Delivery systems, delivery methods, and programs

Abstract

To provide a delivery system capable of storing and delivering an article to a storage rack to a possible extent without removing an obstacle in a predetermined region forward of the storage rack.SOLUTION: A delivery system 1 comprises: a storage rack 30; a delivery robot 10 that is allowed to move to the storage rack so as to deliver an article; a detecting unit 18 that detects an obstacle 40 existing around the storage rack; and a control unit 100 that controls the action of the delivery robot. If the detecting unit 18 detects that there is an obstacle in a predetermined region nearby the storage rack and the control unit 100 determines that the delivery robot is allowed to deliver the article to the storage rack, the control unit 100 determines a location and direction of stoppage of the delivery robot relative to the storage rack based on a detected location of the obstacle and a location of the storage rack.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a delivery system, a delivery method, and a program. [Background technology]

[0002] A technology has been disclosed in which a vehicle such as an AGV (automated guided vehicle) stores luggage in a locker when delivering the luggage to an end user's locker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-061816 Summary of the Invention [Problem to be solved by the invention]

[0004] In order for a delivery robot to store an item in a storage shelf, it needs to stop within a predetermined area near the storage shelf. However, if an obstacle is present within the predetermined area near the storage shelf, the delivery robot may not be able to properly determine a stopping position within the predetermined area near the storage shelf. As a result, the delivery robot is unable to perform the operation of storing the item in the storage shelf.

[0005] The present disclosure has been made in consideration of such problems, and provides a delivery system that can store and deliver items to storage shelves as much as possible without removing obstacles within a specified area in front of the storage shelves. [Means for solving the problem]

[0006] A delivery system according to one aspect of the present disclosure includes: Storage shelves and a delivery robot capable of moving to the storage shelf and delivering an item; a detection unit that detects obstacles around the storage shelf; a control unit that controls the operation of the delivery robot; Equipped with When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when the control unit determines that the delivery robot can deliver an item to the storage shelf, The control unit is configured to determine the stopping position and stopping orientation of the delivery robot relative to the storage shelf based on the detected position of the obstacle and the position of the storage shelf, and then stop the delivery robot at the determined position and orientation and store the item in the storage shelf.

[0007] A delivery method according to one aspect of the present disclosure includes: When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when it is determined that the delivery robot can deliver the item to the storage shelf, Based on the detected position of the obstacle and the position of the storage shelf, the stopping position and stopping orientation of the delivery robot relative to the storage shelf are determined, and then the delivery robot is stopped at the determined position and orientation and the item is stored in the storage shelf.

[0008] A program according to one embodiment of the present disclosure includes: When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when it is determined that the delivery robot can deliver the item to the storage shelf, The computer executes a process to determine the stopping position and stopping orientation of the delivery robot relative to the storage shelf based on the detected position of the obstacle and the position of the storage shelf, and then stops the delivery robot at the determined position and orientation and stores the item in the storage shelf. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a delivery system etc. that can store and deliver items to storage shelves as much as possible without removing obstacles in a specified area in front of the storage shelves. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic perspective view illustrating a delivery system according to a first embodiment. [Figure 2] FIG. 1 is a block diagram illustrating the functions of a delivery system according to a first embodiment. [Figure 3] FIG. 2 is a perspective view illustrating the stopping position of a delivery robot relative to an obstacle according to the first embodiment. [Figure 4] FIG. 2 is a perspective view illustrating the stopping position of a delivery robot relative to an obstacle according to the first embodiment. [Figure 5] FIG. 2 is a perspective view illustrating the stopping position of a delivery robot relative to an obstacle according to the first embodiment. [Figure 6] FIG. 2 is a perspective view illustrating the position of an obstacle relative to a storage shelf to which a delivery robot can deliver an item according to the first embodiment. [Figure 7] FIG. 2 is a top view illustrating a stopping position of a delivery robot relative to an obstacle, where the delivery robot can deliver an item to a storage shelf, according to the first embodiment. [Figure 8] FIG. 10 is a perspective view illustrating the position of an obstacle relative to a storage shelf that prevents a delivery robot from delivering an item to the storage shelf according to the first embodiment. [Figure 9] FIG. 10 is a perspective view illustrating a delivery system according to a second embodiment. [Figure 10] FIG. 10 is a block diagram illustrating the functions of a delivery system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Specific embodiments to which the present disclosure is applied will be described in detail below with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings have been simplified as appropriate for clarity of explanation.

[0012] Embodiment 1 The delivery system according to the first embodiment will be described below with reference to the drawings. FIG. 1 is a schematic perspective view illustrating an overview of a delivery system 1. The delivery system 1 can be used for the last mile of logistics, that is, logistics services from the final base to the end user. The delivery system 1 includes a delivery robot 10 and a storage shelf 30. The storage shelf 30 is also called a smart post, and can complete delivery without the delivery robot having to hand over the item to the end user. The storage shelf is installed, for example, in each room of an apartment building where the end user lives. Residents (end users) can access the items stored in the storage shelf from inside their rooms and take items in and out.

[0013] The delivery robot 10 moves and stops in front of multiple storage shelves 30 located in various locations, and stores the items 20 in the storage shelves 30. This may also be called delivery. The delivery robot 10 also moves and stops in front of multiple storage shelves 30 located in various locations, and picks up the items 20 from the storage shelves 30 and transports the picked up items 20. This may also be called collection. The delivery robot 10 (or the storage shelves 30) is equipped with a mechanism for transferring items to and from the storage shelves 30. The delivery robot 10 is also equipped with various sensors, and can detect storage shelves, roads, and obstacles, and move autonomously. Known object recognition technology may be used. The present disclosure proposes a delivery system and a delivery method that can perform delivery as much as possible even when there is an obstacle near the storage shelf.

[0014] The storage shelf 30 may include multiple shelves (not shown) capable of storing items. The storage shelf 30 is installed, for example, in front of each room in a building or apartment building, and has a door (not shown) on the front. The door can automatically open when the delivery robot 10 stops in front of the storage shelf 30. The door may be, for example, a horizontal opening shutter, a vertical opening shutter, a single swing door, or a double swing door.

[0015] The delivery robot 10 includes a base 11 (which may collectively be referred to as a cart 130) equipped with multiple wheels 13, a storage unit 12 mounted on the base 11 and capable of storing multiple items 20, and a platform 15 mounted on the base 11 on which the items 20 are placed. The base 11 may be a generally rectangular, elongated, plate-like member. One or more sensors 18 are provided at any location on the delivery robot 10 (the base 11 in this example) to detect or photograph objects in all directions of the delivery robot and to detect the location of obstacles on the road or the location of storage shelves. The sensors 18 may be, for example, cameras. In some embodiments, a patrol robot 60 (see FIG. 8 ) equipped with a sensor (e.g., a sensor 18 such as a camera) that patrols an apartment building or another delivery robot equipped with a sensor that performs other deliveries may be provided separately from the delivery robot 10. The patrol robot 60 may, for example, move along the corridors of the apartment building and monitor for obstacles in the corridors. The patrol robot 60 can communicate monitoring information to the delivery robot 30 via a wireless network. In another embodiment, a fixed monitoring camera 70 (sensor 18) (see FIG. 8) may be installed near the storage shelf 30 (for example, on the ceiling of a hallway in an apartment building).

[0016] The platform 15 includes a mechanism for placing an item 20 removed from the storage unit 12 and storing the item 20 on a desired shelf of the storage shelf 30. The platform 15 is also equipped with a telescopic arm (not shown) that can move up and down vertically and extend and retract around a horizontal axis, and the telescopic arm is configured to be movable forward, backward, left, and right. In some embodiments, the platform 15 may be configured to be rotatable about the vertical axis. The platform 15 may also be configured to be movable in all directions (360°) with an item placed on it. However, as shown in FIG. 1 , because the storage unit 12 is located on one side of the base unit 11, the platform 15 cannot move in the direction of the storage unit 12 (also referred to as the rear side in this specification). The delivery robot 30 is used to transfer items to and from the storage shelf 30 and does not include a mechanism for removing obstacles.

[0017] The delivery system 1 may also be equipped with a management server (not shown) that controls the travel of the delivery robot 10. In this case, the management server includes a control unit 100 connected to the delivery robot via a network. In another embodiment, the present disclosure can be realized by distributing the functions between the control unit of the management server and the control unit of the delivery robot.

[0018] FIG. 2 is a block diagram illustrating the functions of the delivery system. The delivery system 1 includes a control unit 100. The control unit 100 may be provided in the delivery robot 10, a management server, or the like. The control unit 100 receives sensor signals from sensors 18 connected via a wired or wireless network, and controls the normal operation of the delivery system including the delivery robot, such as the cart unit 130, lift unit 151, and telescopic arm 152. In some embodiments, the control unit 100 can control the operation of the door on the front of the storage shelf and the manipulator inside it.

[0019] The dolly unit 130 includes a base unit 11, drive wheels 13 rotatably mounted on the base unit 11, and motors 1301 that rotate and drive each drive wheel 13. Each motor 1301 rotates each drive wheel 13 via a reducer or the like. Each motor 1301 rotates each drive wheel 13 in response to a control signal from the control unit 100. Each motor 1301 rotates and stops each drive wheel 13 in response to a control signal from the control unit 100, thereby allowing the base unit 11 to move and stop at any position. Note that the above-described configuration of the dolly unit 130 is merely an example and is not limited thereto. For example, the dolly unit 130 may have any number of drive wheels and driven wheels, and any configuration is applicable as long as it allows the base unit 11 to move to any position.

[0020] The lifting / lowering unit 151 extends and retracts along a vertical axis, causing the mounting table 15 to rise and fall. The lifting / lowering unit 151 includes a rotation device 1511. The extendable arm 152 is attached to the mounting table 15. The extendable arm 152 includes an arm body and a drive device 1521. The drive device 1521 is attached inside the mounting table 15 (not shown), and moves the arm body in the horizontal direction. The drive device 1521 may further include a mechanism for rotating the arm body around an axis.

[0021] The sensor 18 is provided at any location on the delivery robot 10, including the cart unit 130. The sensor 18 is also called a detection unit and is, for example, a camera that can capture images. The sensor 18 can detect the presence of passages, obstacles, people, storage shelves, etc. The sensor 18 may include a movement detection sensor that detects the movement of the cart unit 130 and a height detection sensor that detects the height of the platform 15. In some embodiments, the sensor 18 may be attached to a separate patrol robot rather than the delivery robot, or may be fixed to a building or the like. In this case, the sensor 18 may also be connected to the control unit 100 of the delivery robot 10 via a wireless network.

[0022] The control unit 100 controls the normal operation of the delivery system including the delivery robot, such as the cart unit 130, the lifting unit 151, and the extendable arm 152. The control unit 100 controls the rotation of each drive wheel 13 by sending a control signal to each motor 1301 of the cart unit 130, and can move the base unit 11 to any position. The control unit 100 can change the height position of the platform 15 by sending a control signal to the rotation device 1511 of the lifting unit 151. The control unit 100 can also change the horizontal position of the arm body by sending a control signal to the drive device 1521 of the extendable arm 152.

[0023] The control unit 100 may control the movement of the base unit 11 by performing well-known control such as feedback control or robust control based on rotation information of the drive wheels 13 detected by a rotation sensor provided on the drive wheels 13. The control unit 100 may also control the operation of the cart unit 130, the lifting unit 151, and the extendable arm 152 based on information such as distance information detected by a distance sensor such as a camera or ultrasonic sensor provided on the base unit 11, and map information of the movement environment. The control unit 100 determines the stopping position and stopping orientation of the delivery robot relative to the storage shelf based on the position of an obstacle and the position of the storage shelf detected by the camera.

[0024] The control unit 100 includes a microcomputer including, for example, a control program executed by a CPU (Central Processing Unit) 101 that performs control processing, arithmetic processing, etc., a memory 102 consisting of a ROM (Read Only Memory) that stores arithmetic programs, an interface unit (I / F) 103 that inputs and outputs signals to and from the outside, etc. The CPU 101, memory 102, and interface unit 103 are connected to each other via a data bus or the like.

[0025] FIG. 3 is a perspective view illustrating the stopping position of the delivery robot relative to an obstacle. In FIGS. 1 and 3 , an obstacle 40 is placed in a predetermined area near the storage shelf 30, for example, on the front left side of the storage shelf. The control unit 100 of the delivery robot 10 detects the positions of the obstacle 40 and the storage shelf 30 using the sensor 18. Based on the detected positions of the obstacle and the storage shelf, the control unit 100 determines the stopping position and stopping orientation of the delivery robot relative to the storage shelf as shown in FIG. 3 . Specifically, as shown in FIG. 3 , the delivery robot 10 stops horizontally on the left side of the storage shelf 30 so that the storage unit 12 is located on the opposite side of the obstacle 40 (the side farthest from the obstacle). The delivery robot 10 can also stop as close as possible to the storage shelf 30 so that the extension distance of the extendable arm is as short as possible. The control unit 100 of the delivery robot 10 then controls the extendable arm 152 and the lifting unit 151 based on the position of the storage shelf 30 detected by the sensor 18. This allows the platform 15 to store the item 20 in the desired shelf of the storage shelf 30.

[0026] FIG. 4 is a perspective view illustrating the stopping position of the delivery robot relative to an obstacle. In FIG. 4, an obstacle 40 is placed in a predetermined area near the storage shelf 30, for example, on the front right side of the storage shelf. The control unit 100 of the delivery robot 10 detects the positions of the obstacle 40 and the storage shelf 30 using the sensor 18. Based on the detected positions of the obstacle and the storage shelf, the control unit 100 determines the stopping position and stopping orientation of the delivery robot relative to the storage shelf as shown in FIG. 4. Specifically, as shown in FIG. 4, the delivery robot 10 stops in a right-side horizontal position relative to the storage shelf 30 so that the storage unit 12 is located on the opposite side of the obstacle 40 (the side farthest from the obstacle). The delivery robot 10 can also stop as close as possible to the storage shelf 30 so that the extension distance of the extendable arm is as short as possible. The control unit 100 of the delivery robot 10 then controls the extendable arm 152 and the lifting unit 151 based on the position of the storage shelf 30 detected by the sensor 18. This allows the platform 15 to store the item 20 in the desired shelf of the storage shelf 30.

[0027] FIG. 5 is a perspective view illustrating the stopping position of the delivery robot relative to an obstacle. In FIG. 5 , two obstacles 40 are placed on the front left and front right sides of the storage shelf 30. The control unit 100 of the delivery robot 10 detects the positions of the two obstacles 40 and the storage shelf 30 using the sensors 18. Based on the detected positions of the obstacles and the storage shelf, the control unit 100 determines the stopping position and stopping orientation of the delivery robot relative to the storage shelf as shown in FIG. 5 . Specifically, as shown in FIG. 5 , the delivery robot 10 stops between the two obstacles 40 in a vertical position facing the storage shelf 30 so that the storage unit 12 is positioned as far away from the storage shelf 30. The delivery robot 10 can also stop as close as possible to the storage shelf 30 so that the extension distance of the extendable arm is as short as possible. The control unit 100 of the delivery robot 10 then controls the extendable arm 152 and the lifting unit 151 based on the position of the storage shelf 30 detected by the sensors 18. This allows the platform 15 to store the item 20 in the desired shelf of the storage shelf 30. However, since front-to-front longitudinal parking may block the aisle in front of the storage shelf, right-to-left horizontal parking as shown in Figures 3 and 4 is given priority.

[0028] FIG. 6 is a perspective view illustrating the position of an obstacle relative to a storage shelf to which a delivery robot can deliver an item. As shown in FIG. 6, two storage shelves 30 are arranged side by side next to a wall 50 of a building or the like. An obstacle 40 is positioned so that it protrudes forward from inside the right storage shelf 30. Therefore, the delivery robot 10 cannot park in front of the left storage shelf 30 in a horizontal position, approximately parallel to the left and right sides, as shown in FIG. 3 or 4. In addition, another obstacle 40 is positioned slightly forward of the left storage shelf 30. Therefore, the delivery robot 10 cannot park in front of the left storage shelf 30 in a vertical position, approximately parallel to the left and right sides, as shown in FIG. 5. However, the control unit 100 of the delivery robot 10 can detect the positions of the two obstacles, the wall 50, and the two storage shelves 30 from the captured image, and determine that delivery is possible by parking the delivery robot 10 diagonally in front of the left storage shelf 30 as shown in FIG. 7 (see FIG. 7).

[0029] FIG. 7 is a top view illustrating a stopping position of the delivery robot relative to an obstacle, where the delivery robot can deliver an item to a storage shelf. The delivery robot 10 can avoid the two obstacles 40, with the base 11 facing the left storage shelf 30 and parked diagonally in front of the left storage shelf 30. The delivery robot 10 can also move the platform 15, which is rotatable about a vertical axis, toward the storage shelf 30 and horizontally toward the storage shelf 30 to store items in the storage shelf.

[0030] In some embodiments, when an integrated, wide storage shelf such as that shown in FIG. 6 has multiple potential storage locations (e.g., right storage shelf 30R and left storage shelf 30L), the control unit 100 can determine the location corresponding to a storage location without obstacles (left storage shelf 30L in FIG. 6) as the stopping position for the delivery robot.

[0031] In another embodiment, when an integrated storage shelf such as that shown in FIG. 6 has multiple storage location candidates (e.g., right storage shelf 30R and left storage shelf 30L), a sensor 18 may be provided inside each storage shelf to detect whether an item is stored therein. Thus, when sensor 18 detects that an item is stored in a storage location without an obstacle (in this example, left storage shelf 30L), control unit 100 takes a predetermined measure to move the item to a storage location with an obstacle 40 (in this example, right storage shelf 30R). For example, the predetermined measure may be to send a request (e.g., email or message) to a communication terminal of a specific person (e.g., a caretaker, resident, etc.) to move the item stored in a storage location without an obstacle (e.g., left storage shelf 30L) to a storage location with an obstacle (e.g., right storage shelf 30R). Alternatively, a manipulator (not shown) inside storage shelf 30 may be used to move the item to a storage location with an obstacle (e.g., right storage shelf 30R). For example, the right storage shelf 30R and the left storage shelf 30L each have a manipulator. The manipulator provided in the right storage shelf 30R can move an item to the left storage shelf 30L through a passage (not shown) inside the storage shelf.

[0032] FIG. 8 is a perspective view illustrating the location of an obstacle relative to a storage shelf that prevents a delivery robot from delivering an item to the storage shelf. As shown in FIG. 8, two obstacles 40 are positioned in front of the storage shelf 30. The control unit 100 of the delivery robot 10 detects the positions of the two obstacles 40 and the storage shelf 30 using the sensors 18 of the patrol robot 60 or the fixed surveillance camera 70 connected via a wireless or wired network. However, the control unit 100 may determine that delivery to the storage shelf 30 is not possible based on the positions of the obstacles 40 and the storage shelf 30 detected by the sensors 18, as well as the maximum length of the telescopic arm of the delivery robot 10, the size and movement range of the delivery robot (not shown in FIG. 8), etc. In this case, the delivery robot stops delivering the item to the storage shelf 30 and moves on to deliver another item.

[0033] According to the delivery system of the first embodiment described above, it is possible to determine whether an item can be delivered to a storage shelf based on the positions of obstacles and storage shelves detected by sensors, as well as the longest length of the telescopic arm of the delivery robot, the size of the delivery robot, the range of movement, etc. If it is determined that an item can be delivered to a storage shelf, the delivery system can determine the stopping position and stopping direction of the delivery robot relative to the storage shelf.

[0034] Embodiment 2 FIG. 9 is a diagram illustrating an overview of a delivery system 1a. The delivery system 1a includes a storage shelf 30a and a delivery robot 10a. The delivery robot 10a transports items and stores them in the storage shelf 30. The delivery robot 10a retrieves items from the storage shelf 30a and transports the retrieved items. Although not shown in FIG. 9, the delivery robot 10a may include a storage unit 12 as shown in FIG. 1. Furthermore, the storage shelf 30a and delivery robot 10a according to the second embodiment include an engagement mechanism, as described below, to enable safe loading and unloading of items. In FIG. 9, descriptions of components that are the same as those in the first embodiment are omitted where appropriate.

[0035] Storage shelf 30a stores articles (not shown). The articles may be, for example, returnable boxes. Storage shelf 30 includes a housing 311, a support member 312, and guide rails 313. Support member 312 supports the articles stored in storage shelf 30a.

[0036] The guide rail 313 engages with a groove 156 provided on the platform 15a of the delivery robot 10a. The guide rail 313 extends vertically. The guide rail 313 may be a plate-like member provided parallel to the front surface of the storage shelf 30a. The plate-like member protrudes inward from the housing 311. The guide rail 313 may be provided on both the left and right sides of the housing 311, or on either side.

[0037] The delivery robot 10a includes a platform 15a, a cart unit 130a, a lifting unit 151a, an extendable arm 152a, and an engagement detection sensor 155. The platform 15a is a platform on which an item can be placed and is also called a top plate. A vertically extending groove 156 is provided on the side of the platform 15a. When the platform 15a is raised from its bottom end by the operation of the lifting unit 151a, the groove 156 engages with the guide rail 313 of the storage shelf 30a. The groove 156 may be provided on both the right and left sides of the side of the platform 15a.

[0038] The delivery robot 10a moves horizontally on a movable cart unit 130a. The lifting unit 151a is provided on the cart unit 130a. The lifting unit 151a raises and lowers the placement table 15a. The extendable arm 152a extends and contracts horizontally. The extendable arm 152a takes out an item from the storage shelf 30a and places it on the placement table 15a, and stores the item on the placement table 15a in the storage shelf 30a.

[0039] The engagement detection sensor 155 is provided in the groove 156. The engagement detection sensor 155 detects that the guide rail 313 and the groove 156 are engaged. When the guide rail 313 and the groove 156 are engaged, the guide rail 313 and the mounting table 15a are engaged. The engagement detection sensor 155 is, for example, a photointerrupter or a photoreflector. In this case, the engagement detection sensor 155 includes a light-emitting unit and a light-receiving unit. When light from the light-emitting unit is blocked by the guide rail 313, the engagement between the guide rail 313 and the mounting table 15a may be detected. When light from the light-emitting unit is reflected by the guide rail 313, the engagement between the guide rail 313 and the mounting table 15a may be detected. The engagement detection sensor 155 may also be a sensor (for example, a contact sensor or a magnetic sensor) that detects a force received from the guide rail 313.

[0040] Referring to Figure 10, the delivery robot 10a includes a control unit 100a and a safety control unit 157. The control unit 100a controls the normal operation of the cart unit 130a, the lifting unit 151a, and the extendable arm 152a. The safety control unit 157 stops the operation of the lifting unit 151a (for example, in an emergency) based on the detection result of the engagement detection sensor 155. The safety control unit 157 may also stop the operation of the cart unit 130a and the extendable arm 152a.

[0041] A groove 156 extending vertically is provided on the side surface of the mounting table 15a. The groove 156 is provided so as to extend from the lower surface to the upper surface of the mounting table 15a. The groove 156 can be engaged with a guide rail 313.

[0042] The carriage unit 130a has a base unit 11a, a pair of left and right drive wheels 13 rotatably mounted on the base unit 11a, a pair of front and rear driven wheels 13, and a pair of motors 1301 that rotate and drive the drive wheels 13. Each motor 1301 rotates the drive wheels 13 via a reducer or the like. Each motor 1301 rotates the drive wheels 13 in response to a control signal from the control unit 100a. Each motor 1301 rotates the drive wheels 13 in response to a control signal from the control unit 100a, thereby moving the base unit 11a to any position.

[0043] The lifting / lowering unit 151a extends and retracts along a vertical axis, thereby lifting and lowering the mounting table 15a. The lifting / lowering unit 151a may be configured as a telescopic extension / retraction mechanism that extends and retracts in the up and down direction. The extendable arm 152a is attached to the mounting table 15a. The extendable arm 152a includes an arm body and a driving device 1521a. The driving device 1521a is attached to a guide rail mechanism (not shown) inside the mounting table 15a, and moves the arm body in the horizontal direction. The driving device 1521a may further include a mechanism for rotating the arm body around an axis.

[0044] The engagement detection sensor 155 is provided in the groove 156. The engagement detection sensor 155 may be provided on both the left and right sides of the mounting base 15a. The engagement detection sensor 155 can detect that the groove 156 is engaged with the guide rail 313. The delivery robot 10a may further include a movement detection sensor that detects the movement of the cart unit 130a and a height detection sensor that detects the height of the mounting base 15a.

[0045] The control unit 100a controls the normal operations of the cart unit 130a, the lifting unit 151a, and the extendable arm 152a. The control unit 100a controls the rotation of each drive wheel 13 by sending a control signal to each motor 1301 of the cart unit 130a, and can move the base unit 11a to any position. The control unit 100a can control the height position of the mounting table 15a by sending a control signal to the rotation device 1511 of the lifting unit 151a. The control unit 100a can also control the horizontal position of the arm body by sending a control signal to the drive device 1521a of the extendable arm 152a.

[0046] The control unit 100a may control the movement of the base unit 11a by performing well-known control such as feedback control or robust control based on rotation information of the drive wheels 13 detected by a rotation sensor provided on the drive wheels 13. The control unit 100a may also control the operations of the cart unit 130a, the lifting unit 151a, and the extendable arm 152a based on information such as distance information detected by a distance sensor such as a camera or an ultrasonic sensor provided on the base unit 11a, and map information of the movement environment.

[0047] The control unit 100a is configured as hardware centered around a microcomputer including, for example, a control program executed by a CPU (Central Processing Unit) 101 that performs control processing, arithmetic processing, etc., a memory 102 consisting of a ROM (Read Only Memory) that stores arithmetic programs, etc., and an interface unit (I / F) 103 that inputs and outputs signals to and from the outside. The CPU 101, memory 102, and interface unit 103 are connected to each other via a data bus or the like.

[0048] The safety control unit 157 acquires the detection result of the engagement detection sensor 155. The safety control unit 157 may also acquire detection results from sensors other than the engagement detection sensor 155. The safety control unit 157 stops the operation of the lifting unit 151a when a first condition is satisfied, which includes the guide rail 313 and the mounting table 15a not being engaged with each other.

[0049] The safety control unit 157 may include a processor, a memory, and the like, similar to the control unit 100a. The safety control unit 157 may be a PLC (Programmable Logic Controller). The control unit 100a may include the safety control unit 157.

[0050] The first condition may further include that the height of the mounting table 15a is equal to or greater than a predetermined height h1. When stopping the operation of the lifting / lowering unit 151a, the safety control unit 157 may stop the supply of power to the lifting / lowering unit 151.

[0051] Note that there are cases where it is not necessary to extend the lifting unit 151a when engaging the guide rail 313 with the mounting base 15a. For example, if the mounting base 15a is configured to be tiltable, the guide rail 313 can be engaged with the mounting base 15a by tilting the mounting base 15a. Furthermore, for example, if the guide rail 313 is provided on one side of the storage shelf 30a, the delivery robot 10a can move parallel to the front of the storage shelf 30a to engage the guide rail 313 with the mounting base 15a. In such cases, the first condition does not need to include a condition regarding the height of the mounting base 15a.

[0052] As described above, the delivery system according to the second embodiment detects whether the platform and the storage shelf are engaged with each other, thereby enabling safe storage of goods. Therefore, in the second embodiment, the control unit 100a determines the stopping position of the delivery robot relative to the storage shelf so that the platform and the storage shelf can be engaged with each other.

[0053] For example, based on the position of the detected obstacle, the control unit 100a determines the stopping position of the delivery robot relative to the storage shelf and the lateral stopping direction (either left or right) relative to the storage shelf, so that the groove formed in the loading platform of the delivery robot can engage with the guide rail of the storage shelf (see Figures 3 and 4).

[0054] Furthermore, the control unit 100a determines the stopping position of the delivery robot relative to the storage shelf and the front stopping orientation (see FIG. 5) relative to the storage shelf, based on the position of the detected obstacle, by engaging a groove formed in the placement platform of the delivery robot with the guide rail of the storage shelf. However, if the delivery robot stops in the front stopping orientation, there is a risk that the delivery robot will block the passageway of an apartment building, etc. Therefore, the control unit 100 may preferentially determine either the left or right side stopping orientation (see FIGS. 3 and 4).

[0055] In another embodiment, the control unit 100 may determine, based on the detected position of the obstacle, a stopping position and a stopping orientation of the delivery robot relative to the storage shelf such that the grooves formed on the platform of the delivery robot cannot engage with the guide rails of the storage shelf and the item can be stored in the storage shelf. As described above, the platform 15a of the delivery robot is configured to be rotatable all around, so the delivery robot may stop diagonally in front of the storage shelf and store the item in the storage shelf using an extendable arm or the like. In this case, the extendable arm is extended longer than when engagement is possible.

[0056] Although the above embodiment has been described with reference to a delivery system, the present disclosure is also applicable to a delivery method using components of a delivery system.

[0057] The above-mentioned programs include instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions. The programs may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The programs may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0058] The present disclosure is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present disclosure. The above-described examples can also be implemented in combination. [Explanation of symbols]

[0059] 1. Delivery System 1a Delivery System 10. Delivery Robot 10a Delivery robot 11 Base 11a Base 12 Storage area 13 wheels 15 Mounting table 15a Mounting table 18 Sensor (detection unit) 20 Goods 30 Storage Shelves 30L storage shelf 30R Storage Shelf 30a Storage shelf 40 Obstacles 50 Wall 60 Patrol Robot 70 Fixed surveillance cameras 100 control section 100a control unit 102 memory 103 Interface section 130 Bogie section 130a Bogie section 151 Lifting section 151a Elevating section 152 Telescopic Arm 152a Telescopic arm 155 Engagement detection sensor 156 Groove 157 Safety control section 311 Case 312 Support member 313 Guide Rail 1301 Motor 1511 Rotating device 1521 Drive unit 1521a Drive unit

Claims

1. Storage shelves and a delivery robot capable of moving to the storage shelf and delivering an item; a detection unit that detects obstacles around the storage shelf; a control unit that controls the operation of the delivery robot; Equipped with When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when the control unit determines that the delivery robot can deliver an item to the storage shelf, The control unit determines a stopping position and stopping orientation of the delivery robot relative to the storage shelf based on the detected position of the obstacle and the position of the storage shelf, and then stops the delivery robot at the determined position and orientation and stores the item in the storage shelf.

2. The delivery robot includes a cart unit, a loading platform provided on the cart unit and configured to be able to lift and lower an item on which it is placed, a groove formed in the loading platform, and a storage unit provided on the cart unit and capable of storing a plurality of items; the storage shelf includes a guide rail that can be engaged with the groove formed in the table; 2. The delivery system of claim 1, wherein the control unit is configured to determine a stopping position of the delivery robot relative to the storage shelf and a lateral stopping orientation of the delivery robot relative to the storage shelf, such that the groove formed in the storage stand of the delivery robot and the guide rail of the storage shelf are engageable based on the position of the detected obstacle and the position of the storage shelf, and then stop the delivery robot at the determined position and orientation and store the item in the storage shelf.

3. 3. The delivery system of claim 2, wherein when the delivery robot cannot determine whether to stop sideways or to the left or right relative to the storage shelf, the control unit determines a stopping position and a front stopping orientation of the delivery robot relative to the storage shelf, such that the groove formed in the placement stand of the delivery robot and the guide rail of the storage shelf are engageable based on the detected position of the obstacle and the position of the storage shelf, and then stops the delivery robot at the determined stopping position and orientation and stores the item in the storage shelf.

4. When the delivery robot cannot determine whether to stop to the left or right side or to the front with respect to the storage shelf, 4. The delivery system of claim 3, wherein the control unit is configured to determine, based on the detected position of the obstacle and the position of the storage shelf, a stopping position and a stopping orientation of the delivery robot relative to the storage shelf such that the groove formed in the placement stand of the delivery robot cannot engage with the guide rail of the storage shelf and the item can be stored in the storage shelf, and then stop the delivery robot at the determined position and orientation and store the item in the storage shelf.

5. 2. The delivery system of claim 1, wherein when there are multiple storage location candidates on the storage shelf, the control unit determines a position corresponding to the detected storage location free of obstacles as a stopping position, and then stops the delivery robot at the determined position and orientation and stores the item in the storage shelf.

6. 2. The delivery system according to claim 1, wherein, when the storage shelf has a plurality of candidate storage locations, if the detected storage location without an obstacle is filled with items, the control unit is configured to take a predetermined measure to move the items to the storage location with the obstacle.

7. The delivery system according to claim 6, wherein the predetermined measures include sending a request to a specific person to move the item to a storage location where an obstruction exists, or moving the item to the storage location where an obstruction exists using a manipulator of the storage shelf.

8. When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when it is determined that the delivery robot can deliver the item to the storage shelf, A delivery method in which a stopping position and stopping orientation of the delivery robot relative to the storage shelf are determined based on the detected position of the obstacle and the position of the storage shelf, and then the delivery robot is stopped at the determined position and orientation and the item is stored in the storage shelf.

9. When the detection unit detects that there is an obstacle in a predetermined area near the storage shelf, and when it is determined that the delivery robot can deliver the item to the storage shelf, A program that causes a computer to execute a process that determines the stopping position and stopping orientation of the delivery robot relative to the storage shelf based on the detected position of the obstacle and the position of the storage shelf, and then stops the delivery robot at the determined position and orientation and stores the item in the storage shelf.

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