Delivery box and luggage transport system

Abstract

This home delivery box comprises: a casing (100) having a plurality of movable shelves (14) that move in a first direction and that have accommodation spaces for accommodating packages, a first opening in which the plurality of movable shelves (14) are accommodated and which is formed at a position that enables the packages to be delivered and retrieved by a transport robot, a first passage (108) extending in the first direction, and a second passage (107) extending in a second direction intersecting the first direction, the second passage being formed between the plurality of movable shelves (14) and allowing at least one of the plurality of movable shelves (14) to communicate with the exterior via the first opening by moving; and a transport platform (15) that moves in the first and second directions through the first passage (108) and the second passage (107), the transport platform (15) transporting the accommodated packages to the first opening.

Description

[Technical Field]

[0001] The present invention relates to a delivery locker and a package transport system. [Background technology]

[0002] BACKGROUND ART Delivery boxes that are installed in apartment buildings and act as agents for receiving parcels are known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-225768 Summary of the Invention [Problem to be solved by the invention]

[0004] It is currently being considered to have a delivery robot transport parcels stored in a delivery locker to their destination. However, if a parcel is stored in a storage space in the delivery locker that the delivery robot cannot reach, the delivery robot cannot receive the parcel from the delivery locker.

[0005] To provide an object of the present invention to enable a transport robot to receive a package from a delivery box even when the package is stored in a storage space in the delivery box that the transport robot cannot reach. [Means for solving the problem]

[0006] One aspect of the present invention provides a delivery box comprising: a housing having a storage space for storing luggage, a plurality of movable shelves that move in a first direction; a first opening that stores the plurality of movable shelves and is formed in a position where the luggage can be handed over to a transport robot; a first passageway that extends in the first direction; and a second passageway that is formed between the plurality of movable shelves, extends in a second direction that intersects with the first direction, and communicates with the outside through the first opening when at least one of the plurality of movable shelves moves; and a transport platform that moves in the first and second directions through the first and second passageways and transports the stored luggage to the first opening.

[0007] The housing may further have a second opening that connects the storage space to the outside and through which a person can put in and take out the stored luggage, and an opening / closing body that opens and closes the second opening.

[0008] The plurality of movable shelves may be arranged in a line in the first direction, the second passageway may be large enough to accommodate one of the plurality of movable shelves, the housing may have a plurality of first openings formed in positions where the cargo can be handed over to the transport robot, and the plurality of first openings may be formed in every other area of ​​a plurality of areas aligned in the first direction and facing the plurality of movable shelves and the second passageway.

[0009] The transport platform may have a mechanism for sending the package to the transport robot through the first opening.

[0010] The first direction may be a substantially horizontal direction, the second direction may be a substantially vertical direction, and the first passage may be formed above or below the position of the accommodation space in the substantially vertical direction.

[0011] The opening / closing body may be opened when the recipient inputs the delivery slip number attached to the package.

[0012] The housing may further have a first opening / closing body that opens and closes the first opening and a second opening / closing body that opens and closes the second opening, the first opening / closing body opening in response to a first request to have the transport robot transport the package, and the second opening / closing body opening in response to a second request for the recipient to personally pick up the package.

[0013] The housing has a plurality of second openings that connect the storage space to the outside and allow people to put in and take out the stored luggage, and a plurality of second opening / closing bodies that open and close the plurality of second openings, and further has a detection unit that detects the positions of the plurality of movable shelves, and when the plurality of movable shelves are in a position detected by the detection unit, one of the plurality of second opening / closing bodies that opens and closes a second opening that is in a position where the luggage can be put in and taken out may open in response to the second request.

[0014] At least one of the plurality of movable shelves may move to form the second passage adjacent to the storage space in response to a request to have the transport robot transport the luggage, and when the at least one movable shelf moves, the transport platform may move to a position adjacent to the storage space in the second passage to receive the luggage from the storage space, and then move to a position where the received luggage faces the first opening.

[0015] Another aspect of the present invention provides a luggage transport system comprising: a delivery box; and a transport robot, wherein the delivery box has a storage space for storing luggage, a housing having a plurality of movable shelves that move in a first direction, a first opening that stores the plurality of movable shelves and is formed at a position where the luggage can be handed over to the transport robot, a first passageway extending in the first direction, and a second passageway formed between the plurality of movable shelves, extending in a second direction intersecting the first direction, and communicating with the outside through the first opening by movement of at least any of the plurality of movable shelves; and a transport platform that moves in the first and second directions through the first and second passageways and transports the stored luggage to the first opening, wherein the transport robot has a loading section that places the luggage received through the first opening on it, a running section that travels to the destination of the luggage, and a drive section that moves the loading section to a first position that holds the luggage while the running section travels, a second position that receives the luggage from the delivery box, and a third position that unloads the luggage at the destination. [Effects of the Invention]

[0016] According to the present invention, even if a package is stored in a storage space in a delivery box that the transport robot cannot reach, the transport robot can receive the package from the delivery box. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating an example of a luggage conveyance system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a delivery box. [Figure 3] FIG. 2 is a front view showing an example of the appearance of a delivery box. [Figure 4] FIG. 2 is a front view showing an example of the internal configuration of the delivery box. [Figure 5] 5 is a cross-sectional view of the delivery box as seen from the direction of the arrow AA in FIG. 4. [Figure 6] 5 is a cross-sectional view of the delivery box as seen from the direction of the arrow BB in FIG. 4. [Figure 7]FIG. 2 is a rear perspective view of the transport robot. [Figure 8] FIG. 2 is a diagram illustrating an example of the configuration of a transport robot. [Figure 9] FIG. 2 is a front perspective view showing an example of the internal configuration of a transport robot. [Figure 10] FIG. 2 is a diagram illustrating an example of a first mode of a transport robot. [Figure 11] FIG. 10 is a diagram illustrating an example of a second mode of the transport robot. [Figure 12] FIG. 10 is a diagram illustrating an example of a third mode of the transport robot. [Figure 13] FIG. 2 illustrates an example of the configuration of a server device. [Figure 14] FIG. 10 illustrates an example of a management table. [Figure 15] 10 is a sequence chart showing an example of an operation when depositing a package in a delivery box. [Figure 16] 10 is a sequence chart showing an example of an operation when a recipient goes to a delivery box to receive a package. [Figure 17] FIG. 10 is a diagram showing an example of movement of a movable shelf. [Figure 18] 10 is a sequence chart showing an example of an operation when a transport robot places and distributes a package. [Figure 19] 10A and 10B are diagrams illustrating an example of movement of the movable shelf and the transport platform. [Figure 20] 10A and 10B are diagrams illustrating an example of movement of the movable shelf and the transport platform. [Figure 21] 10 is a flowchart illustrating an example of a transport process. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the dimensions, shapes, and ratios of the drawings may differ from those of the actual ones in order to facilitate understanding of the invention.

[0019] 1. Configuration 1.1. Configuration of Baggage Conveying System 1 FIG. 1 is a diagram showing an example of a luggage transport system 1 according to an embodiment. The luggage transport system 1 provides an automatic transport service in which a transport robot 20 transports and leaves luggage deposited in a delivery locker 10 at a destination. "Leave and leave" here means that delivery is completed by transporting and leaving the luggage at a predetermined location such as a front door. The luggage transport system 1 includes the delivery locker 10, the transport robot 20, a server device 30, and a user terminal 40. These devices are connected via a network 50. The network 50 includes, for example, a wireless LAN (Local Area Network) and the Internet.

[0020] Delivery box 10 is an electric delivery box that is installed, for example, near the entrance of an apartment building. However, the installation location of delivery box 10 is not limited to an apartment building, and it may be near the entrance of an office building, or an outdoor location in front of a store such as a convenience store or shopping center.

[0021] The transport robot 20 is an autonomous robot that places and delivers packages stored in the delivery box 10 at their destination. The transport robot 20 has a first mode in which it holds packages while traveling, a second mode in which it receives packages from the delivery box 10, and a third mode in which it drops off the packages at their destination.

[0022] The server device 30 is operated and managed by, for example, a business that provides an automatic delivery service. The server device 30 remotely controls the operations of the delivery box 10 and the delivery robot 20.

[0023] The user terminal 40 is used by the recipient to input and output various information. The user terminal 40 includes, for example, a smartphone, a mobile phone, a tablet terminal, a wearable terminal, and a personal computer.

[0024] 1.2.Configuration of Delivery Box 10 2 is a diagram showing an example of the configuration of delivery box 10. Delivery box 10 includes control unit 11, communication unit 12, input / output unit 13, multiple movable shelves 14, conveyance platform 15, and sensor unit 16. Each unit of delivery box 10 is connected by wire or wirelessly.

[0025] The control unit 11 controls each unit of the delivery box 10. The functions of the control unit 11 may be realized by hardware resources such as circuits, or may be realized by software resources and hardware resources working together. For example, the control unit 11 has a processor such as a CPU (Central Processing Unit) and memory, and the functions of the control unit 11 are realized by the processor executing a program stored in the memory. The communication unit 12 communicates with the server device 30 connected via the network 50 and receives various instructions from the server device 30. The communication unit 12 includes, for example, a LAN adapter. The input / output unit 13 is used for inputting and outputting various information. For example, the input / output unit 13 includes a touch panel and a reading device. The reading device reads codes such as barcodes attached to delivery slips.

[0026] The movable shelf 14 is a movable shelf that stores packages. The transport platform 15 transports the packages stored on the movable shelf 14 to a location where the transport robot 20 will receive them. The sensor unit 16 includes various sensors used to control the delivery box 10. The sensor unit 16 includes a position sensor that detects the position of the movable shelf 14 and outputs position information. The position sensor is an example of a "detection unit" according to the present invention.

[0027] FIG. 3 is a front view showing an example of the appearance of the delivery locker 10. FIG. 4 is a front view showing an example of the internal configuration of the delivery locker 10. FIG. 5 is a cross-sectional view of the delivery locker 10 as viewed from the direction of the arrow AA in FIG. 4. FIG. 6 is a cross-sectional view of the delivery locker 10 as viewed from the direction of the arrow BB in FIG. 4. FIG. 4 shows a state in which the front of the housing 100 has been removed. In the following description, the side of the delivery locker 10 from which a person or the transport robot 20 puts or takes out packages is referred to as the front. When viewed from the front of the delivery locker 10, the right side is referred to as the right side, and the left side is referred to as the left side. The direction perpendicular to the front-to-back and left-to-right directions is referred to as the up-down direction. In FIGS. 3 to 6, the X-axis direction indicates the right, the Z-axis direction indicates the upward direction, and the Y-axis direction indicates the rear. The left-to-right position of the delivery locker 10 is indicated by position information X1 to X6, starting from the left end. The up-to-down position of the delivery locker 10 is indicated by position information Z1 to Z5, starting from the top end.

[0028] The housing 100 of the delivery locker 10 is a box-shaped body having a substantially rectangular parallelepiped shape and houses the control unit 11, the communication unit 12, the input / output unit 13, multiple adjustable shelves 14, the carrier 15, and the sensor unit 16. The housing 100 is composed of a front surface, a rear surface, a right side surface, a left side surface, a top surface, and a bottom surface. In the example shown in FIGS. 4 to 6, the housing 100 houses five adjustable shelves 14. These adjustable shelves 14 are arranged side by side in the left-right direction. The housing 100 has a length in the left-right direction sufficient to house six adjustable shelves 14. Therefore, within the housing 100, a vertically extending space large enough to accommodate one adjustable shelf 14 is formed between any one of the five adjustable shelves 14 and the adjacent adjustable shelf 14. This space serves as a vertical passage 107 along which the carrier 15 moves vertically. The vertical passage 107 is an example of a "second passage" according to the present invention.

[0029] As shown in Fig. 3, a plurality of openings used for loading and unloading luggage are formed on the front surface of the housing 100. The plurality of openings include a plurality of first openings 101 through which the transport robot 20 receives luggage and a plurality of second openings 102 through which people load and unload luggage. The plurality of openings are arranged in a matrix. The plurality of columns constituting this matrix are a plurality of regions aligned in the left-right direction facing the five adjustable shelves 14 and the vertical passage 107, respectively.

[0030] In the example shown in FIG. 3, the housing 100 has three first openings 101. These first openings 101 are formed in alternate rows at a height that allows packages to be handed over to and from the transport robot 20. Each first opening 101 is provided with a shutter 103 that opens and closes the first opening 101. The shutter 103 is opened and closed by a drive device (not shown). The shutter 103 is an example of a "first opening / closing body" according to the present invention. Each second opening 102 is provided with a door 104 that opens and closes the second opening 102. The door 104 is unlocked and locked by an electric lock (not shown). The door 104 is an example of a "second opening / closing body" according to the present invention. An input / output unit 13 is also provided on the front surface of the housing 100.

[0031] 4 and 5, two horizontal rails 105 extending in the left-right direction are provided on the bottom surface of the housing 100. Two horizontal rails 105 extending in the left-right direction are also provided on the top surface of the housing 100, on the side facing the bottom surface. In addition, two horizontal rails 106 extending in the left-right direction are provided on the bottom surface of the housing 100, between the two horizontal rails 105.

[0032] As shown in Figures 4 and 5, each adjustable shelf 14 has five shelves 141, a top plate 142, a bottom plate 143, four support posts 144, eight wheels 145, and four vertical rails 146. The five shelves 141 are arranged at a predetermined interval in the vertical direction. The top plate 142 is arranged above the five shelves 141. The bottom plate 143 is arranged below the five shelves 141. The shelves 141, top plate 142, and bottom plate 143 all have a rectangular shape. The four support posts 144 support the corners of the five shelves 141, top plate 142, and bottom plate 143.

[0033] Between adjacent shelves 141 in the vertical direction, a storage space for storing luggage is formed. Each movable shelf 14 has five storage spaces formed in a vertical row. In addition, each shelf 141 is provided with a belt conveyor 147. This belt conveyor 147 functions as a mechanism for sending luggage stored in the storage space to the transport platform 15. The belt conveyor 147 rotates, moving the luggage stored in the storage space to the right or left. Between the bottom plate 143 and the bottom surface of the housing 100, there is a gap extending in the left-right direction that is large enough to accommodate the transport platform 15. This gap serves as a horizontal passage 108 along which the transport platform 15 moves left and right. This horizontal passage 108 is formed below the position of the storage spaces. This horizontal passage 108 is an example of a "first passage" according to the present invention.

[0034] Four of the eight wheels 145 are rotatably provided on the bottom plate 143 at positions facing the horizontal rails 105 on the bottom surface of the housing 100. The remaining four wheels 145 are rotatably provided on the top plate 142 at positions facing the horizontal rails 105 on the top surface of the housing 100. These wheels 145 are rotated by a drive device (not shown) for the movable shelf 14. As the wheels 145 roll on the horizontal rails 105, the movable shelf 14 moves left and right along the horizontal rails 105. This left and right direction is a substantially horizontal direction and is an example of the "first direction" according to the present invention. "Substantially horizontal" here does not have to be completely horizontal, but may be a direction along the installation surface of the delivery box 10. Each storage space communicates with the outside via the second opening 102. Furthermore, the vertical passage 107 communicates with the outside via one of the first openings 101 as the movable shelf 14 moves.

[0035] The four vertical rails 146 are provided two on each of the left and right sides of the movable shelf 14. Each vertical rail 146 extends in the up and down direction. The vertical rails 146 are, for example, rack gears.

[0036] As shown in FIGS. 4 and 6 , the conveyance platform 15 includes a main body 151, four wheels 152, four arms 153, four gears 154, and a belt conveyor 155. The conveyance platform 15 has lengths in the up-down, left-right, and front-rear directions that allow it to fit within the vertical passage 107 and the horizontal passage 108. The main body 151 has a rectangular shape. The four wheels 152 are rotatably provided on the bottom surface of the main body 151 at positions facing the horizontal rail 106 on the bottom surface of the housing 100. The wheels 152 are rotated by a drive device (not shown) for driving the conveyance platform 15. As the wheels 152 roll on the horizontal rail 106, the conveyance platform 15 moves left-right along the horizontal passage 108. The four arms 153 are fixed to the main body 151 and support the four wheels 152, respectively. The arms 153 are extendable and retractable. When the arm 153 is extended, the carrier 15 moves upward by a predetermined distance. Conversely, when the arm 153 is retracted, the carrier 15 moves downward by a predetermined distance.

[0037] The four gears 154 cooperate with the vertical rails 146 to raise and lower the conveyance platform 15. As shown in FIG. 4 , these gears 154 are provided so as to protrude from the main body 151 toward the vertical rails 146 when the conveyance platform 15 is positioned in the vertical passage 107. When the arm 153 extends and the conveyance platform 15 moves upward a predetermined distance, the gears 154 mesh with the vertical rails 146. The gears 154 are rotated by a drive device (not shown) for raising and lowering the conveyance platform 15. As the gears 154 mesh with and rotate with the vertical rails 146, the conveyance platform 15 moves up and down through the vertical passage 107. This up and down direction is a substantially vertical direction and is an example of the "second direction" according to the present invention. Here, "substantially vertical" does not have to be completely vertical, but may be a direction along the arrangement direction of the storage spaces.

[0038] The belt conveyor 155 functions as a mechanism for sending out packages to the transport robot 20 through the first opening 101. The belt conveyor 155 is provided in the main body 151. The belt conveyor 155 rotates, and moves the packages on the belt conveyor 155 from the rear side to the front side.

[0039] 1.3.Configuration of the transport robot 20 7 is a rear perspective view of the transfer robot 20. In FIG. 7, the Y-axis direction indicates the front, the −Y-axis direction indicates the rear, the X-axis direction indicates the right, the −X-axis direction indicates the left, the Z-axis direction indicates the up, and the −Z-axis direction indicates the down.

[0040] The transfer robot 20 has a housing 201. The housing 201 covers the front, rear, left, right, and top of the transfer robot 20. The bottom of the housing 201 is open. An opening 202 is formed in the rear end surface of the housing 201. A shutter 203 that opens and closes the opening 202 is provided in the opening 202.

[0041] 8 is a diagram showing an example of the configuration of the transport robot 20. The transport robot 20 includes a control unit 21, a storage unit 22, a communication unit 23, a power supply unit 24, a sensor unit 25, a traveling unit 26, a loading unit 27, and a drive unit 28. The various units of the transport robot 20 are connected to each other by wire or wirelessly.

[0042] The control unit 21 controls each component of the transport robot 20. The control unit 21 includes, for example, a processor such as a CPU and a main memory such as a RAM (Random Access Memory). The functions of the control unit 21 are realized, for example, by the processor reading a program stored in the storage unit 22 into the main memory and executing it. The storage unit 22 stores programs for realizing the functions of the control unit 21 and various data including map data. The map data indicates a three-dimensional map of the apartment building created in advance using LiDAR (Light Detection and Ranging) technology. The storage unit 22 includes, for example, a ROM (Read Only Memory). The communication unit 23 wirelessly communicates with the server device 30 connected via the network 50 and receives various instructions from the server device 30. The communication unit 23 includes, for example, a wireless LAN adapter. The power supply unit 24 supplies power to each component of the transport robot 20. The power supply unit 24 includes, for example, a battery and a power supply circuit.

[0043] The sensor unit 25 includes various sensors used to control the transport robot 20. The sensor unit 25 includes, for example, a LiDAR sensor, a camera, and a luggage sensor. The LiDAR sensor is used, for example, to recognize the space around the transport robot 20 and measure the current position of the transport robot 20. The camera is used, for example, to photograph the area around the transport robot 20 and measure the distance to an object based on the photographed image. The luggage sensor detects the loading of luggage on the loading unit 27.

[0044] Under the control of the control unit 21, the traveling unit 26 moves from its current position to its destination. This current position is measured, for example, using a LiDAR sensor included in the sensor unit 25. The destination is instructed by the server device 30. The destination includes, for example, the delivery box 10 and the destination of the package. The loading unit 27 loads the package. Under the control of the control unit 21, the loading unit 27 moves to a first position where the package is held while the traveling unit 26 is traveling, a second position where the package is received from the delivery box 10, and a third position where the package is unloaded at the destination. The drive unit 28 moves the loading unit 27 to any one of the first position, the second position, and the third position.

[0045] FIG. 9 is a front perspective view showing an example of the internal configuration of the transfer robot 20. FIG. 9 illustrates a state in which the housing 201 is removed. Note that the control unit 21, memory unit 22, communication unit 23, power supply unit 24, and sensor unit 25 are not shown in FIG. 9. The travel unit 26 is configured as a caterpillar system. The travel unit 26 includes a base 261, a pair of front wheels 262, a pair of rear wheels 263, a motor 264, and a belt 265. The pair of front wheels 262 are rotatably provided at both left and right ends of the front of the base 261. The pair of rear wheels 263 are rotatably provided at both left and right ends of the rear of the base 261. The rear wheels 263 are sized so as not to come into contact with the loading unit 27, which moves between the first position, the second position, and the third position. The outer diameter of the rear wheels 263 is smaller than that of the front wheels 262. The motor 264 rotates the front wheels 262. Note that motor 264 may rotate both front wheels 262 and rear wheels 263. Belt 265 is an endless belt that is looped around right front wheel 262 and right rear wheel 263, and left front wheel 262 and left rear wheel 263. As described above, the outer diameter of rear wheel 263 is smaller than that of front wheel 262, and therefore the upper surface of belt 265 is inclined with respect to running surface G on which front wheels 262 and rear wheels 263 contact when viewed from the side. Running surface G is, for example, the road surface of a passageway in an apartment building. When front wheel 262 rotates, belt 265 rotates in accordance with this rotation. As belt 265 rotates, rear wheel 263 also rotates.

[0046] For the transport robot 20, the direction in which the front wheels 262 and rear wheels 263 on the same side are aligned is referred to as the front-to-rear direction. The direction in which a pair of front wheels 262 or rear wheels 263 are aligned is referred to as the left-to-right direction. The direction perpendicular to the front-to-rear direction and the left-to-right direction is referred to as the up-to-down direction.

[0047] The loading section 27 has a frame 271 and a belt conveyor 272. The frame 271 has a generally rectangular parallelepiped shape that is open at the rear. The frame 271 is composed of a front surface, a top surface, a left side surface, a right side surface, and a bottom surface. An opening 273 is formed in the rear end surface of the frame 271. The belt conveyor 272 is provided on the bottom surface of the frame 271. The belt conveyor 272 rotates to move luggage placed on the belt conveyor 272 in the front-to-rear direction.

[0048] The drive unit 28 has a ball screw 281, a motor 282, a two-axis guide rail 283, a movable unit 284, a connecting shaft 285, and a pair of arms 286. The ball screw 281 is provided in the center of the base 261 so that the screw axis direction is in the front-rear direction. The motor 282 rotates the ball screw 281. The guide rail 283 extends in the front-rear direction and guides the movable unit 284. The guide rail 283 is inclined with respect to the running surface G so that the other rear end is closer to the running surface G than the one front end. The movable unit 284 moves in the front-rear direction along the guide rail 283 as the ball screw 281 rotates.

[0049] The connecting shaft 285 supports the front end of the loading unit 27 and connects the movable unit 284 and the loading unit 27. The connecting shaft 285 has a rod shape. One end of the connecting shaft 285 is fixed to the upper center of the front surface of the frame body 271. The other end of the connecting shaft 285 is supported by the movable unit 284 so as to be rotatable around a rotation shaft 287. The connecting shaft 285 moves in the front-rear direction as the movable unit 284 moves. Furthermore, the connecting shaft 285 rotates clockwise in the drawing around the rotation shaft 287 as the loading unit 27 moves rearward. Due to the rotation of the connecting shaft 285, the loading unit 27 assumes a position in which the bottom surface is inclined with respect to the running surface G.

[0050] A pair of arms 286 rotatably support the left and right side ends on the rear side of the loading unit 27. The arms 286 have a rod shape. One end of the arm 286 is supported rotatably about a rotation shaft 288 by the rear side end of the base 261. The other end of the arm 286 supports the upper rear corners of the left and right sides of the loading unit 27 rotatably about a rotation shaft 289. The arms 286 rotate about the rotation shaft 288 as the loading unit 27 moves. The loading unit 27 has an upper end supported by the connecting shaft 285 and the arms 286, but a lower end that is a free end.

[0051] FIG. 10 is a diagram illustrating an example of the first configuration of the transport robot 20. In FIG. 10, the Y-axis direction indicates the front, the -Y-axis direction indicates the rear, the Z-axis direction indicates the up, and the -Z-axis direction indicates the down. While FIG. 10 only shows the left side of the transport robot 20, the right side has a similar configuration. In the first configuration, the movable unit 284 is positioned at one end of the front side of the guide rail 283. When the movable unit 284 is positioned at one end of the guide rail 283, the loading unit 27 is in a first position on the base 261. In the first configuration, the movable unit 284 does not necessarily have to be positioned at the one end of the front side of the guide rail 283; it may be positioned toward the one end of the front side. In the first position, the loading unit 27 is supported so that its bottom surface is approximately parallel to the running surface G due to the length and angle of the connecting shaft 285 and the arm 286. As a result, in the first position, the loading unit 27 can hold the load approximately horizontally. Note that "approximately parallel" here does not necessarily have to be completely parallel. For example, the loading section 27 may be inclined with respect to the traveling surface G to such an extent that it can hold luggage.

[0052] FIG. 11 is a diagram showing an example of the second configuration of the transport robot 20. As in FIG. 10, the Y-axis in FIG. 11 indicates the forward direction, the -Y-axis indicates the backward direction, the Z-axis indicates the upward direction, and the -Z-axis indicates the downward direction. While FIG. 11 only shows the left side of the transport robot 20, the right side has a similar configuration. When the transport robot 20 changes from the first configuration to the second configuration, the motor 282 rotates the ball screw 281 to move the movable part 284 along the guide rail 283 to a position spaced a distance L1 rearward from one end of the front side of the guide rail 283. Because the movable part 284 and the frame 271 are connected by the connecting shaft 285, when the movable part 284 moves, the loading part 27 also moves a distance L1 rearward. As a result, the loading part 27 reaches a second position where it protrudes rearward from the base 261. Here, "protruding" includes extending rearward from the base 261. However, "protruding" does not necessarily mean that the second position is located rearward of the base 261, but rather that the second position is located rearward of the first position. As described above, the guide rail 283 is inclined with respect to the running surface G so that the rear end is closer to the running surface G than the front end, and therefore the second position is located rearward and below the first position.

[0053] When the loading unit 27 moves to the second position, if the connecting shaft 285 when the loading unit 27 is in the first position is defined as a reference axis R1, the arm 286 rotates around the rotation shaft 288 by an angle θ1 clockwise from the reference axis R1 in the figure. The rotation of the arm 286 causes the bottom surface of the loading unit 27 to protrude rearward from the arm 286. Here, the first opening 101 of the delivery box 10 is positioned to face the opening 273 of the loading unit 27 when the transfer robot 20 moves in front of the first opening 101 and assumes the second form. Therefore, when the transfer robot 20 moves in front of the first opening 101 and assumes the second form, the loading unit 27 protrudes toward the first opening 101. At this time, the bottom surface of the loading unit 27 may contact the lower end of the first opening 101, or a portion of the bottom surface of the loading unit 27 may be inserted into the first opening 101. Alternatively, the bottom surface of the loading section 27 may be close to the lower end of the first opening 101. Here, "close" means close enough to receive the package. There may be a gap between the bottom surface of the loading section 27 and the lower end of the first opening 101.

[0054] Furthermore, when in the second position, the loading unit 27 is supported so that its bottom surface is approximately parallel to the travel surface G due to the length and angle of the connecting shaft 285 and the arm 286. This allows the loading unit 27 to hold the load approximately horizontally in the second position. Note that when the transport robot 20 changes from the second form to the first form, the drive unit 28 and the loading unit 27 move in the opposite direction to when the transport robot 20 changes from the first form to the second form.

[0055] FIG. 12 is a diagram illustrating an example of the third configuration of the transport robot 20. As in FIG. 10, the Y-axis in FIG. 12 indicates the forward direction, the −Y-axis indicates the backward direction, the Z-axis indicates the upward direction, and the −Z-axis indicates the downward direction. While FIG. 12 only shows the left side of the transport robot 20, the right side has a similar configuration. When the transport robot 20 changes from the first configuration to the third configuration, the motor 282 rotates the ball screw 281 to move the movable part 284 to the other rear end along the guide rail 283. In the third configuration, the movable part 284 does not necessarily have to be positioned at the other rear end of the guide rail 283; it may be positioned toward the other rear end. Because the movable part 284 and the frame 271 are connected by the connecting shaft 285, when the movable part 284 moves, the loading part 27 also moves rearward. As a result, the loading part 27 reaches a third position where it protrudes further rearward from the base 261 than the second position. As described above, the guide rail 283 is inclined relative to the running surface G so that the rear end is closer to the running surface G than the front end, so the third position is located rearward and lower than the first and second positions.

[0056] When the loading unit 27 moves to the third position, the arm 286 rotates clockwise around the rotation axis 288 by an angle θ2 from the reference axis R1. This angle θ2 is greater than the angle θ1. Accompanying this rotation, the connecting shaft 285 rotates clockwise around the rotation axis 287 by an angle θ3 from the reference axis R2, assuming that the arm 286 when the loading unit 27 is in the first position is the reference axis R2. When in the third position, the loading unit 27 is supported so that its bottom surface is inclined with respect to the running surface G due to the length and angle of the connecting shaft 285 and the arm 286, and the rear end of the bottom surface is in contact with the running surface G. As a result, in the third position, the loading unit 27 can tilt and unload cargo. When the transport robot 20 changes from the third configuration to the first configuration, the drive unit 28 and the loading unit 27 move in the opposite direction to when the transport robot 20 changes from the first configuration to the third configuration.

[0057] 1.4. Configuration of Server Device 30 FIG. 13 is a diagram illustrating an example of the configuration of server device 30. Server device 30 includes a control unit 31, a storage unit 32, and a communication unit 33. The components of server device 30 are connected via a bus. Control unit 31 controls the components of server device 30. Control unit 31 includes, for example, a processor such as a CPU and a main memory such as a RAM. Storage unit 32 stores programs for implementing the functions of control unit 31 and various data including a management table 321. Management table 321 is information for managing packages stored in delivery boxes 10. Storage unit 32 includes, for example, a ROM, a hard disk drive (HHD), and a solid state drive (SSD). Communication unit 33 communicates with delivery boxes 10 and transport robot 20 connected via network 50 and transmits various instructions. Communication unit 33 includes, for example, a network adapter.

[0058] Server device 30 functions as a determination unit 311, an update unit 312, a notification unit 313, an opening / closing control unit 314, a shelf control unit 315, and a robot control unit 316. These functions are realized, for example, by the processor of control unit 31 executing a program stored in storage unit 22.

[0059] The determination unit 311 determines a storage space in which to store the package from among a plurality of storage spaces. When a new package is stored in the delivery box 10, the update unit 312 updates the management table 321 and stores information for managing this package in the management table 321. When a new package is stored in the delivery box 10, the notification unit 313 notifies the recipient of the package that the package has arrived.

[0060] The opening / closing control unit 314 controls the opening and closing of the shutter 103 or the door 104. For example, when a recipient makes an automatic transport request to have the transport robot 20 transport the package, the opening / closing control unit 314 controls the shutter 103 of the first opening 101 through which the transport robot 20 receives the package to open. This automatic transport request is an example of a first request of the present invention. On the other hand, when a recipient makes a self-collection request in which the recipient himself / herself goes to the delivery box 10 to collect the package, the opening / closing control unit 314 controls the door 104 of the second opening 102 through which the recipient receives the package to open. This self-collection request is an example of a second request of the present invention. When a recipient makes a self-collection request, the opening / closing control unit 314 may control the door 104 to open when the recipient inputs the delivery slip number attached to the package.

[0061] The shelf control unit 315 controls the operation of the movable shelf 14 and the transport platform 15. For example, when a recipient requests automatic transport of a package by the transport robot 20, the shelf control unit 315 moves the movable shelf 14 so that the vertical passage 107 is formed next to the storage space for the package. Next, the shelf control unit 315 moves the transport platform 15 to a position adjacent to the storage space in the vertical passage 107, and then moves the transport platform 15 to a position where the package received from the storage space faces the first opening 101.

[0062] The robot control unit 316 controls the operation of the transport robot 20. For example, when a recipient requests automatic transport, the robot control unit 316 controls the transport robot 20 to receive the package from the first opening 101 of the delivery box 10 and place it at the destination.

[0063] FIG. 14 is a diagram showing an example of the management table 321. The management table 321 stores a delivery box ID, a delivery slip number, a user ID, a receiving method, initial storage location information, location information of the first opening 101, and location information of the second opening 102. The delivery box ID is information that uniquely identifies the delivery box 10. The delivery slip number is information that uniquely identifies the package. The delivery slip number is assigned to the package by the delivery company. The user ID is information that uniquely identifies the recipient. The user ID is assigned to the recipient during user registration performed in advance before using the automatic delivery service. The user ID may also be the room number of the recipient's residence. The receiving method is a method by which the recipient receives the package stored in the delivery box 10. The receiving method is selected by the recipient from either automatic delivery, in which the delivery robot 20 transports the package, or self-collection, in which the recipient goes to the delivery box 10 to pick up the package. The initial storage location information is information that indicates the location of the storage space at the time the package is stored. The position information of the first opening 101 is information that indicates the position of the first opening 101 through which the transport robot 20 receives the package. The position information of the second opening 102 is information that indicates the position of the second opening 102 through which the recipient receives the package.

[0064] 2.Operation 2.1. What to do when checking in your luggage FIG. 15 is a sequence chart showing an example of the operation when depositing a package in delivery locker 10. When depositing a package in delivery locker 10, the delivery person inputs delivery information using input / output unit 13 of delivery locker 10. The delivery information includes the name of the delivery company, delivery slip number, package size, the room number of the recipient's residence, whether or not the recipient wishes to receive the package in person, and time designation information that specifies a delivery time slot. The delivery slip number is input, for example, by reading a barcode attached to the delivery slip with a reading device of input / output unit 13. When the delivery information is input, in step S101, control unit 11 of delivery locker 10 transmits this delivery information and a predetermined delivery locker ID of delivery locker 10 to server device 30.

[0065] Upon receiving the delivery information, in step S102, the determination unit 311 of the server device 30 determines a storage space to store the package. For example, the determination unit 311 determines one of the available storage spaces. If the storage spaces vary in size, the determination unit 311 may determine a storage space large enough to store the package based on the size of the package included in the delivery information. In step S103, the opening / closing control unit 314 of the server device 30 sends an instruction to the delivery box 10 to open the door 104 corresponding to the storage space determined by the determination unit 311. Upon receiving the opening instruction, in step S104, the delivery box 10 unlocks and opens the door 104 in accordance with the opening instruction. For example, if a storage space located at a position (X3, Z2) shown in FIG. 3 is determined, the control unit 11 of the delivery box 10 controls the operation of an electric lock (not shown) to unlock and open the door 104 located at this position. When the door 104 located at (X3, Z2) opens, the delivery person places the package in the storage space through the second opening 102 and closes the door 104. Once the door 104 is closed, the door 104 is locked by an electric lock (not shown).

[0066] Returning to FIG. 15, in step S105, the update unit 312 of the server device 30 updates the management table 321 based on the delivery information and the storage space determined in step S102. Here, it is assumed that the delivery box ID attached to the delivery information is "1," the delivery slip number included in the delivery information is "12345," and the room number of the recipient's residence is "001." For example, if a package is stored in a storage space located at (X3, Z2) as shown in FIG. 3, the initial storage location information becomes (X3, Z2). Furthermore, since the transport robot 20 can receive the package stored in the storage space located at (X3, Z2) through the first opening 101 located at (X2, Z4) by moving the movable shelf 14 and the transport platform 15, the location information of the first opening 101 becomes (X2, Z4). Furthermore, a package stored in a storage space located at a position (X3, Z2) can be received not only from the second opening 102 located at a position (X3, Z2) but also from the second opening 102 located at a position (X2, Z2) by moving the movable shelf 14, so the position information of the second opening 102 becomes (X2, Z2) and (X3, Z2). In this case, as shown in FIG. 14, the delivery box ID "1", delivery slip number "12345", user ID "001", initial storage position information (X3, Z2), position information (X2, Z4) of the first opening 101, and position information (X2, Z2) and (X3, Z2) of the second opening 102 are stored in association with each other in the management table 321.

[0067] Returning to FIG. 15, in step S106, the notification unit 313 of the server device 30 sends an arrival notification to the recipient's user terminal 40 notifying them that a package has arrived at the delivery box 10. This arrival notification includes, for example, the package's delivery slip number. Upon receiving the arrival notification, in step S107, the user terminal 40 displays an arrival notification screen notifying them that a package has arrived at the delivery box 10. This arrival notification screen includes, for example, the package's delivery slip number. This arrival notification screen accepts an operation to select a method for receiving the package. When the arrival notification screen is displayed on the user terminal 40, the recipient uses the user terminal 40 to select a method for receiving the package on the arrival notification screen.

[0068] 2.2. What to do if the recipient picks up the package themselves FIG. 16 is a sequence chart showing an example of the operation when a recipient personally picks up a package from the delivery box 10. This operation is initiated when the recipient performs an operation to select "personal collection" as the package collection method on the arrival notification screen using the user terminal 40. When this operation is performed, the user terminal 40 sends a personal collection request to the server device 30 in step S201. This personal collection request includes, for example, a delivery slip number. Upon receiving the personal collection request, the update unit 312 of the server device 30 updates the management table 321 in accordance with the personal collection request in step S202. For example, if the delivery slip number included in the personal collection request is "12345," the management table 321 stores the collection method "personal collection" in association with the delivery slip number "12345."

[0069] Next, the recipient moves to the front of the delivery locker 10 and performs an operation to input identification information using the input / output unit 13. This identification information may be the delivery slip number included in the arrival notification screen or a user ID such as a room number. When this operation is performed, the control unit 11 of the delivery locker 10 transmits this identification information to the server device 30 in step S203. In step S204, the opening / closing control unit 314 of the server device 30 acquires current location information of the adjustable shelf 14 from the delivery locker 10. Specifically, the opening / closing control unit 314 transmits a request to the delivery locker 10 to acquire current location information of the adjustable shelf 14. In response to this acquisition request, the control unit 11 of the delivery locker 10 transmits location information output from the position sensor of the sensor unit 16 to the server device 30. The opening / closing control unit 314 receives this location information. After acquiring the current location information of the adjustable shelf 14, in step S205 the opening / closing control unit 314 selects the second opening 102 through which the recipient will receive the package, based on the management table 321 and the acquired location information.

[0070] FIG. 17 is a diagram showing an example of movement of the adjustable shelf 14. As in FIG. 4, FIG. 17 shows a state in which the front panel of the housing 100 is removed. Here, it is assumed that when the adjustable shelf 14 is at the position shown in FIG. 17(a), a package is stored in a storage space at a position (X3, Z2). When receiving this package, the recipient enters a delivery slip number, for example, "12345." In the example shown in FIG. 14, the management table 321 stores position information for two second openings 102, (X2, Z2) and (X3, Z2), in association with this delivery slip number. In this case, the second opening 102 at the position (X2, Z2) and the second opening 102 at the position (X3, Z2) are candidates for selection. When the current position of the adjustable shelf 14, indicated by the position information of the adjustable shelf 14, is the position shown in FIG. 17(b), the storage space for the package is at the position (X2, Z2). In this case, the second opening 102 located at (X2, Z2) is in a position where luggage can be taken in and out of this storage space, so the second opening 102 located at (X2, Z2) is selected from the two options.

[0071] Returning to FIG. 16 , in step S206, the opening / closing control unit 314 of the server device 30 sends an instruction to open the door 104 of the selected second opening 102 to the delivery box 10. Upon receiving this opening instruction, in step S207, the delivery box 10 unlocks and opens the door 104 in accordance with the opening instruction. For example, if the second opening 102 located at (X2, Z2) in FIG. 17(b) is selected, the control unit 11 of the delivery box 10 controls the operation of an electronic lock (not shown) to unlock and open the door 104 located at this location. When the door 104 located at (X2, Z2) opens, the recipient removes the package from the storage space through the second opening 102. After removing the package, the recipient closes the door 104. When the door 104 is closed, the door 104 is locked by an electronic lock (not shown).

[0072] 2.3. Operation when the transport robot 20 places and distributes luggage FIG. 18 is a sequence chart showing an example of the operation of the transfer robot 20 when it places and delivers a package. This operation is initiated when the recipient performs an operation to select automatic delivery as the package receiving method on the arrival notification screen using the user terminal 40. When this operation is performed, the user terminal 40 sends an automatic delivery request to the server device 30 in step S301. This automatic delivery request includes, for example, the delivery slip number of the package. Upon receiving the automatic delivery request, in step S302, the update unit 312 of the server device 30 updates the management table 321 in accordance with the automatic delivery request. For example, if the delivery slip number included in the automatic delivery request is "12345," the management table 321 stores the receiving method "automatic delivery" in association with the delivery slip number "12345," as shown in FIG. 14.

[0073] In step S303, the shelf control unit 315 of the server device 30 refers to the management table 321 to identify the first opening 101 from which the transport robot 20 will receive the package. Here, it is assumed that the automatic transport request includes a delivery slip number of "12345." In the example shown in FIG. 14, the management table 321 stores location information of the first opening 101, (X2, Z4), in association with this delivery slip number. In this case, the first opening 101 located at the position (X2, Z4) is identified.

[0074] In step S304, the shelf control unit 315 of the server device 30 sends to the delivery locker 10 an instruction to move the movable shelf 14 and the carrier 15 to transport the package to the identified first opening 101. This movement instruction includes initial storage position information of (X3, Z2) and position information of the first opening 101 of (X2, Z4). Upon receiving the movement instruction, in step S305 the delivery locker 10 first moves the movable shelf 14 in accordance with this movement instruction. For example, the control unit 11 of the delivery locker 10 controls the drive of a drive device (not shown) for the movable shelf 14 to move the movable shelf 14 so that a space that will become the vertical passage 107 is formed next to the storage space for the package.

[0075] 19 and 20 are diagrams illustrating an example of movement of the movable shelves 14 and the conveyance platform 15. Similar to FIG. 4, FIGS. 19 and 20 illustrate a state in which the front of the housing 100 is removed. However, FIGS. 20(c) and 20(d) are cross-sectional views of the delivery locker 10 as viewed from the direction of the arrow CC in FIG. 20(b). In the example illustrated in FIG. 19(a), similar to the example illustrated in FIG. 17, the storage space located at the position (X3, Z2) when the package was stored has moved to (X2, Z2) due to the movement of the movable shelves 14. This movement of the storage space is recognized, for example, by the position information of the movable shelves 14 output from the position sensor of the sensor unit 16. When the movable shelves 14 are located at the positions illustrated in FIG. 19(a), the control unit 11 moves the second and third movable shelves 14 from the left to the right as illustrated in FIG. 19(b). As a result, the storage space for the luggage moves to a position (X3, Z2), and a vertical passage 107 is formed to the left of this storage space.

[0076] Once the movement of the movable shelf 14 is complete, in step S306, the delivery locker 10 moves the conveyance platform 15 in accordance with the movement instruction. For example, the control unit 11 of the delivery locker 10 controls the drive of a drive device (not shown) for moving the conveyance platform 15, and moves the conveyance platform 15 leftward through the horizontal passage 108 in the housing 100 to the position "X2" as shown in FIG. 19(b). When the conveyance platform 15 arrives at this position, the arm 153 of the conveyance platform 15 extends and moves upward a predetermined distance. This causes the gear 154 to mesh with the vertical rail 146. Next, the control unit 11 controls the drive of a drive device (not shown) for raising and lowering the conveyance platform 15, and moves the conveyance platform 15 upward through the vertical passage 107 in the housing 100 to the position (X2, Z2) as shown in FIG. 19(c).

[0077] Upon arriving at this position, in step S307, the delivery locker 10 places the package stored in the storage space onto the conveyance platform 15. For example, the control unit 11 of the delivery locker 10 controls the drive of the belt conveyor 147 of the storage space at the position (X3, Z2) and rotates this belt conveyor 147. The rotation of this belt conveyor 147 moves the package stored in the storage space toward the conveyance platform 15. As a result, the package is placed on the conveyance platform 15, as shown in FIG. 20(a).

[0078] When the loading of the package is completed, in step S308, the delivery box 10 moves the conveyance platform 15 in accordance with the movement instruction to a position where the package faces the first opening 101. For example, the control unit 11 of the delivery box 10 controls the driving of a drive device (not shown) for raising and lowering the conveyance platform 15, and moves the conveyance platform 15 downward to a position (X2, Z4) as shown in Figure 20(b).

[0079] In step S309, the opening / closing control unit 314 of the server device 30 sends an instruction to open the shutter 103 of the first opening 101 identified in step S303 described above to the delivery box 10. Upon receiving this opening instruction, in step S310 the delivery box 10 opens the shutter 103 in accordance with this opening instruction. For example, as shown in Figures 20(c) and 20(d), the control unit 11 of the delivery box 10 controls the driving of a drive device (not shown) for the shutter 103 to open the shutter 103 located at a position (X2, Z4).

[0080] In step S311, the robot control unit 316 of the server device 30 transmits a transport instruction to the transport robot 20 to move in front of the first opening 101 identified in step S303, pick up the package, and leave the package at the delivery destination. This transport instruction includes position information of the first opening 101 and position information of the delivery destination. Note that the position information of the delivery destination is determined, for example, at the time of user registration, and is stored in the storage unit 32 in association with the user ID. Upon receiving this transport instruction, in step S312 the transport robot 20 performs a transport process.

[0081] FIG. 21 is a flowchart showing an example of the transfer process. In step S321, the transfer robot 20 moves in front of the first opening 101 of the delivery box 10 in accordance with the transfer instruction. Specifically, the control unit 21 controls the traveling unit 26 to travel from its current position to the first opening 101 of the delivery box 10 based on the map data stored in the memory unit 22 and the position information of the first opening 101. Once the transfer robot 20 moves in front of the first opening 101, in step S322, the transfer robot 20 opens the shutter 203. Once the shutter 203 opens, in step S323, the transfer robot 20 changes to the second form. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, thereby moving the loading unit 27 to the second position. As shown in FIG. 11, at the second position, the loading unit 27 protrudes toward the first opening 101. At this time, the position of the transport robot 20 may be fine-tuned based on an image of the rear of the transport robot 20 taken by the camera of the sensor unit 25 so that the bottom surface of the loading unit 27 comes into contact with the lower end of the first opening 101.

[0082] When the second form is established, in step S324, the transport robot 20 drives the belt conveyor 272 to receive the package from the first opening 101. Here, when the shelf control unit 315 of the server device 30 receives a notification from the control unit 21 of the transport robot 20 informing it that preparations for receiving the package have been completed, the shelf control unit 315 transmits a sending instruction to the delivery locker 10 to control the conveyance platform 15 to rotate the belt conveyor 155 and send the package from the first opening 101 to the transport robot 20. Upon receiving this sending instruction, the control unit 11 of the delivery locker 10 rotates the belt conveyor 15 of the conveyance platform 15 counterclockwise in FIG. 11 in accordance with the sending instruction. The rotation of the belt conveyor 155 sends the package from the first opening 101 to the loading unit 27. The control unit 21 of the transport robot 20 rotates the belt conveyor 272 counterclockwise in FIG. 11. As a result, the package sent from the first opening 101 moves forward by the belt conveyor 272 and is stored in the loading unit 27. When the luggage is accommodated in the loading section 27, the luggage sensor of the sensor unit 25 detects that the luggage has been loaded onto the loading section 27. This indicates that the luggage has been loaded onto the loading section 27.

[0083] When the loading of the package is completed, the transport robot 20 changes to the first form in step S325. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, and moves the loading unit 27 to the first position. As shown in FIG. 10, at the first position, the loading unit 27 is located on the base 261. Once in the first form, the transport robot 20 moves to the destination in step S326. Specifically, the control unit 21 controls the traveling unit 26 to travel from the current position to the destination based on the map data and the location information of the delivery destination stored in the memory unit 22. This destination may be, for example, in front of the entrance of the recipient's house in an apartment building.

[0084] Upon arrival at the destination, the transport robot 20 changes to the third form in step S327. Specifically, the control unit 21 drives the motor 282 to rotate the ball screw 281, thereby moving the loading unit 27 to the third position. As shown in FIG. 12 , in the third position, the loading unit 27 protrudes rearward from the base 261, its bottom surface is inclined with respect to the running surface G, and the rear end of the bottom surface is in contact with the running surface G. Once in the third form, the transport robot 20 drives the belt conveyor 272 to unload the package at the destination in step S328. Specifically, the control unit 21 rotates the belt conveyor 272 clockwise in FIG. 12 . As a result, the package placed on the loading unit 27 moves rearward and is unloaded onto the running surface G at the destination. Once the package is unloaded onto the running surface G at the destination, the delivery to the destination is completed.

[0085] According to the above-described embodiment, when a recipient requests automatic transport, the movable shelf 14 and transport platform 15 of the delivery locker 10 move and the package stored in the storage space of the delivery locker 10 is transported to the first opening 101. Therefore, even if the package is stored in a storage space in the delivery locker 10 that the transport robot 20 cannot reach, the transport robot 20 can receive the item from the delivery locker 10 through the first opening 101. Furthermore, since the transport robot 20 leaves the package deposited in the delivery locker 10 at the destination, the package deposited in the delivery locker 10 can be left and transported to the destination without human intervention. This allows the recipient to receive the package without meeting the recipient in person, without having to go to the delivery locker 10 to pick it up.

[0086] In particular, in large apartment complexes, it takes a lot of time for delivery personnel to visit each individual residence to deliver packages. For example, if a delivery personnel deposits all packages to be delivered to an apartment complex in a delivery locker 10 and a transport robot 20 leaves and delivers these packages in front of each individual residence, the time required for delivery by the delivery personnel can be reduced. Also, in mountainous areas, the location where a delivery personnel delivers packages may be far from a recipient's home. For example, if a delivery personnel deposits packages to be delivered in a delivery locker 10 and a transport robot 20 leaves and delivers the packages deposited in the delivery locker 10 in front of a recipient's home, it saves the recipient the trouble of carrying the packages from the location where the delivery personnel delivers them to their home.

[0087] Furthermore, since the transport platform 15 can transport packages from all storage spaces to the first opening 101 as long as there is enough space in the housing 100 for at least one adjustable shelf 14, the delivery locker 10 can be made smaller than when other methods are used. Furthermore, when the adjustable shelf 14 and transport platform 15 are moved using the method described in the above-described embodiment, a moving mechanism does not need to be installed in each storage space, thereby reducing manufacturing costs compared to installing a moving mechanism in each storage space. Furthermore, by changing the number of adjustable shelves 14, the number of storage spaces can be flexibly increased or decreased. Furthermore, when a recipient requests self-collection, the door 104 of the second opening 102, which allows packages to be loaded and unloaded at the current position of the adjustable shelf 14, opens, allowing the recipient to quickly collect the package. Furthermore, since the door 104 opens in response to the recipient's input of identification information such as a delivery slip number or room number, it is possible to prevent a third party from impersonating the recipient and receiving the package. Furthermore, if the storage space is determined based on the size of the package when the delivery person deposits the package in the delivery locker 10, the package can be stored in a storage space appropriate for the size of the package.

[0088] 3. Variations The above-described embodiment is an example of the present invention, and the present invention is not limited to this embodiment. The above-described embodiment may be modified as in the following modifications. Furthermore, two or more of the following modifications may be implemented in combination.

[0089] In the above-described embodiment, the horizontal passage 108 may be formed above the position of the storage space within the housing 100. For example, the horizontal passage 108 extending left and right may be formed between the top plate 142 of the movable shelf 14 and the upper surface of the housing 100. Even with this configuration, the transport platform 15 can move left and right.

[0090] In the above-described embodiment, a plurality of conveying tables 15 may be provided. When a plurality of conveying tables 15 are provided, it is preferable to form the same number of vertical passages 107 as the number of conveying tables 15. For example, the number of conveying tables 15 may be determined based on the allowable time for conveying a package stored in the delivery locker 10 to the front of the first opening 101. The shorter this allowable time, the greater the number of conveying tables 15. According to this modification, the time required for the conveying tables 15 to convey the package to the front of the first opening 101 is shortened.

[0091] In the above-described embodiment, the mechanism by which the conveyance platform 15 moves up and down is not limited to the mechanism described in the embodiment. For example, the conveyance platform 15 may have an elevator, and may move up and down by extending and contracting the elevator. The conveyance platform 15 may have any mechanism that moves up and down and left and right. Similarly, the movable shelf 14 may have any mechanism that moves left and right.

[0092] In the above-described embodiment, the package sending mechanism of delivery locker 10 is not limited to belt conveyor 155. For example, it may be a mechanism that uses a rod-shaped pushing member to push packages from the rear side to the front side of conveyance table 15, or a mechanism that tilts conveyance table 15 so that the rear side is higher than the front side so that packages can slide from the rear side to the front side of conveyance table 15. Even with this configuration, packages can be sent from delivery locker 10 to transport robot 20 through first opening 101.

[0093] In the above-described embodiment, the second opening 102 does not necessarily have to be provided. In this case, even when the recipient receives the package themselves, the package is delivered in front of the first opening 101. The recipient receives the package from the first opening 101. According to this modification, the delivery box 10 may have a storage space in a location that is out of reach of the recipient. For example, by providing a storage space above or below the delivery box 10 that is out of reach of the recipient, the storage capacity of the delivery box 10 can be increased.

[0094] In the above-described embodiment, the mechanism for receiving packages from the delivery box 10 is not limited to the belt conveyor 272. For example, the transport robot 20 may have an arm that removes packages from the first opening 101. Alternatively, the transport robot 20 may have a suction device that sucks in packages and removes them using the suction device. According to this modification, the transport robot 20 can receive packages from the delivery box 10 even if the delivery box 10 does not have a mechanism for sending out packages.

[0095] In the above-described embodiment, the first opening 101 of the delivery locker 10 may be located at a higher position than the transport robot 20, and the transport robot 20 may have a lifting mechanism. The transport robot 20 moves upward to the height of the first opening 101 by the lifting mechanism, then receives the package, and moves downward once the package has been received. According to this modification, even if the first opening 101 of the delivery locker 10 is located at a higher position than the transport robot 20, the transport robot 20 can receive the package from the first opening 101.

[0096] In the above-described embodiment, the recipient may receive the package directly from the transport robot 20 instead of leaving it at the destination. In this modification, the above-described automatic transport request and transport instruction include a receiving method selected from leaving it at the destination and handing it over. For example, if the recipient wants to receive the package directly from the transport robot 20, the automatic transport request and transport instruction include a receiving method indicating handing over. If the transport instruction includes a receiving method indicating handing over, when the transport robot 20 arrives at the destination, it does not change to the third form, but waits until the recipient removes the package from the loading section 27. When the recipient removes the package from the loading section 27, the transport of the package is completed. According to this modification, the recipient can receive the package directly from the transport robot 20.

[0097] In the above-described embodiment, the determination unit 311 of the server device 30 may use AI (artificial intelligence) to determine the optimal storage space for storing a package based on the tendency of each recipient's package receiving method and receiving time. For example, the determination unit 311 may perform machine learning on the package receiving method and receiving time for each recipient to determine the storage space in which the package will be stored. For a package of a recipient who is likely to use automatic transport, the determination unit 311 may determine a storage space near the first opening 101. Here, "nearby" refers to a location that is easy to move to the first opening 101. For example, a storage space near the first opening 101 is a storage space within a predetermined distance from the first opening 101. Conversely, for a package of a recipient who is likely to receive the package themselves, the determination unit 311 may determine a storage space far from the first opening 101. Here, "far" refers to a first opening 101 that can receive the package even if the transport robot 20 is located in front of the first opening 101. For example, a storage space far from first opening 101 is a storage space that is separated by a predetermined distance from first opening 101. Furthermore, determination unit 311 may determine a storage space near first opening 101 for a package for which the time specified by the time designation information is in the morning. According to this modification, packages stored in delivery box 10 can be efficiently removed.

[0098] In the above-described embodiment, the recipient may specify the time for automatic delivery. In this modification, the recipient uses the user terminal 40 to select automatic delivery as the package receiving method on the arrival notification screen and to specify the time for automatic delivery. The automatic delivery request includes time designation information indicating the specified time. When the time indicated by the time designation information arrives, the robot control unit 316 of the server device 30 transmits a delivery instruction to the delivery robot 20. In response to this delivery instruction, the delivery robot 20 performs delivery processing. According to this modification, the recipient can have the delivery robot 20 place and deliver the package at the desired time.

[0099] In the above-described embodiment, the server device 30 may perform processing in cooperation with a server device of a delivery company. The server device 30 is connected to the server device of the delivery company via the network 50. For example, the server device 30 may obtain delivery information from the server device of the delivery company. According to this modification, when a delivery person deposits a package in the delivery locker 10, the delivery person only needs to read the barcode on the delivery slip with a reading device, for example, and does not need to perform any operation to input delivery information. According to this modification, the delivery person's effort when depositing a package in the delivery locker 10 is reduced.

[0100] In the above-described embodiment, the configuration of the package transport system 1 shown in FIG. 1 is an example and is not limited to this. The functions of one device may be distributed among multiple devices, or the functions of multiple devices may be collectively performed by one device. For example, the control unit 11 of the delivery box 10 may include the determination unit 311, update unit 312, notification unit 313, opening / closing control unit 314, shelf control unit 315, and robot control unit 316 of the server device 30. The server device 30 sends a management table 321 to the delivery box 10 at the initial stage. The above-described management table 321 stores information about multiple delivery boxes 10, but only the portion associated with the delivery box ID of the destination may be sent. The delivery box 10 stores the management table 321 in memory.

[0101] In the above-described embodiment, the operations of the luggage transport system 1, the delivery box 10, the transport robot 20, and the server device 30 are not limited to the above-described examples. The order of the processing procedures of the luggage transport system 1, the delivery box 10, the transport robot 20, and the server device 30 may be changed as long as there is no contradiction. In addition, some of the processing procedures of the luggage transport system 1, the delivery box 10, the transport robot 20, and the server device 30 may be omitted.

[0102] In the above-described embodiment, the structure of the transport robot 20 shown in FIGS. 7 to 12 is an example and is not limited thereto. For example, the travel unit 26 does not necessarily have to be configured as a caterpillar system, and may travel on front wheels 262 and rear wheels 263 without providing a belt 265. The number of wheels is not limited, and may be six, for example. In short, the travel unit 26 may have any structure as long as it has the function of traveling. Furthermore, the drive unit 28 may use a linear guideway, a linear actuator, or a linear motor instead of the ball screw 281. The drive unit 28 may have any structure as long as it moves the loading unit 27 to the first position, the second position, and the third position.

[0103] In the above-described embodiment, at least a portion of the functions of the control unit 11 of the delivery box 10 or the control unit 21 of the transport robot 20 may be realized by circuits such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array).

[0104] Another aspect of the present invention may provide a method having processing steps performed in the package transport system 1, the delivery locker 10, the transport robot 20, or the server device 30. Furthermore, yet another aspect of the present invention may provide a program executed in the delivery locker 10, the transport robot 20, or the server device 30. This program may be provided by being stored in a computer-readable recording medium, or may be provided by downloading via the Internet or the like. [Explanation of symbols]

[0105] 1: Parcel transport system, 10: Delivery box, 14: Movable shelf, 15: Transport platform, 16: Sensor unit, 20: Transport robot, 25: Sensor unit, 26: Travel unit, 27: Loading unit, 28: Drive unit, 30: Server device, 40: User terminal, 100: Housing, 101: First opening, 102: Second opening, 103: Shutter, 104: Door, 105: Horizontal rail, 106: Horizontal rail, 107: Vertical passage, 108: Horizontal passage, 141: Shelf, 142: Top plate, 143: Bottom plate, 144: Support, 145: Wheel, 146: Vertical rail, 147: Belt conveyor, 151: main body, 152: wheels, 153: arms, 154: gears, 155: belt conveyor, 201: housing, 202: opening, 203: shutter, 261: base, 262: front wheels, 263: rear wheels, 264: motor, 265: belt, 271: frame, 272: belt conveyor, 273: opening, 281: ball screws, 282: motors, 283: guide rails, 284: moving parts, 285: connecting shafts, 286: arms, 311: determination units, 312: update units, 313: notification units, 314: opening / closing control units, 315: shelf control units, 316: robot control units

Claims

1. a plurality of movable shelves having storage spaces for storing luggage and moving in a first direction; a housing that houses the plurality of movable shelves and has a first opening formed at a position where the cargo can be delivered to and received from a transport robot, a first passage extending in the first direction, and a second passage formed between the plurality of movable shelves, extending in a second direction intersecting the first direction, and communicating with the outside via the first opening when at least one of the plurality of movable shelves moves; a carrier that moves in the first direction and the second direction through the first passage and the second passage and transports the stored baggage to the first opening; A delivery box equipped with

2. The housing further includes a second opening that connects the storage space to the outside and through which a person puts or takes out the stored luggage, and a second opening / closing body that opens and closes the second opening. The delivery box according to claim 1.

3. The plurality of movable shelves are arranged side by side in the first direction, The second passage has a size that can accommodate one movable shelf among the plurality of movable shelves, the housing has a plurality of first openings formed at positions where the cargo can be delivered to and received from the transport robot; The first openings are formed in every other area among a plurality of areas that are aligned in the first direction and face the movable shelves and the second passage. The delivery box according to claim 1 or 2.

4. The transport platform has a mechanism for sending the package to the transport robot through the first opening. The delivery box according to any one of claims 1 to 3.

5. the first direction is a substantially horizontal direction, and the second direction is a substantially vertical direction; The first passage is formed above or below the position of the accommodation space in the substantially vertical direction. The delivery box according to any one of claims 1 to 4.

6. The second opening / closing member is opened when the recipient inputs the delivery slip number attached to the package. The delivery box according to claim 2.

7. the housing further includes a first opening / closing body that opens and closes the first opening, the first opening / closing body opens in response to a first request to cause the transport robot to transport the package; The second opening / closing body opens in response to a second request that the recipient himself / herself go to receive the package. The delivery box according to claim 2.

8. the housing has a plurality of second openings that connect the storage space to the outside and through which a person puts or takes out the stored luggage, and a plurality of second opening / closing bodies that open and close the plurality of second openings, Further provided is a detection unit that detects the positions of the plurality of movable shelves, When the plurality of movable shelves are located at the positions detected by the detection unit, one of the plurality of second opening / closing bodies opens in response to the second request. The delivery box according to claim 7.

9. at least one movable shelf of the plurality of movable shelves moves in response to a request to have the transport robot transport the luggage so that the second passage is formed adjacent to the storage space; When the at least one movable shelf moves, the transport platform moves to a position adjacent to the storage space in the second passage to receive the luggage from the storage space, and the received luggage moves to a position facing the first opening. The delivery box according to claim 1.

10. It is equipped with a delivery box and a transport robot, The delivery box is a plurality of movable shelves having storage spaces for storing luggage and moving in a first direction; a housing that houses the plurality of movable shelves and has a first opening formed at a position where the cargo can be delivered to and received from the transport robot, a first passage extending in the first direction, and a second passage formed between the plurality of movable shelves, extending in a second direction intersecting the first direction, and communicating with the outside via the first opening when at least one of the plurality of movable shelves moves; a conveyance platform that moves through the first passage and the second passage in the first direction and the second direction to convey the stored baggage to the first opening, The transport robot is a loading section for loading the luggage received through the first opening; a traveling section that travels to the destination of the luggage; a drive unit that moves the loading unit to a first position that holds the package while the traveling unit is traveling, a second position that receives the package from the delivery box, and a third position that unloads the package at the destination. Luggage transport system.

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