615 described above are considered important.

[0097] According to this embodiment, it becomes possible to safely deliver goods.

[0098] (Second Embodiment) In the above-described first embodiment, after the mobility 102 arrives at the building having the collection and distribution location, an example was given of moving to the collection and distribution location using information such as the in-building route information transmitted from the in-building distribution management system 101. However, since the in-building distribution management system 101 can move within the building (building), the condition information required for the mobility 102 is sent as building information to the collection and distribution center device 103, and the collection and distribution center device 103 determines whether the mobility 102 can move to the collection and distribution location of the goods based on the specification information of the mobility 102 and this building information. It is also conceivable. Thereby, it is possible to avoid re-planning of the delivery plan such as simplifying the work process of the mobility 102 and re-delivery at the site, and the collection and distribution center device 103 can easily determine whether the mobility 102 can move within the building. The embodiment will be described below.

[0099] FIG. 9 is a flowchart for explaining an example of the processing in the collection and distribution center device 103 of the collection and distribution system shown in FIG. 1, and shows the processing in the collection and distribution center device 103 when the collection and distribution center device 103 and the in-building distribution management system 101 cooperate before the mobility 102 delivers goods.

[0100] The collection and distribution center device 103 checks whether there is a delivery request from a customer or a delivery backbone center, and when it receives a delivery request (step S901), first, it totals the contents of a certain number of packages to be delivered (step S902), and notifies the in-building distribution management system 101 in advance that there is a delivery item for the building to be managed and its collection and distribution location (step S903).

[0101] Thereafter, the condition information regarding the mobility 102 for delivering the delivery item to the collection and distribution location is acquired from the in-building distribution management system 101 (step S904).

[0102] FIG. 10 is a diagram showing an example of condition information regarding mobility 102 notified from the building in - building delivery management system 101 to the collection and distribution center device 103 shown in FIG. 1.

[0103] As shown in FIG. 10, the condition information regarding mobility 102 notified from the building in - building delivery management system 101 to the collection and distribution center device 103 shown in FIG. 1 includes the left - right width, height, front - rear length, maximum weight including the load, speed, maximum slope that can be traveled, maximum step, maximum gap, and minimum radius of curvature of the mobility, and those that contribute to whether it can travel inside the building. Note that the gap is, for example, related to the elevator, and can be imagined as the length of the space between the floor and the so - called cage car carrying the delivered goods. In this embodiment, it is important that information contributing to whether it can travel inside the building is shared between the collection and distribution center device 103 and the building in - building delivery management system 101 to determine the mobility 102, and it is not limited to the items listed here as long as the purpose can be achieved.

[0104] Based on the condition information regarding mobility 102 notified from the building in - building delivery management system 101, the specification information of mobility 102 stored in the affiliated mobility information storage unit 137, and the aggregated content tabulated in step S902, the collection and distribution center device 103 selects candidates for the mobility to deliver the goods to the collection and distribution location (step S905).

[0105] Also, the collection and distribution center device 103 refers to the jurisdiction - area map storage unit 136 and searches for a delivery route from the current position of the mobility 102 selected as a candidate in step S905 to the building (building) having the collection and distribution location of the articles (step S906). Also, in this embodiment, using the condition information regarding mobility 102 notified from the building in - building delivery management system 101, the movement route of mobility 102 inside the building is searched.

[0106] Next, the collection and distribution center device 103 determines whether the mobility 102 selected as a candidate in step S905 can reach the building (structure) having the goods collection and distribution location without restriction by moving along the movement route searched in step S906 and can move within the building without restriction (step S907).

[0107] And, when it is determined that the mobility 102 selected as a candidate in step S905 can reach the building (structure) having the goods collection and distribution location without problem by moving along the movement route searched in step S906 and can reach the collection and distribution location within the building, the collection and distribution center device 103 finally determines the mobility selected as a candidate in step S905 as the mobility for delivering the goods to be delivered (step S908), and instructs the determined mobility 102 to deliver the goods to be delivered (step S909). This instruction includes information necessary for delivery, for example, the goods collection and distribution location, the route information from the waiting location where the mobility 102 is currently located to the building having the collection and distribution location, the entry permit to the building having the collection and distribution location, and the exit permit from the building. Note that these entry permit and exit permit are obtained by the collection and distribution center device 103 from the in-building delivery management system 101, but may be obtained together with the condition information of the mobility 102 from the in-building delivery management system in step S904, or may be obtained separately after the mobility 102 is determined in step S908.

[0108] On the other hand, when it is determined that the mobility 102 selected as a candidate in step S905 cannot reach the building (structure) having the goods collection and distribution location without problem by moving along the movement route searched in step S906 or cannot reach the collection and distribution location within the building, the process returns to the process in step S905 to reselect the candidate for the mobility to deliver the package to the collection and distribution location, and the subsequent search of the delivery route and the like are also carried out again in the same manner as described above, and the loop continues until it is determined in step S907 that the mobility 102 can move within the building.

[0109] FIG. 11 is a flowchart for explaining another example of the processing in the mobility 102 of the collection and distribution system shown in FIG. 1.

[0110] The mobility 102 waits in a state of waiting for a delivery instruction from the collection and distribution center device 103. When it receives the delivery instruction transmitted from the collection and distribution center device 103 in step S909 of FIG. 9, the entry permit to the building having the collection and distribution location, and the exit permit from the building (step S1001), it sets the collection and distribution location included in the received delivery instruction and loads the goods to be actually transported (step S1002).

[0111] Thereafter, the mobility 102 uses the set collection and distribution information and its own position information detected by the GPS 130, and moves to the entrance of the building having the set collection and distribution location by the autonomous driving program 132 (step S1003).

[0112] Since the entry permit received from the collection and distribution center device 103 in step S1001 permits entry into the building (building) having the collection and distribution location, no complex communication occurs, and the mobility 102 enters the building in the image of passing through the so-called security gate by presenting the entry permit (step S1004).

[0113] Then, after the mobility 102 moves to the collection and distribution location and unloads the goods (step S1005), it returns to the entrance of the building by the autonomous driving program 132 and prepares for exit (step S1006).

[0114] Since the exit permit received from the collection and distribution center device 103 in step S1001 permits exit from the building (building) having the collection and distribution location, no complex communication occurs, and the mobility 102 exits the building in the image of passing through the so-called security gate by presenting the exit permit (step S1007), and then moves to the base in the collection and distribution center device 103 (step S1008).

[0115] Note that in this embodiment, since the entry permission in step S1001 and the exit permission in step S1002 have been pre-approved by the cooperation between the collection and distribution center device 103 and the in-building delivery management system 101, any determination may be made in the processing of each of the entry permission in step S1001 and the exit permission in step S1002 as long as it does not deviate from this. For example, it may be determined whether the permit is genuine, or it may be determined that the delivery is completed based on the change in mobility weight.

[0116] (Third Embodiment) As shown in the above-described first embodiment and second embodiment, when mobility that can also move inside the building becomes widespread, it may be inefficient for all mobilities to start moving from the distribution center having the collection and distribution center device 103. For example, when the mobility is battery-driven, operation considering the remaining battery level at all times is required, but the constraint conditions become large when departing from and arriving at the distribution center. Therefore, it is conceivable to make the collection and distribution center device a mobile type while maintaining the functions of the collection and distribution center device, and to configure it like a large truck capable of transporting mobilities. If it is a large truck, it is possible to mount a larger battery than a small mobility, and there is a possibility of achieving higher energy efficiency in operation than the operation of departing from and arriving at the distribution center.

[0117] FIG. 12 is a block configuration diagram of the collection and distribution system in the third embodiment.

[0118] As shown in FIG. 12, the collection and distribution system in this embodiment is configured by adding a mobile collection and distribution center device 1201 to the one shown in FIG. 1.

[0119] A distribution center having a consolidation and distribution center device 103 usually has a pre-determined responsible area. The mobile consolidation and distribution center device 1201 in this embodiment has a more refined responsible area set, and is assumed to realize the same functions as the consolidation and distribution center device 103 therein. Note that the mobile consolidation and distribution center device 1201 will also be equipped with multiple mobilities with different specifications, similar to the consolidation and distribution center device 103 having mobility.

[0120] In this way, by using the mobile consolidation and distribution center device 1201 equipped with mobility 102 and capable of moving, it is possible to achieve higher energy efficiency than the operation of the distribution center for arrivals and departures.

[0121] The above-described embodiments of the present invention are examples for explaining the present invention, and are not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other ways without departing from the scope of the present invention.

Explanation of Reference Numerals

[0122] 101... In-building distribution management system, 102... Mobility, 103... Consolidation and distribution center device, 104... Network, 105, 119... Transceiver unit, 106, 120... Management unit, 107... Judgment unit, 108... Customer list, 109... Destination determination unit, 110... Destination list, 111... Route search simulator, 112... Site map, 113, 125... Sensor group, 114, 126... Camera, 115, 127... TOF, 116... Integration unit, 117... Constraint extraction unit, 118... Presentation unit, 121... Self-information storage unit, 122... Building information storage unit, 123... Indoor integration unit, 124... Outdoor integration unit, 128... LiDAR, 129... Wide-area map, 130... GPS, 131... Integrated specification switching unit, 132... Autonomous driving program, 1201... Mobile distribution center device

Claims

1. A plurality of mobile devices that autonomously move to deliver articles to a distribution location within a building and / or receive articles at the distribution location, a distribution center device that holds specification information representing the specifications of each of the mobile devices and manages the delivery and / or receipt of articles by the mobile devices, and an in-building movement support device that holds building information including in-building map information showing a map of the building and route profile information showing a profile of a route within the building and supports the movement of the mobile devices within the building. The distribution center device queries the in-building movement support device as to whether a mobile device can move to a counterpart distribution location, which is the distribution location of a counterpart for the delivery and / or receipt of articles, designating a candidate mobile device for the delivery and / or receipt of articles and a counterpart for the delivery and / or receipt of articles, which is the delivery destination and / or receipt source of the articles, within the building. The in-building movement support device searches for a route from the entrance of the building to the counterpart distribution location based on the in-building map information, simulates the movement of the mobile device to the counterpart distribution location based on the specification information and the route profile information for the obtained route, determines whether the mobile device can move to the counterpart distribution location based on the simulation result, and responds with the determination result to the distribution center device. If the determination result is that the mobile device can move to the counterpart distribution location, the distribution center device instructs the mobile device to deliver articles to the distribution location and / or receive articles at the distribution location. The mobile device implements the delivery of articles to the distribution location and / or the receipt of articles at the distribution location in accordance with an instruction from the distribution center device. The in-building movement support device continuously obtains observation results from sensors installed in the building that observe the state of the routes within the building, and when the mobile device arrives at the entrance of the building, simulates the movement of the mobile device to the counterpart distribution location based on the specification information, the route profile information, and the observation results, and determines whether the mobile device can move to the counterpart distribution location based on the simulation result. When it is determined that the mobile device can move to the counterparty delivery location, route guidance information indicating a route from the entrance to the counterparty delivery location is sent to the mobile device to permit entry into the building. Distribution system.

2. The distribution center device is a device that can be mounted on the mobile device and move. The distribution system according to claim 1.

3. The mobile device is an unmanned mobile device that can move on a roadway and / or a sidewalk and inside a building. The specification information includes one or more of the left and right width, height, front and rear length, weight, traveling speed, travelable gradient, travelable step, turning radius of curvature, water resistance, presence or absence of in-vehicle sensors, and autonomous driving level of the unmanned mobile device. The distribution system according to claim 1.

4. The building information includes at least one of the building information modeling information of the building and the three-dimensional data of the building. The distribution system according to claim 1.

5. A distribution method by a system having a plurality of mobile devices that autonomously move to deliver goods to a distribution location inside a building and / or receive goods at the distribution location, a distribution center device that holds specification information representing the specifications of each of the mobile devices and manages the delivery and / or receipt of goods by the mobile devices, and a building internal movement support device that holds building information including building internal map information indicating a map of the building and route profile information indicating a profile of a route inside the building, and supports the movement of the mobile devices inside the building. The distribution center device queries the building internal movement support device as to whether the mobile device can move to a counterparty delivery location that is a distribution location of the counterparty inside the building by designating a candidate for the mobile device that delivers and / or receives goods and a counterparty for delivery and / or receipt of goods that is the delivery destination and / or receipt source of the goods. Based on the building internal map information, the building internal movement support device searches for a route from the entrance of the building to the counterparty delivery location, and for the obtained route, simulates the movement of the mobile device to the counterparty delivery location based on the specification information and the route profile information, determines whether the mobile device can move to the counterparty delivery location based on the simulation result, and responds to the distribution center device with the determination result. If the determination result is that the mobile device can move to the destination delivery location, the collection and distribution center device instructs the mobile device to deliver the goods to the delivery location and / or pick up the goods at the delivery location. The mobile device implements the delivery of the goods to the delivery location and / or the pick-up of the goods at the delivery location according to the instruction from the collection and distribution center device. The in-building movement support device continuously obtains observation results from sensors installed in the building to observe the state of the paths in the building. When the mobile device arrives at the entrance of the building, based on the specification information, the route profile information, and the observation results, it simulates the movement of the mobile device to the destination delivery location, and determines whether the mobile device can move to the destination delivery location based on the simulation result. If it is determined that the mobile device can move to the destination delivery location, route guidance information indicating the route from the entrance to the destination delivery location is sent to the mobile device to permit entry into the building. Collection and distribution method.

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