Logistics system, control method, and logistics robot

Abstract

To determine appropriate delivery routes for logistics services using logistics robots that deliver packages by autonomous driving.SOLUTION: A logistics system according to the present invention provides logistics services using a logistics robot that delivers packages by autonomous driving. The logistics system includes one or more processors that execute a delivery route determination process that determines a delivery route along which the logistics robot will deliver packages. When there are multiple candidate delivery routes from the location of the logistics robot to the package delivery destination, the one or more processors select a delivery route from among the multiple candidate delivery routes based on at least one of the degree of congestion, time zone, weather condition, and energy consumption of the logistics robot on each of the multiple candidate delivery routes.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

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

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

[0004] Consider a logistics service that uses a logistics robot that delivers packages by autonomous driving. There may be cases where there are multiple candidate delivery routes from the location of the logistics robot to the delivery destination of the package. Patent Document 1 does not consider how to determine an appropriate delivery route in such a case. There is room for improvement in determining the delivery route.

[0005] One object of the present disclosure is to logistics Robot Delivery To provide a technique for determining an appropriate route. [Means for solving the problem]

[0006] The first perspective is, logistics Manage your robots logistics System related. logistics The system logistics Robot DeliveryThe one or more processors determine a route to a destination. Delivery Each of the route candidates People in During the night, one or more processors acquire the congestion level. Delivery The most congested route candidate Delivery Select as root. The second perspective is that computers logistics The control method relates to a control method for controlling a robot. logistics Robot Delivery Deciding on a route, Delivery Follow the route logistics and controlling the robot. Delivery Determining a route involves multiple routes to a destination. Delivery Each of the route candidates People in At night, multiple Delivery The most congested route candidate Delivery and selecting it as the root. The third perspective is autonomous driving. logistics Related to robots. logistics The robot includes one or more processors that perform autonomous driving control to travel to a destination. The one or more processors perform multiple driving operations to travel to a destination at night. Delivery The most congested route candidate Delivery Autonomous driving control is performed to ensure the vehicle follows the route.

[0007] The fourth perspective is, logistics Manage your robots logistics System related. logistics The system logistics Robot Delivery The one or more processors determine a route to a destination. Delivery From the route candidates Delivery Switch the route selection policy between daytime and nighttime. The fifth perspective is: logistics Manage your robots logistics System related. logistics The system logistics Robot Delivery One or more processors for determining a route to a destination. Delivery The route candidate is the first route, which has relatively little interference with people. Delivery Route candidates and human interference are the first Delivery More second than root Delivery The one or more processors include a plurality of route candidates. Delivery The first of the route candidates Delivery Route candidates Delivery You can select multiple routes. Delivery The second route candidate Delivery Route candidates Delivery Switch between selecting it as a route depending on the situation. The sixth perspective is: logistics Manage your robots logistics System related. logistics The system logistics Robot Delivery The weather condition-related parameters include at least one of an amount of rainfall, an amount of snowfall, an amount of dustfall, a wind speed, a fog density, and an air temperature. The one or more processors determine a route to the destination based on the parameters related to the weather conditions. Delivery From the route candidates Delivery Select a route. [Effects of the Invention]

[0008] According to the present disclosure, logistics Robot Delivery It is possible to determine the appropriate route. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a conceptual diagram illustrating a logistics system according to an embodiment of the present disclosure. [Figure 2] 1 is a conceptual diagram illustrating a logistics system according to an embodiment of the present disclosure. [Figure 3]FIG. 1 is a conceptual diagram for explaining an overview of a delivery route determination process according to an embodiment of the present disclosure. [Figure 4] 1 is a flowchart illustrating an outline of processing by a logistics system according to an embodiment of the present disclosure. [Figure 5] FIG. 2 is a conceptual diagram for explaining a first example of a delivery route determination process according to an embodiment of the present disclosure. [Figure 6] FIG. 10 is a conceptual diagram for explaining a second example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 7] FIG. 10 is a conceptual diagram for explaining a third example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 8] FIG. 10 is a conceptual diagram for explaining a fourth example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 9] FIG. 10 is a conceptual diagram for explaining a fifth example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a conceptual diagram for explaining a sixth example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 11] FIG. 10 is a conceptual diagram for explaining a seventh example of the delivery route determination process according to the embodiment of the present disclosure. [Figure 12] 1 is a block diagram illustrating a configuration example of a logistics robot according to an embodiment of the present disclosure. [Figure 13] 1 is a block diagram showing an example of various information in a logistics robot according to an embodiment of the present disclosure. FIG. [Figure 14] 1 is a block diagram illustrating a configuration example of a management system according to an embodiment of the present disclosure. [Figure 15] FIG. 2 is a block diagram illustrating an example of various information in a management system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0011] 1. Logistics System 1 and 2 are conceptual diagrams for explaining a logistics system 1 according to this embodiment. The logistics system 1 provides logistics services. A service area 2 is a predetermined area in which the logistics services are provided. For example, the service area 2 is a town such as a smart city. The logistics system 1 includes a plurality of logistics robots 10 and a management system 100.

[0012] The logistics robot 10 is a robot that is mainly used to deliver packages. This logistics robot 10 is configured to be capable of autonomous travel, and travels autonomously from a departure point to a destination point. For example, the departure point is a package collection point (e.g., a logistics center), and the destination point is a package delivery destination (e.g., a user's residence). As another example, the departure point is a delivery destination of one package, and the destination point is a delivery destination of another package. As yet another example, the departure point is a delivery destination of the last package, and the destination point is a package collection point.

[0013] The type of logistics robot 10 is not limited to one. Multiple types of logistics robots 10 may be used. For example, as shown in Fig. 2, a small logistics robot 10-1, a medium logistics robot 10-2, a large logistics robot 10-3, etc. may be used.

[0014] The management system 100 manages logistics services and manages and controls the logistics robot 10. The management system 100 is, for example, a management server. The management system 100 may also be a distributed processing system.

[0015] The management system 100 is capable of communicating with each logistics robot 10 and collects information on the location and status from each logistics robot 10. The management system 100 also receives delivery requests from users of the logistics service. In response to the delivery request, the management system 100 assigns a logistics robot 10 to perform the delivery and determines a delivery route along which the logistics robot 10 will deliver the package. The management system 100 then notifies the logistics robot 10 of the determined delivery route and instructs the logistics robot 10 to deliver the package according to the delivery route. The logistics robot 10 autonomously travels along the notified delivery route and delivers the package.

[0016] 2.Delivery route determination process Fig. 3 shows a case where there are multiple candidates for the delivery route from the position of the logistics robot 10 to the delivery destination of the package. The candidate delivery routes are hereinafter referred to as "candidate delivery routes." In the example shown in Fig. 3, there are three types of candidate delivery routes R1 to R3.

[0017] According to this embodiment, an appropriate delivery route is selected from a plurality of delivery route candidates depending on the situation. "Reference information REF" is used to select an appropriate delivery route. For example, the reference information REF includes information on at least one of the congestion level of each delivery route candidate, the time period, weather conditions, the energy consumption of the logistics robot 10 on each delivery route candidate, and the delivery route history of the logistics robot 10. Details of the reference information REF will be described later. A delivery route is selected from a plurality of delivery route candidates based on such reference information REF. This makes it possible to determine an appropriate delivery route depending on the situation.

[0018] For example, the management system 100 determines a delivery route. Specifically, the management system 100 extracts multiple delivery route candidates. Route candidate information CAN indicates the multiple delivery route candidates. The management system 100 also acquires reference information REF, which will be described later. Then, based on the reference information REF, the management system 100 selects a delivery route from the multiple delivery route candidates indicated by the route candidate information CAN. Route information RTE indicates the selected delivery route. The management system 100 provides the route information RTE to the logistics robot 10 and instructs the logistics robot 10 to deliver the package according to the route information RTE. Issuing instructions to the logistics robot 10 is included in controlling the logistics robot 10. The logistics robot 10 autonomously travels and delivers the package according to the delivery route indicated by the route information RTE.

[0019] As another example, the logistics robot 10 may determine the delivery route. In this case, the management system 100 provides the route candidate information CAN and the reference information REF to the logistics robot 10. Alternatively, the logistics robot 10 may acquire at least one of the route candidate information CAN and the reference information REF on its own. Based on the reference information REF, the logistics robot 10 selects a delivery route from among the multiple delivery route candidates indicated in the route candidate information CAN. In other words, the logistics robot 10 generates the route information RTE by itself. Then, the logistics robot 10 autonomously travels and delivers packages according to the delivery route indicated in the route information RTE.

[0020] FIG. 4 is a flowchart showing an outline of the processing performed by the logistics system 1 according to this embodiment.

[0021] In step S100, the logistics system 1 (the management system 100 or the logistics robot 10) executes a "delivery route determination process" to determine a delivery route along which the logistics robot 10 will deliver the package. In particular, if there are multiple delivery route candidates, the logistics system 1 selects a delivery route from among the multiple delivery route candidates based on the reference information REF (step S150).

[0022] In step S200, the logistics system 1 executes a "logistics robot control process." Specifically, the logistics system 1 (the management system 100 or the logistics robot 10) controls the logistics robot 10 to deliver the package according to the delivery route determined in step S100. Note that the control of the logistics robot 10 also includes the management system 100 issuing instructions to the logistics robot 10.

[0023] As described above, according to this embodiment, when there are multiple delivery route candidates, it is possible to determine an appropriate delivery route depending on the situation.

[0024] Various examples of the "delivery route determination process" according to this embodiment will be described below.

[0025] 2-1. First example 5 is a conceptual diagram for explaining a first example of the delivery route determination process. Within the service area 2, a large number of sensors 5 are installed to recognize the surrounding conditions. For example, the sensors 5 are cameras, and acquire image information showing the surrounding conditions. The sensors 5 are capable of communicating with the management system 100, and transmit the recognized information (e.g., image information) to the management system 100.

[0026] The management system 100 recognizes the status of each of the multiple delivery route candidates based on the recognition information received from the sensor 5. The route status information RST is information that indicates the status of each delivery route candidate. For example, the route status information RST includes image information along each delivery route candidate.

[0027] The management system 100 calculates the "congestion level" of each delivery route candidate based on the route status information RST. Here, the congestion level indicates the degree of congestion of moving objects along the delivery route candidate. Examples of moving objects include people, vehicles, robots (including other logistics robots 10), animals, etc. For example, the congestion level is the average value of the density of moving objects along the delivery route candidate. Different weighting may be applied to each type of moving object. As another example, the congestion level may be the peak value of the density of moving objects along the delivery route candidate. For example, if the route status information RST includes image information, the congestion level can be calculated by analyzing the image information and identifying the moving objects. The route status information RST may include the congestion level calculated for each delivery route candidate.

[0028] In a first example, the reference information REF includes the above-mentioned route status information RST. That is, the management system 100 selects a delivery route from among a plurality of delivery route candidates based on the route status information RST. In particular, the management system 100 selects a delivery route from among a plurality of delivery route candidates based on the congestion level of each delivery route candidate.

[0029] More specifically, the management system 100 selects the delivery route candidate with the lowest degree of congestion as the delivery route. In the example shown in Figure 5, there are two delivery route candidates RA and RC. The delivery route candidate RC has a high degree of congestion, while the delivery route candidate RA has a low degree of congestion. In this case, the management system 100 selects the delivery route candidate RA as the delivery route.

[0030] As described above, according to the first example, the delivery route with the least congestion among multiple delivery route candidates is selected as the delivery route. The logistics robot 10 can move smoothly along a delivery route that is not congested. Furthermore, a delivery route that is not congested significantly reduces the risk of contact between the logistics robot 10 and other moving objects. In this way, delivery efficiency and safety are improved.

[0031] 2-2. Second example 6 is a conceptual diagram for explaining a second example of the delivery route determination process. Explanations that overlap with the first example will be omitted where appropriate.

[0032] In a second example, the reference information REF includes time zone information HRS in addition to the above-mentioned route status information RST. The time zone information HRS indicates whether the current time is in a first time zone or a second time zone. For example, the first time zone is daytime, and the second time zone is nighttime. The time zone information HRS is obtained from the system clock. The management system 100 selects a delivery route from multiple delivery route candidates based on the congestion level and time zone of each delivery route candidate.

[0033] More specifically, during the day, the management system 100 selects the delivery route with the lowest degree of congestion from among multiple delivery route candidates as the delivery route. On the other hand, during the night, the management system 100 selects the delivery route with the highest degree of congestion from among multiple delivery route candidates as the delivery route. In other words, the management system 100 switches the delivery route selection policy between daytime and nighttime.

[0034] During the daytime, the delivery route with the least congestion among multiple delivery route candidates is selected as the delivery route. The logistics robot 10 can move smoothly along a delivery route that is not congested. Furthermore, a delivery route that is not congested significantly reduces the risk of the logistics robot 10 coming into contact with other moving objects. Therefore, delivery efficiency and safety are improved during daytime package deliveries.

[0035] On the other hand, at night, the delivery route with the highest degree of congestion among multiple delivery route candidates is selected as the delivery route. In this case, the logistics robot 10 can deliver packages and also monitor the city at night. Also, just having the logistics robot 10 nearby at night gives people a sense of security.

[0036] 2-3. Third Example FIG. 7 is a conceptual diagram illustrating a third example of the delivery route determination process. In the third example, the multiple delivery route candidates include a ground route RG and an underground route RU. The underground route RU has less interference with people than the ground route RG. The underground route RU may be a delivery route exclusively for the logistics robot 10. Typically, the distance to the delivery destination along the underground route RU is longer than the distance to the delivery destination along the ground route RG because it is necessary to go underground.

[0037] In a third example, the reference information REF includes time zone information HRS. The time zone information HRS indicates whether the current time is in a first time zone or a second time zone. For example, the first time zone is daytime, and the second time zone is nighttime. The time zone information HRS is obtained from a system clock. The management system 100 selects a delivery route from among multiple delivery route candidates based on the time zone information HRS.

[0038] More specifically, during the day, the management system 100 selects the ground route RG as the delivery route. On the other hand, during the night, the management system 100 selects the underground route RU as the delivery route. In other words, the management system 100 switches the delivery route selection policy between daytime and nighttime.

[0039] At night, the underground route RU is selected as the delivery route. At night, visibility on the aboveground route RG is poor, increasing the probability of contact between the logistics robot 10 and people. By selecting the underground route RU, which has less interference with people, the risk of contact between the logistics robot 10 and people can be reduced. This also reduces the possibility of the logistics robot 10 getting into trouble.

[0040] On the other hand, during the daytime, the ground route RG is selected as the delivery route. Typically, the distance to the delivery destination along the ground route RG is shorter than the distance to the delivery destination along the underground route RU. By selecting the shorter ground route RG, it is possible to shorten the time required for delivery.

[0041] 2-4. Fourth Example 8 is a conceptual diagram for explaining a fourth example of the delivery route determination process. Explanations that overlap with the above-mentioned third example will be omitted where appropriate.

[0042] In the fourth example, during the day, the management system 100 selects the underground route RU as the delivery route. On the other hand, during the night, the management system 100 selects the ground route RG as the delivery route. In other words, the management system 100 switches the delivery route selection policy between daytime and nighttime.

[0043] During the daytime, the underground route RU is selected as the delivery route. The underground route RU has less interference with people than the aboveground route RG. Therefore, the logistics robot 10 can move smoothly along the underground route RU. In addition, the risk of contact between the logistics robot 10 and people is significantly reduced. Therefore, delivery efficiency and safety are improved during daytime package deliveries.

[0044] On the other hand, at night, the ground route RG is selected as the delivery route. In this case, the logistics robot 10 can deliver packages and also monitor the city at night. Also, just having the logistics robot 10 nearby at night gives people a sense of security.

[0045] 2-5. Fifth Example 9 is a conceptual diagram for explaining a fifth example of the delivery route determination process. As in the third example, the plurality of delivery route candidates include a ground route RG and an underground route RU.

[0046] In a fifth example, the reference information REF includes weather condition information CON. The weather condition information CON indicates parameters related to weather conditions. The parameters related to weather conditions include at least one of rainfall, snowfall, dustfall, wind speed, fog density, and temperature. Such weather condition information CON is provided, for example, by a weather information service system. The management system 100 acquires the weather condition information CON from the weather information service system.

[0047] The management system 100 selects a delivery route from among multiple delivery route candidates based on the weather condition information CON. More specifically, the management system 100 determines whether the ground route RG is in a harsh environment based on the weather condition information CON. For example, if a parameter indicated by the weather condition information CON is equal to or greater than a threshold, the management system 100 determines that the ground route RG is in a harsh environment. In a harsh environment, the recognition accuracy of the logistics robot 10 decreases. Furthermore, heavy rain or snow can hinder the movement of the logistics robot 10.

[0048] Therefore, when the parameter indicated by the weather condition information CON is equal to or greater than a threshold, the management system 100 selects the underground route RU as the delivery route instead of the aboveground route RG, thereby enabling the delivery of parcels safely without being affected by harsh environments.

[0049] On the other hand, if the parameter indicated by the weather condition information CON is less than the threshold, the ground route RG is not in a severe environment. Therefore, the management system 100 may select the ground route RG as the delivery route. For example, the distance to the delivery destination along the ground route RG is shorter than the distance to the delivery destination along the underground route RU. By selecting the shorter ground route RG, it is possible to shorten the time required for delivery.

[0050] 2-6. Sixth Example 10 is a conceptual diagram for explaining a sixth example of the delivery route determination process. In the sixth example, the reference information REF includes service area information MAP. The service area information MAP indicates the configuration of the service area 2 (see FIG. 1) in which logistics services are provided. For example, the service area information MAP includes a three-dimensional road map, building layout, floor layout within the building, room layout on each floor, elevator layout in the building, etc.

[0051] The management system 100 estimates the energy consumption of the logistics robot 10 along each candidate delivery route based on the service area information MAP. The energy consumption can be calculated based on the distance and elevation difference of each candidate delivery route. The management system 100 then selects a delivery route from among the multiple candidate delivery routes based on the energy consumption of the logistics robot 10.

[0052] More specifically, the management system 100 selects the delivery route candidate with the lowest energy consumption as the delivery route. In the example shown in Fig. 10, there are two delivery route candidates RE and RF. Delivery route candidate RE has low energy consumption, while delivery route candidate RF has high energy consumption. Therefore, the management system 100 selects delivery route candidate RE as the delivery route.

[0053] As described above, according to the sixth example, the delivery route with the lowest energy consumption is selected from among multiple delivery route candidates. This makes it possible to reduce the energy required for package delivery. In particular, when energy is tight across the entire service area 2, it is preferable to select an energy-saving delivery route.

[0054] 2-7. Seventh Example 11 is a conceptual diagram for explaining a seventh example of the delivery route determination process. In the seventh example, the reference information REF includes delivery history information HST. The delivery history information HST indicates the delivery history of the logistics robot 10. In particular, the delivery history information HST indicates past delivery routes RP that the logistics robot 10 has traveled in the past.

[0055] The management system 100 selects a delivery route from among multiple delivery route candidates based on the delivery history information HST. More specifically, if the multiple delivery route candidates include a past delivery route RP, the management system 100 selects the past delivery route RP as the delivery route. Since the past delivery route RP is a delivery route that has been used successfully in the past to deliver packages, there is a high possibility that package delivery will be carried out smoothly.

[0056] 2-8. Example 8 It is also possible to combine two or more of the above examples. In other words, it is also possible to perform the delivery route determination process by taking into account two or more of multiple parameters, such as the congestion level of the delivery route candidate, time period, weather conditions, energy consumption, and delivery route history. For example, a score is calculated by combining each parameter. The higher the score, the higher the priority is set.

[0057] 2-9. 9th Example In the ninth example, the logistics robot 10 performs a delivery route determination process. The management system 100 provides the logistics robot 10 with route candidate information CAN and reference information REF. Alternatively, the logistics robot 10 may acquire at least one of the route candidate information CAN and the reference information REF by itself. The logistics robot 10 selects a delivery route from among the multiple delivery route candidates indicated in the route candidate information CAN, based on the reference information REF.

[0058] 3. Logistics robots 3-1.Configuration example 12 is a block diagram showing an example of the configuration of a logistics robot 10 according to this embodiment. The logistics robot 10 includes a sensor group 20, a communication device 30, a traveling unit 40, a storage unit 50, and a control device 60.

[0059] The sensor group 20 includes a position sensor, a status sensor, a recognition sensor, etc. The position sensor acquires the position and orientation of the logistics robot 10. An example of a position sensor is a GNSS (Global Navigation Satellite System) receiver. The status sensor detects the status of the logistics robot 10. Examples of the status of the logistics robot 10 include wheel speed, speed, acceleration (longitudinal acceleration, lateral acceleration, etc.), angular velocity (yaw rate, etc.), payload, remaining battery level, and fault state. The recognition sensor recognizes the situation around the logistics robot 10. Examples of the recognition sensor include a camera, LIDAR (Light Detection And Ranging), radar, and sonar.

[0060] The communication device 30 communicates with the outside of the logistics robot 10. For example, the communication device 30 communicates with the management system 100 through a wireless communication network such as 4G or 5G. The communication device 30 may be connected to a wireless LAN. The communication device 30 may also perform short-range communication with other nearby logistics robots 10. Examples of short-range communication methods include infrared communication and Bluetooth (registered trademark).

[0061] The propulsion unit 40 accelerates, decelerates, and turns the logistics robot 10. For example, the propulsion unit 40 includes wheels, an electric motor that drives the wheels, a drive circuit that drives the electric motor, a battery that supplies power, and the like. Acceleration and deceleration of the logistics robot 10 are performed by controlling the electric motor. Braking may be performed using regenerative braking controlled by the electric motor. Mechanical brakes may also be provided on any of the wheels. Turning of the logistics robot 10 can be achieved by controlling the difference in rotational speed between the left and right wheels (motors). A steering mechanism for steering the wheels may also be provided. Certain wheels may be omniwheels.

[0062] The storage unit 50 stores luggage. For example, the storage unit 50 includes a storage box, an actuator that automatically opens and closes the lid of the storage box, an actuator that changes the position and orientation of the storage box, an arm that removes luggage from the storage box, and the like.

[0063] The control device 60 controls the logistics robot 10. For example, the control device 60 includes a traveling unit control device 70 that controls the traveling unit 40 and a storage unit control device 80 that controls the storage unit 50. The traveling unit control device 70 and the storage unit control device 80 are connected to each other so that they can communicate with each other, and they perform processes in cooperation with each other.

[0064] The traveling unit control device 70 includes one or more processors 71 (hereinafter simply referred to as "processors 71") that perform various processes, and one or more storage devices 72 (hereinafter simply referred to as "storage devices 72") that store various information. For example, the processor 71 includes a CPU (Central Processing Unit). The storage device 72 is, for example, a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. The processor 71 executes a computer program to realize the functions of the traveling unit control device 70. The computer program may be recorded on a computer-readable recording medium.

[0065] The storage unit control device 80 includes one or more processors 81 (hereinafter simply referred to as "processors 81") that perform various processes, and one or more storage devices 82 (hereinafter simply referred to as "storage devices 82") that store various information. For example, the processor 81 includes a CPU. The storage device 82 is, for example, a volatile memory, a non-volatile memory, an HDD, an SSD, etc. The processor 81 executes a computer program to realize the functions of the storage unit control device 80. The computer program may be recorded on a computer-readable recording medium.

[0066] 3-2. Examples of various information 13 is a block diagram showing an example of various information in the logistics robot 10. The various information is stored in the storage device 72 and the storage device .

[0067] The service area information MAP indicates the configuration of the service area 2 (see FIG. 1) in which logistics services are provided. For example, the service area information MAP includes a three-dimensional road map, building layout, floor layout within the building, room layout on each floor, elevator layout in the building, etc. The service area information MAP is provided, for example, from the management system 100. The control device 60 acquires the service area information MAP from the management system 100 via the communication device 30.

[0068] The operation information OPE indicates the position and status of the logistics robot 10. The position of the logistics robot 10 is obtained by a position sensor in the sensor group 20. The control device 60 may obtain highly accurate position information by a well-known self-position estimation process (localization). The status of the logistics robot 10 is detected by a status sensor in the sensor group 20. Examples of the status of the logistics robot 10 include wheel speed, speed, acceleration (longitudinal acceleration, lateral acceleration, etc.), angular velocity (yaw rate, etc.), payload, remaining battery charge, and fault status. The control device 60 obtains the operation information OPE from the sensor group 20.

[0069] The surrounding situation information SUR indicates the situation around the logistics robot 10. The surrounding situation information SUR is obtained from the recognition results of the recognition sensors of the sensor group 20. For example, the surrounding situation information SUR includes images (video) captured by a camera. The surrounding situation information SUR may also include object information related to objects around the logistics robot 10. Examples of objects around the logistics robot 10 include pedestrians, mobility (vehicles and robots), signs, white lines, roadside structures, buildings, etc. The object information indicates the relative position and relative speed of the object with respect to the logistics robot 10.

[0070] The delivery information DLV is information related to package delivery. For example, the delivery information DLV includes package information indicating the delivery destination of each package. Furthermore, the delivery information DLV includes route information RTE indicating the delivery route traveled by the logistics robot 10. For example, the delivery information DLV is provided by the management system 100. The control device 60 acquires the delivery information DLV from the management system 100 via the communication device 30. As another example, the control device 60 may generate the route information RTE based on the delivery destination of the package and the service area information MAP.

[0071] The route candidate information CAN indicates a plurality of candidate delivery routes from the position of the logistics robot 10 to the delivery destination of the package. For example, the route candidate information CAN is provided from the management system 100. The control device 60 acquires the route candidate information CAN from the management system 100 via the communication device 30. As another example, the control device 60 may generate the route candidate information CAN based on the delivery destination of the package and service area information MAP.

[0072] The reference information REF is information used to select a delivery route from among multiple delivery route candidates. Examples of the reference information REF include the information described in Section 2 above. For example, the reference information REF is provided by the management system 100. The control device 60 acquires the reference information REF from the management system 100 via the communication device 30. As another example, the control device 60 can also acquire the reference information REF, such as time zone information HRS and weather condition information CON, by itself.

[0073] 3-3.Shipping process The traveling unit control device 70 (processor 71) performs traveling control (acceleration control, deceleration control, and turning control) by controlling the traveling units 40. The speed, acceleration, and angular velocity of the logistics robot 10 are obtained from operation information OPE. The traveling unit control device 70 may perform traveling control based on surrounding situation information SUR so as to avoid collisions with objects around the logistics robot 10.

[0074] In particular, the traveling unit control device 70 (processor 71) performs autonomous traveling control so that the logistics robot 10 travels toward the destination. More specifically, the traveling unit control device 70 performs autonomous traveling control so that the logistics robot 10 travels along the delivery route based on the service area information MAP, operation information OPE (position information), and delivery information DLV (route information RTE).

[0075] The traveling unit control device 70 (processor 71) may perform the delivery route determination process (FIG. 4, step S100). For example, route candidate information CAN and reference information REF are provided from the management system 100. The traveling unit control device 70 acquires the route candidate information CAN and the reference information REF from the management system 100 via the communication device 30. As another example, the traveling unit control device 70 may generate the route candidate information CAN itself based on the delivery destination of the package and service area information MAP. As yet another example, the traveling unit control device 70 may acquire the reference information REF, such as time zone information HRS and weather condition information CON, itself. The traveling unit control device 70 (processor 71) selects a delivery route from among the multiple delivery route candidates indicated in the route candidate information CAN based on the reference information REF (see Section 2 above).

[0076] When the logistics robot 10 arrives at the delivery destination of the package, the storage unit control device 80 (processor 81) controls the storage unit 50 to unload the package. For example, the storage unit control device 80 automatically opens and closes the lid of the storage box, changes the position and orientation of the storage box, and removes the package from the storage box. Similarly, the storage unit control device 80 may control the storage unit 50 to collect the package.

[0077] 3-4. Monitoring function The control device 60 may transmit the surrounding situation information SUR to the management system 100 via the communication device 30. The operator of the management system 100 can monitor the situation of the service area 2 based on the surrounding situation information SUR.

[0078] Furthermore, the control device 60 may detect an abnormal event based on the surrounding situation information SUR. Examples of abnormal events include an illness or a crime. When an abnormal event is detected, the control device 60 transmits an alert to the management system 100 via the communication device 30. An operator of the management system 100 recognizes the abnormal event and takes action.

[0079] 4. Management System 4-1.Configuration example 14 is a block diagram showing an example of the configuration of a management system 100 according to this embodiment. The management system 100 is, for example, a management server. The management system 100 may be a distributed processing system. The management system 100 includes an input / output device 110, a communication device 120, an information processing device 130, and a database 160.

[0080] The input / output device 110 is an interface for receiving information from an operator of the management system 100 and for providing information to the operator. Examples of input devices include a keyboard, a mouse, a touch panel, a switch, etc. Examples of output devices include a display device, a speaker, etc. The operator can use the input / output device 110 to monitor the status of the logistics service.

[0081] The communication device 120 communicates with the outside. For example, the communication device 120 communicates with each logistics robot 10 through a wireless communication network such as 4G or 5G. The communication device 120 may be connected to a wireless LAN. The communication device 120 also communicates with a sensor 5 that recognizes the status of the floor of the building 3. The communication device 120 may also communicate with a user terminal (e.g., a PC, a tablet, or a smartphone).

[0082] The information processing device 130 includes one or more processors 140 (hereinafter simply referred to as "processors 140") and one or more storage devices 150 (hereinafter simply referred to as "storage devices 150"). The processor 140 performs various types of information processing. For example, the processor 140 includes a CPU. The storage device 150 stores various types of information required for processing by the processor 140. Examples of the storage device 150 include volatile memory, non-volatile memory, HDD, SSD, etc. The functions of the information processing device 130 are realized when the processor 140 executes a computer program. The computer program is stored in the storage device 150. The computer program may be recorded on a computer-readable recording medium. The computer program may be provided via a network.

[0083] Furthermore, the information processing device 130 can access a database 160. The database 160 is realized by a predetermined storage device. The database 160 may be included in the storage device 150. The database 160 holds various information necessary for providing logistics services. The information processing device 130 reads out the necessary information from the database 160 and stores it in the storage device 150.

[0084] 4-2. Examples of various information 15 is a block diagram showing an example of various types of information in the management system 100. The various types of information are stored in the storage device 150 and the database 160.

[0085] The service area information MAP indicates the configuration of the service area 2 (see FIG. 1) in which logistics services are provided. For example, the service area information MAP includes a three-dimensional road map, building layout, floor layout within the building, room layout on each floor, elevator layout in the building, etc. The service area information MAP is created in advance. The service area information MAP may be updated at regular intervals.

[0086] The logistics robot information RBT is information related to the logistics robot 10, and is generated for each logistics robot 10. For example, the logistics robot information RBT includes operation information OPE and delivery information DLV.

[0087] The operation information OPE indicates the position and state of the logistics robot 10. The processor 140 communicates with each logistics robot 10 via the communication device 120, and periodically acquires the operation information OPE from each logistics robot 10.

[0088] The delivery information DLV is information related to package delivery. For example, the delivery information DLV includes package information indicating the delivery destination of each package. Furthermore, the delivery information DLV includes route information RTE indicating the delivery route along which the logistics robot 10 will travel.

[0089] The logistics robot information RBT may further include performance information indicating the performance of the logistics robot 10. For example, the performance information includes the size of the logistics robot 10, its storage capacity, its maximum payload, its battery capacity, its maximum travel distance, its maximum travel speed, etc. The performance information is created in advance.

[0090] The route candidate information CAN indicates a plurality of delivery route candidates from the position of the logistics robot 10 to the delivery destination of the package.

[0091] The reference information REF is information used to select a delivery route from among multiple delivery route candidates indicated by the route candidate information CAN. Examples of reference information REF include those described in Section 2 above. The route status information RST is obtained based on information sent from sensors 5 installed in the service area 2. The time zone information HRS is obtained from the system clock. The weather condition information CON is obtained from the weather information service system. The delivery history information HST is obtained from the database 160.

[0092] 4-3.Shipping process The processor 140 receives a delivery request from a user of the logistics service. More specifically, the processor 140 receives the delivery request from a user terminal via the communication device 120. The delivery request includes a desired delivery location, a desired delivery date, a desired delivery time, and the like.

[0093] In response to the delivery request, the processor 140 assigns a logistics robot 10 to perform the delivery. More specifically, the processor 140 selects a logistics robot 10 that can reach the desired delivery location at the desired delivery time on the desired delivery date, based on the service area information MAP, operation information OPE, and performance information. Furthermore, the processor 140 determines an appropriate delivery route based on the service area information MAP and the desired delivery location (delivery destination), and generates route information RTE (delivery route determination process).

[0094] More specifically, the processor 140 extracts multiple delivery route candidates based on the package delivery destination and the service area information MAP, and generates route candidate information CAN. Furthermore, the processor 140 selects a delivery route from the multiple delivery route candidates indicated by the route candidate information CAN based on the reference information REF (see Section 2 above). The route information RTE indicates the selected delivery route. The delivery information DLV includes the route information RTE.

[0095] In this way, in response to a delivery request from a user, the processor 140 assigns a logistics robot 10 to perform the delivery and generates delivery information DLV for that logistics robot 10. The processor 140 communicates with the logistics robot 10 via the communication device 120, provides the delivery information DLV to the logistics robot 10, and instructs the logistics robot 10 to perform delivery processing in accordance with the delivery information DLV. In other words, the processor 140 controls the logistics robot 10 by providing the delivery information DLV to the logistics robot 10. The logistics robot 10 performs autonomous driving control based on the delivery information DLV and delivers the package.

[0096] As another example, the processor 140 may communicate with the logistics robot 10 via the communication device 120 and provide the route candidate information CAN and the reference information REF to the logistics robot 10. In this case, the logistics robot 10 performs a delivery route determination process based on the route candidate information CAN and the reference information REF. [Explanation of symbols]

[0097] 1. Logistics system 2 Service Area 5 sensors 10 Logistics robots 20 Sensors 30 Communication equipment 40 Traveling Unit 50 Storage Unit 60 Control device 70 Travel unit control device 80 Storage unit control device 100 Management Systems 110 Input / Output Devices 120 Communication equipment 130 Information processing equipment 140 processors 150 Storage device 160 databases CAN route candidate information CON Weather Condition Information DLV Shipping Information HRS time zone information HST delivery history information MAP Service Area Information OPE Operation Information RBT Logistics Robot Information REF Reference Information RST Route Status Information RTE Route Information SUR Surrounding area information

Claims

1. A logistics system for managing logistics robots, one or more processors that determine a delivery route for the logistics robot to a destination; the one or more processors: Obtaining a degree of congestion of people on each of a plurality of delivery route candidates to the destination; At night, the delivery route candidate with the highest degree of congestion is selected as the delivery route. Logistics system.

2. The logistics system according to claim 1, The one or more processors calculate the congestion degree based on images of each of the plurality of delivery route candidates taken by a camera. Logistics system.

3. The logistics system according to claim 1, The one or more processors instruct the logistics robot to travel along the delivery route. Logistics system.

4. A control method for controlling a logistics robot by a computer, comprising: determining a delivery route for the logistics robot to a destination; controlling the logistics robot to travel along the delivery route; Including, Determining the delivery route includes: Obtaining a degree of congestion of people on each of a plurality of delivery route candidates to the destination; At night, the delivery route candidate with the highest degree of congestion is selected as the delivery route. Contains Control method.

5. One or more processors that perform autonomous driving control to travel to a destination, The one or more processors perform the autonomous driving control so that the delivery route to the destination has the highest degree of congestion among a plurality of delivery route candidates at night. Logistics robot.

6. A logistics system for managing logistics robots, comprising: one or more processors that determine a delivery route for the logistics robot to a destination; the one or more processors: A selection policy for selecting the delivery route from among a plurality of delivery route candidates to the destination is switched between daytime and nighttime. Obtaining a degree of congestion of people along each of the plurality of delivery route candidates; During the daytime, the delivery route candidate with the lowest congestion level is selected as the delivery route; At night, the delivery route candidate with the highest degree of congestion is selected as the delivery route. Logistics system.

7. A logistics system for managing logistics robots, comprising: one or more processors that determine a delivery route for the logistics robot to a destination; The parameters related to the weather conditions include at least one of rainfall, snowfall, dustfall, wind speed, fog density, and temperature; the plurality of delivery route candidates to the destination include a ground route and an underground route that is not affected by the weather conditions; the one or more processors: determining whether the ground route is in a harsh environment based on the parameter related to the weather conditions; If it is determined that the ground route is not in the harsh environment, selecting the ground route as the delivery route; If it is determined that the above-ground route is in the harsh environment, the underground route, which is not affected by the weather conditions, is selected as the delivery route. Logistics system.

8. The logistics system according to claim 7, If the parameter related to the weather conditions is equal to or greater than a threshold, the one or more processors determine that the ground route is in the harsh environment. Logistics system.

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