Management device, management method, management program, and collection / delivery system

Abstract

To realize a management device capable of improving cargo collection / delivery efficiency with a robot.SOLUTION: A management device 6 according to one embodiment of the present disclosure comprises: a first identification information acquisition part 61 for acquiring identification information with which height position information at a plurality of support parts capable of supporting a cargo 9 inside a collection / delivery shelf 3 is associated; a second identification information acquisition part 62 for acquiring identification information at a first support part for supporting a collected cargo 9a as the cargo 9 collected by a robot 5 at the plurality of support parts; a calculation part 71 for calculating a gap in a vertical direction of the collection / delivery shelf 3 between the first support part and the second support part arranged immediately above the first support part in the plurality of support parts; and a plan preparation part 72 for preparing a cargo collection plan of the collected cargo 9a in such a manner that the robot 5 can collect the collected cargo 9a, based on information indicating the gap.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a management device, a management method, a management program, and a distribution system. For example, it relates to a management device, a management method, a management program, and a distribution system for collecting goods stored in a distribution shelf to a distribution center by a robot, or delivering goods from the distribution center to the distribution shelf by a robot.

Background Art

[0002] For example, in Patent Document 1, it is possible for a deliverer to identify the vertical, horizontal, and height dimensions of a package based on a scanned image of the package stored in a storage unit, and perform settlement of the delivery fee calculated based on the identified dimensions of the package. Also, when a collector successfully authenticates, a post device capable of taking out the package is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The applicant of the present application has found the following problems. The technology of Patent Document 1 is not a technology for improving the efficiency of collecting packages by a robot when the distributor is a human.

[0005] The present disclosure has been made to solve such problems, and realizes a management device, a management method, a management program, and a distribution system capable of improving the efficiency of collecting packages by a robot.

Means for Solving the Problems

[0006] A management device according to one aspect of this disclosure is a management device for a delivery system that uses a robot to collect packages stored in a delivery rack and deliver them to a delivery base, and delivers packages from the delivery base to the delivery rack using the robot, A first identification information acquisition unit acquires identification information linked to information indicating the height positions of multiple support parts that are arranged in the aforementioned delivery rack so as to be able to change their height and support the aforementioned packages, A second identification information acquisition unit acquires identification information of a first support unit that supports the collected cargo, which is the cargo collected by the robot, in the plurality of support units, A calculation unit for calculating the vertical distance of the collection and delivery rack between the first support and the second support positioned directly above the first support among the plurality of support units, A planning unit creates a collection plan for the collected packages so that the robot can collect the packages based on the information indicating the interval, It is equipped with.

[0007] The above-described management device includes a free height information acquisition unit that acquires information indicating the free height of the storage section for storing the cargo in the robot, Preferably, the planning unit creates a collection plan for the collected packages based on the information indicating the interval and the information indicating the available height of the storage area in the robot, so that a robot capable of collecting the packages collects the packages.

[0008] The aforementioned control device is A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A control unit for controlling the robot, Equipped with, When the aforementioned packages are stored in the delivery rack, it is preferable that the control unit controls the robot so that it raises the packages to be delivered by the robot and detects the packages stored in the delivery rack with the detection sensor, in order to place the packages to be delivered by the robot above the packages stored in the delivery rack.

[0009] The aforementioned control device is A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A second height information acquisition unit acquires information indicating the height of the delivery item, which is a package delivered by the robot, A unit for acquiring receipt completion information that acquires information indicating the completion of receipt of the delivery item, entered by the requester who requested the delivery of the delivery item, A storage status information acquisition unit acquires information indicating the storage status of packages in the storage rack based on identification information of support parts arranged in the storage rack, information indicating the height of the delivered items, and information indicating the completion of receipt of the delivered items. A storage status information update unit updates information indicating the storage status of packages in the collection and delivery rack based on the detection information from the detection sensor, It is preferable to include the following.

[0010] In the management device described above, it is preferable that the planning unit creates a delivery plan for the deliveries so that the deliveries can be stored in the delivery shelves together with a third support unit that supports the deliveries, based on updated information indicating the storage status of the deliveries in the delivery shelves.

[0011] The aforementioned control device is A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A second height information acquisition unit acquires information indicating the height of the package, which is entered by the client who requested the collection of the package. Equipped with, Preferably, the planning unit creates a collection plan for the collected packages by changing the ratio of the information indicating the height of the collected packages entered by the requester to the information indicating the interval for the next collection of the packages, based on the difference between the height of the collected packages based on the detection information of the detection sensor and the height of the collected packages entered by the requester.

[0012] In the above-described management device, which includes a control unit for controlling the robot, when the robot places the delivered goods, which are packages, into the delivery rack, the control unit controls the robot to detect the state of the area around the height position where the third support part for supporting the delivered goods is located within the delivery rack using a detection sensor mounted on the robot to detect the state of the area around the height position where the third support part is located within the delivery rack if other support parts exist in a region below the height position where the third support part is located within the delivery rack. If no other support parts exist in a region below the height position where the third support part is located within the delivery rack, it is preferable to omit the detection of the state of the area around the height position where the third support part is located within the delivery rack using the detection sensor.

[0013] A delivery system relating to one aspect of this disclosure is: The above-mentioned management device, The aforementioned robot, The aforementioned collection and delivery shelves, It is equipped with.

[0014] A management method relating to one aspect of this disclosure is a management method for a delivery system in which a robot collects packages stored in a delivery rack and delivers them to a delivery base, or delivers packages from the delivery base to the delivery rack using the robot, The process of obtaining identification information linked to the height position information of multiple support parts that are arranged in the aforementioned delivery rack so as to be able to change their height position and support the aforementioned packages, A step of acquiring identification information for a first support that supports the collected cargo, which is the cargo collected by the robot, in the plurality of support parts, A step of calculating the distance in the height direction between the first support portion and the second support portion positioned directly above the first support portion among the plurality of support portions, A step of creating a collection plan for the collected packages so that the robot can collect the packages based on the information indicating the interval, It is equipped with.

[0015] A management program according to an aspect of the present disclosure is a management program for a collection and distribution system that collects packages stored in a collection and distribution shelf to a collection and distribution base by a robot, or distributes packages from the collection and distribution base to the collection and distribution shelf by the robot, and includes: a process of acquiring identification information associated with height position information of a plurality of support parts that are arranged in the collection and distribution shelf so that their height positions can be changed and that can support the packages; a process of acquiring identification information of a first support part that supports a package to be collected by the robot among the plurality of support parts; a process of calculating a height-direction interval between the first support part and a second support part arranged directly above the first support part among the plurality of support parts; a process of creating a collection plan for the package so that the robot can collect the package based on information indicating the interval; causing a computer to execute.

Advantages of the Invention

[0016] According to the present disclosure, it is possible to realize a management device, a management method, a management program, and a collection and distribution system capable of improving the collection efficiency of packages by a robot.

Brief Description of the Drawings

[0017] [Figure 1] It is a block diagram showing the configuration of the control system of the collection and distribution system of Embodiment 1. [Figure 2] It is a diagram showing a state where a robot delivers a package to a collection and distribution shelf or collects a package from a collection and distribution shelf in the collection and distribution system of Embodiment 1. [Figure 3] It is a diagram showing a state where a tray supporting a package is supported by a rail of a collection and distribution shelf. [Figure 4] It is a side view showing the robot of Embodiment 1. [Figure 5] It is a flowchart showing the flow of collecting and distributing packages using the collection and distribution system of Embodiment 1. [Figure 6]This is a flowchart illustrating the process of receiving deliveries onto the delivery shelves in the delivery system of Embodiment 1. [Figure 7] This figure shows how a robot's detection sensor detects packages stored on a delivery rack in the delivery system of Embodiment 2. [Figure 8] This is a flowchart illustrating the process of delivering packages using the collection and delivery system of Embodiment 3. [Figure 9] This is a block diagram showing the configuration of the control system for the collection and delivery system of Embodiment 4. [Modes for carrying out the invention]

[0018] Specific embodiments applying this disclosure will be described in detail below with reference to the drawings. However, this disclosure is not limited to the following embodiments. Also, the following description and drawings have been simplified as appropriate.

[0019] <Embodiment 1> The delivery system of this embodiment is suitable for collecting packages stored on delivery shelves to a delivery base using a robot, and for delivering packages from the delivery base to the delivery shelves using a robot. Figure 1 is a block diagram showing the configuration of the control system of the delivery system of this embodiment. Figure 2 is a diagram showing how a robot delivers packages to delivery shelves and collects packages from delivery shelves in the delivery system of this embodiment. Figure 3 is a diagram showing a state in which a tray supporting packages is supported on the rails of the delivery shelf.

[0020] In Figure 2, trays and packages are shown with dashed lines. Here, a "distribution base" is a place where packages for delivery and collected packages are stored. "Distribution" refers to the act of delivering or collecting packages.

[0021] As shown in Figures 1 to 3, the collection and delivery system 1 of this embodiment comprises a tray (support unit) 2, a collection and delivery shelf 3, a portable terminal 4, a robot 5, a management device 6, and a database (DB) 7. The collection and delivery shelf 3, the portable terminal 4, the robot 5, the management device 6, and the DB 7 are connected via a network 8. Here, the network 8 is a wired or wireless communication line, for example, the internet.

[0022] Tray 2, as shown in Figures 2 and 3, for example, has a basic form as a flat plate capable of supporting luggage 9, with a flange 21 protruding from the side of tray 2. A tag 22, which stores identification information assigned to each tray 2, is provided on the side of tray 2.

[0023] Tag 22 can be, for example, an NFC (Near Field Communication) tag whose identification information can be read by a reader. Tray 2 is used repeatedly to collect and deliver packages 9 and is collected and delivered together with the packages 9.

[0024] The delivery rack 3 is located, for example, at the residence of a client who requests the delivery of the package 9, which is a representative example of the delivery or collection point of the package 9. The delivery rack 3 comprises, for example, a frame 31 and a reading unit 32, as shown in Figures 2 and 3. The frame 31 has a basic form that is roughly rectangular when viewed from the front, and the front and rear of the frame 31 are open.

[0025] As shown in Figures 2 and 3, multiple pairs of rails 33 are arranged on the inner surface of the frame 31 at intervals in the vertical direction of the frame 31. Each pair of rails 33 extends in the front-rear direction of the frame 31 and supports the tray 2 by supporting the flange 21 of the tray 2 on it.

[0026] In other words, the height position at which the tray 2 is supported can be changed by appropriately selecting one pair of rails 33 from among multiple pairs of rails 33. Each pair of rails 33 has identification information associated with it, which indicates the height position of that rail 33.

[0027] The reading unit 32 reads the identification information of the tray 2 from the tag 22 of the tray 2, which is supported by a pair of rails 33. For this reason, the reading unit 32 is fixed to the frame 31 for each pair of rails 33, as shown in Figures 2 and 3.

[0028] The reading unit 32 associates the identification information of the read tray 2 with information indicating the height position of the rail 33 supporting the tray 2 (i.e., information indicating the height position of the tray 2 within the collection and delivery rack 3) and transmits it to the DB7.

[0029] Mobile terminal 4 is a mobile terminal owned by the client requesting the collection and delivery of package 9. For example, the client inputs information indicating their desire for collection and delivery of package 9 and information indicating that package 9 has been received. Mobile terminal 4 transmits the information indicating the desire for collection and delivery of package 9 and the information indicating that package 9 has been received to DB7.

[0030] Here, the information indicating the request for collection and delivery of package 9 includes information indicating the request for collection of package 9 and information indicating the request for delivery of package 9. When a client requests collection of package 9, when the client places package 9 in the collection / delivery rack 3, the mobile terminal 4 reads the identification information of the tray 2 supporting package 9, and the mobile terminal 4 links this to the information indicating the request for collection of package 9 and transmits it to DB7.

[0031] Robot 5 is a mobile unit for collecting and delivering packages 9 along with trays 2 between the collection and delivery base and the collection and delivery shelves 3. In the collection and delivery system 1 of this embodiment, multiple robots 5 are in operation, and each robot 5 has identification information.

[0032] Figure 4 is a side view showing the robot of this embodiment. The robot 5 includes, for example, a moving unit 51, a housing unit 52, a transport mechanism 53, a detection sensor 54, and a control unit 55, as shown in Figures 1 and 4. The moving unit 51 is a base that moves by a drive source such as a motor.

[0033] The storage unit 52 is, for example, a box capable of accommodating luggage 9 together with the tray 2, and is fixed to the mobile unit 51 as shown in Figure 4. The transport mechanism 53 is configured to allow the top plate 56 to be raised and lowered in the vertical direction of the robot 5, and to allow luggage 9 together with the tray 2 to be taken out of the storage unit 52 to the top plate 56 and placed on the collection and delivery shelf 3, or to be taken out of the collection and delivery shelf 3 to the top plate 56 and placed in the storage unit 52.

[0034] The detection sensor 54 is mounted on the top plate 56 of the robot 5 to detect the state inside the collection and delivery shelf 3. The detection sensor 54 can be configured as a scanning sensor such as a Lidar, and for example, it detects the package 9 and measures its height based on reflected light from the package 9 acquired as the top plate 56 moves up and down in the vertical direction of the robot 5. The detection sensor 54 transmits information indicating the height of the package 9, including information indicating the height position where the package 9 is placed, to the DB7. The control unit 55 controls the moving unit 51 and the transport mechanism 53.

[0035] The management device 6 manages the collection and delivery of packages 9. As shown in Figure 1, the management device 6 includes a first identification information acquisition unit 61, a second identification information acquisition unit 62, a third identification information acquisition unit 63, a collection / delivery request information acquisition unit 64, a receipt completion information acquisition unit 65, a first height information acquisition unit 66, a second height information acquisition unit 67, a storage status information acquisition unit 68, a storage status information update unit 69, an empty height information acquisition unit 70, a calculation unit 71, a plan creation unit 72, and a control unit 73.

[0036] The first identification information acquisition unit 61 acquires identification information of the tray 2, which is linked to information indicating the height position of the tray 2 within the collection and delivery rack 3. This allows the management device 6 to always recognize which tray 2 is supported by which rail 33 within the collection and delivery rack 3.

[0037] The second identification information acquisition unit 62 acquires identification information of a collection tray 2a, which is one of the trays 2 in the collection and delivery rack 3 and is associated with information indicating the height position of the collection tray 2a that supports the packages 9 to be collected.

[0038] The third identification information acquisition unit 63 acquires identification information of a delivery tray 2b that supports the package 9 to be delivered, which is linked to information indicating the height position of the delivery tray 2b among the trays 2 in the collection and delivery rack 3. For the purpose of clarifying the explanation below, the package to be collected may be referred to as "collected package 9a," the package to be delivered as "delivered package 9b," and the general term for both, "package 9," may be used.

[0039] The collection and delivery request information acquisition unit 64 acquires information indicating the collection and delivery request for the package 9 entered by the requester. The receipt completion information acquisition unit 65 acquires information indicating the receipt completion of the delivery item 9b entered by the requester when they received the delivery item 9b. The first height information acquisition unit 66 acquires information indicating the height of the package 9, including information indicating the height position where the package 9 is placed as detected by the detection sensor 54 mounted on the robot 5.

[0040] The second height information acquisition unit 67 acquires height information of the delivery item 9b. Here, the information indicating the height of the delivery item 9b can be entered, for example, by a worker at the delivery base using an input device. However, the method of acquiring the information indicating the height of the delivery item 9b is not limited.

[0041] The storage status information acquisition unit 68 creates and acquires information indicating the storage status of the packages 9 in the storage rack 3 based on identification information of the trays 2, including the collection tray 2a and delivery tray 2b in the storage rack 3, information indicating the height of the delivered items 9b, and information indicating the completion of receipt of the delivered items 9b.

[0042] At this time, the storage status information acquisition unit 68 may create information indicating the storage status of the package 9 in the delivery rack 3 by estimating that the package 9a is located between the collection tray 2a and the tray 2 placed directly above the collection tray 2a, based on the identification information of the collection tray 2a that supports the package 9a linked to the information indicating the request for collection and delivery of the package 9. The storage status information acquisition unit 68 transmits the information indicating the storage status of the package 9 in the delivery rack 3 to the DB7.

[0043] The storage status information update unit 69 updates the information indicating the storage status of the package 9 in the delivery rack 3 based on information indicating the height of the package 9, including the height position where the package 9 is placed, as detected by the detection sensor 54 mounted on the robot 5.

[0044] In other words, if the client has placed the package 9a in the collection / delivery rack 3 but has forgotten to enter information indicating that they wish to have the package 9a collected, or if the client has received the delivery item 9b but has forgotten to enter information indicating that the item has been received, the information indicating the storage status of the package 9 in the collection / delivery rack 3 is updated. The storage status information update unit 69 transmits the updated information indicating the storage status of the package 9 in the collection / delivery rack 3 to DB7.

[0045] The available height information acquisition unit 70 acquires information indicating the available height of the storage unit 52 for each robot 5. The calculation unit 71 calculates the spacing between trays 2 that are arranged adjacent to each other in the vertical direction within the delivery shelf 3, based on information indicating the height position of the tray 2 within the delivery shelf 3, which is linked to the identification information of the tray 2.

[0046] At this time, the calculation unit 71 calculates the vertical distance between the collection tray 2a that supports the collected packages 9a and the tray 2 positioned directly above the collection tray 2a on the collection shelf 3. The calculation unit 71 transmits information indicating the distance between the trays 2 to the DB7.

[0047] The planning unit 72 creates a collection and delivery plan for the package 9. At this time, the planning unit 72 selects a robot 5 capable of collecting the package 9a along with the collection tray 2a based on the identification information of the tray 2 including the collection tray 2a in the collection and delivery shelf 3 at the collection destination, information indicating the spacing between the trays 2 in the collection and delivery shelf 3 at the collection destination, the identification information of the robot 5, and information indicating the available height of the storage compartment 52 for each robot 5. The planning unit 72 then creates a collection plan so that the selected robot 5 collects the package 9a, or reserves the selected robot 5.

[0048] Furthermore, the planning unit 72 selects a rail 33 that can accommodate the delivery item 9b together with the delivery tray 2b in the delivery shelf 3, based on information indicating the storage status of the packages 9 in the delivery shelf 3 at the delivery destination, identification information of the rail 33 of the delivery shelf 3 at the delivery destination, identification information of the tray 2 in the delivery shelf 3 at the delivery destination, and information indicating the height of the delivery item 9b, and creates a delivery plan so that the delivery tray 2b together with the delivery item 9b is supported on the selected rail 33, or reserves the selected rail 33.

[0049] At this time, the planning unit 72 creates the outbound and return travel routes for the robot 5 to move between the delivery base and the delivery shelves 3 based on map information, information indicating the location of the delivery base, and information indicating the address included in the client's personal information. It then includes the information indicating the robot 5's travel route in the information indicating the delivery plan for the package 9 and transmits it to the DB7.

[0050] Furthermore, the planning unit 72 transmits the identification information of the selected robot 5 and the identification information of the selected rail 33 to the DB7. Here, the planning unit 72 should update the information indicating the available height of the storage unit 52 for each robot 5 each time it creates a collection and delivery plan for the packages 9. Based on the information indicating the collection and delivery plan for the packages 9, the control unit 73 controls the robots 5 to collect and deliver the packages 9.

[0051] DB7 stores identification information for trays 2, including collection trays 2a and delivery trays 2b within the collection / delivery rack 3; identification information for rails 33 of the collection / delivery rack 3; identification information for selected rails 33 of the collection / delivery rack 3; information indicating the spacing between trays 2 within the collection / delivery rack 3; information indicating the height of the delivered item 9b; and information indicating the desired collection / delivery of the package 9.

[0052] Furthermore, DB7 stores information indicating the completion of receipt of the delivery item 9b, identification information of robot 5, identification information of the selected robot 5, information indicating the height of the package 9 stored in the delivery rack 3 as detected by the robot 5's detection sensor 54, information indicating the available height for robot 5, information indicating the storage status of the package 9 in the delivery rack 3, information indicating the delivery plan for the package 9, map information, and personal information of the client.

[0053] Next, we will explain the process of collecting and delivering packages 9 using the collection and delivery system 1 of this embodiment. Figure 5 is a flowchart showing the process of collecting and delivering packages using the collection and delivery system of this embodiment.

[0054] Here, we assume that the client inputs information indicating a request for the collection and delivery of package 9, and the storage status information acquisition unit 68 of the management device 6 creates information indicating the storage status of package 9 in the collection and delivery rack 3. First, the planning unit 72 of the management device 6 creates a collection and delivery plan for package 9 and a movement path for robot 5, and transmits information indicating the movement path of robot 5 to DB7 along with the information indicating the collection and delivery plan for package 9 (S1).

[0055] In detail, when delivering item 9b, the planning unit 72 of the management device 6 selects a rail 33 of the delivery shelf 3 that can accommodate item 9b together with the delivery tray 2b, based on identification information of the rail 33 of the delivery shelf 3 obtained from DB7, information indicating the storage status of the package 9 in the delivery shelf 3 of the delivery shelf 3 of the delivery shelf 3, and information indicating the height of item 9b, and creates a delivery plan such that the delivery tray 2b together with the item 9b is supported on the selected rail 33.

[0056] In other words, the planning unit 72 of the management device 6 selects the rails 33 that support the delivery trays 2b together with the delivery items 9b so that the delivery items 9b are placed in areas within the spacing of the trays 2 in the collection and delivery shelves 3 at the delivery destination where no packages 9 are currently stored.

[0057] On the other hand, when collecting the collected goods 9a, the planning unit 72 of the management device 6 selects a robot 5 capable of collecting the collected goods 9a together with the collection tray 2a based on the identification information of the tray 2 in the collection and delivery shelf 3 at the collection destination, information indicating the spacing between the trays 2 in the collection and delivery shelf 3 at the collection destination, the identification information of the robot 5, and information indicating the available height of the robot 5, obtained from DB7, and creates a collection plan so that the selected robot 5 collects the collected goods 9a.

[0058] In other words, the planning unit 72 of the management device 6 selects from among the multiple robots 5 the robot 5 that has a high clearance height in its storage unit 52 relative to the distance between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a. In this case, the clearance height of the storage unit 52 only needs to be such that, for example, at least the height of the collection tray 2a is added to the distance between them.

[0059] At this time, the planning unit 72 of the management device 6 creates the outbound and return travel routes for the robot 5 to move between the collection and delivery base and the collection and delivery shelves 3 based on map information, information indicating the location of the collection and delivery base, and information indicating the address included in the client's personal information. It then includes the information indicating the robot 5's travel route in the information indicating the collection and delivery plan for the package 9 and transmits it to DB7.

[0060] Next, when delivering item 9b, the planning unit 72 of the management device 6 sends the identification information of the selected rail 33 to DB7 to reserve the rail 33 (S2). Then, when collecting cargo 9a, the planning unit 72 sends the identification information of the selected robot 5 to DB7 to reserve the robot 5 (S3).

[0061] Next, the control unit 73 of the management device 6 controls the movement unit 51 via the control unit 55 of the robot 5 based on information indicating the movement path of the robot 5 included in the information indicating the collection and delivery plan of the package 9, causing the robot 5 to arrive at the collection and delivery shelf 3 (S4). At this time, when delivering a package 9b, the robot 5 delivers the package 9b with the package 9b placed in the storage unit 52 of the robot 5 together with the delivery tray 2b.

[0062] Next, the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5 to raise the top plate 56 and cause the detection sensor 54 to detect the packages 9 inside the delivery shelf 3 (S5). In other words, the detection sensor 54 scans the packages 9 from the bottom to the top of the delivery shelf 3. The robot 5 transmits information indicating the height of the detected packages 9, including information indicating the height position where the packages 9 are placed, to the DB7.

[0063] Next, the storage status information update unit 69 of the management device 6 updates the information indicating the storage status of the package 9 in the collection and delivery rack 3 based on information indicating the height of the package 9, which includes information indicating the height position where the package 9 is placed, as obtained from DB7 by the detection sensor 54 of the robot 5 (S6).

[0064] This allows for accurate tracking of the storage status of packages 9 in the storage rack 3, even if, for example, the client forgets to input information indicating a pickup request despite having placed the package 9a in the storage rack 3, or if the client forgets to input information indicating receipt despite having received the delivery item 9b. The storage status information update unit 69 transmits the updated information indicating the storage status of packages 9 in the storage rack 3 to DB7.

[0065] Next, the control unit 73 of the management device 6 determines whether or not there is a delivery item 9b (S7). In other words, the control unit 73 determines whether or not the delivery of delivery item 9b is included in the client's request. If the delivery of delivery item 9b is included in the client's request (YES in S7), the process of receiving the delivery item 9b into the collection and delivery rack 3 is executed (S8).

[0066] Figure 6 is a flowchart showing the flow of the process of receiving deliveries into the delivery shelves in the delivery system of this embodiment. First, the planning unit 72 of the management device 6 determines whether it is possible to support the delivery tray 2b together with the delivered items 9b on the selected rail 33 based on the updated information obtained from DB7 indicating the storage status of the packages 9 in the delivery shelf 3 of the destination, the identification information of the rail 33 of the delivery shelf 3 of the destination, the identification information of the tray 2 in the delivery shelf 3 of the destination, and the identification information of the selected rail 33 (S81).

[0067] If it is possible to support the delivery tray 2b together with the delivery item 9b on the selected rail 33 (YES in S81), the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5 based on information indicating the height position of the selected rail 33, which is linked to the identification information of the selected rail 33, and causes the transport mechanism 53 to take the delivery tray 2b together with the delivery item 9b from the storage unit 52 of the robot 5 to the top plate 56.

[0068] Then, the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5, raising the top plate 56 and placing the delivery tray 2b and the delivery items 9b into the delivery shelf 3 together with the delivery tray 2b so that the delivery tray 2b is supported by the selected rail 33 of the delivery shelf 3 from the top plate 56 (S82).

[0069] On the other hand, if it is impossible to support the delivery tray 2b together with the delivery item 9b on the selected rail 33 (NO in S81), the planning unit 72 of the management device 6 determines whether it is possible to select a rail 33 on the delivery shelf 3 that can accommodate the delivery item 9b together with the delivery tray 2b, based on updated information obtained from DB7 indicating the storage status of the package 9 in the delivery shelf 3 of the delivery destination, identification information of the rail 33 of the delivery shelf 3 of the delivery destination, identification information of the tray 2 in the delivery shelf 3 of the delivery destination, and information indicating the height of the delivery item 9b (S83). In other words, the planning unit 72 determines whether it is possible to create a delivery plan for the delivery item 9b again.

[0070] If the rail 33 of the collection and delivery rack 3 can be reselected (YES in S83), the planning unit 72 of the management device 6 transmits the identification information of the selected rail 33 to DB7. Then, the control unit 73 proceeds to the process in S82. On the other hand, if the rail 33 of the collection and delivery rack 3 cannot be reselected (NO in S83), the delivery of the item 9b is abandoned, and the control unit 73 controls the robot 5 to have the item 9b returned to the collection and delivery base (S84).

[0071] Returning to the explanation in Figure 5, if there is no delivery item 9b (NO in S7), or after the delivery of delivery item 9b is completed, the control unit 73 of the management device 6 determines whether or not there is a package to be collected 9a (S9). In other words, the control unit 73 determines whether or not the client's request includes the collection of package 9a. If the client's request includes the collection of package 9a (YES in S9), the collection process for package 9a is executed from the collection / distribution rack 3 (S10).

[0072] In other words, the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the selected robot 5 based on information indicating the height position of the collection tray 2a, which is linked to the identification information of the collection tray 2a obtained from DB7. The transport mechanism 53 then removes the collection tray 2a along with the collected goods 9a from the collection and delivery shelf 3 to the top plate 56, and further lowers the top plate 56 to store the collection tray 2a along with the collected goods 9a in the storage section 52.

[0073] In this case, within the collection and delivery rack 3, the collected packages 9a are always contained between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a. Therefore, if there is sufficient clearance in the storage section 52 of the robot 5 relative to the distance between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a, the collected packages 9a can be reliably stored in the storage section 52 together with the collection tray 2a.

[0074] Subsequently, the control unit 73 of the management device 6 controls the movement unit 51 via the control unit 55 of the robot 5, based on information indicating the movement path of the robot 5 included in the information indicating the collection and delivery plan of the package 9, and returns the robot 5 to the collection and delivery base. This completes the collection and delivery process of the package 9.

[0075] In this embodiment, the collection and delivery system 1, management device 6, and management method select a robot 5 in its storage section 52 that has a high clearance height relative to the distance between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a when collecting the collected packages 9a.

[0076] In this case, within the collection and delivery rack 3, the collected packages 9a are always contained between the collection tray 2a and the tray 2 positioned directly above it. Therefore, if there is sufficient clearance in the robot 5's storage section 52 relative to the distance between the collection tray 2a and the tray 2 positioned directly above it, the collected packages 9a can be reliably stored in the storage section 52 together with the collection tray 2a. As a result, for example, it is possible to prevent the robot 5 from returning to the collection and delivery base without being able to collect the packages 9a at the collection destination, thereby improving the efficiency of package collection and delivery by the robot 5.

[0077] Furthermore, the collection and delivery system 1, management device 6, and management method of this embodiment update information indicating the storage status of packages 9 in the collection and delivery shelves 3 based on the detection results of the detection sensor 54 of the robot 5. Therefore, for example, even if a client stores a package 9a in the collection and delivery shelves 3 but forgets to input information indicating a collection request, the robot 5 can be prevented from attempting to store a delivery item 9b in the area where the package 9a is stored in the collection and delivery shelves 3.

[0078] In the above embodiment, the storage status information acquisition unit 68 of the management device 6 acquires information indicating the storage status of the packages 9 in the delivery rack 3, and the storage status information update unit 69 updates the information indicating the storage status of the packages 9 in the delivery rack 3 based on the detection information of the robot 5's detection sensor 54. However, the storage status information acquisition unit 68 and storage status information update unit 69 of the management device 6, and the robot 5's detection sensor 54 may be omitted.

[0079] Furthermore, the order of steps S2 and S3 in the above embodiment may be reversed, and the order of steps S7 and S8 and steps S9 and S10 may also be reversed. In addition, although the above embodiment describes the flow of collecting and delivering packages 9, the process of collecting packages 9a and the process of delivering packages 9b may be separate.

[0080] <Embodiment 2> Figure 7 shows how the robot's detection sensor detects packages stored on the delivery shelves in the delivery system of this embodiment. Note that Figure 7 is a simplified representation, and the reading unit 32 and rail 33 are omitted. In this embodiment, the robot 5's detection sensor 54 is optimized to detect packages 9 in the delivery shelves 3.

[0081] In detail, for example, when the package 9 is stored in the collection and delivery shelf 3, the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5 so that, as shown in Figure 7, when the robot 5 raises the transport item 9b while detecting the package 9 stored in the collection and delivery shelf 3 with the detection sensor 54.

[0082] This allows for the simultaneous detection of the packages 9 stored in the delivery rack 3 as the delivery item 9b rises, improving the efficiency of the robot 5's detection sensor 54 in detecting the packages 9 in the delivery rack 3. In this case, it is preferable that the delivery plan for the delivery item 9b be created so that the delivery item 9b is positioned above the packages 9 stored in the delivery rack 3.

[0083] <Embodiment 3> Figure 8 is a flowchart showing the flow of delivering packages using the delivery system of this embodiment. In this embodiment as well, improvements have been made to increase the efficiency of the detection sensor 54 of the robot 5 when detecting packages 9 in the delivery rack 3.

[0084] In detail, in this embodiment, the process from the management device 6 creating a delivery plan for the delivery item 9b (S21), reserving the rails 33 that support the delivery tray 2b together with the delivery item 9b within the collection and delivery shelf 3 (S22), to moving the robot 5 to the collection and delivery shelf 3 (S23) is the same as in Embodiment 1.

[0085] Next, the control unit 73 of the management device 6 determines whether or not a tray 2 exists in the area below the reserved rail 33 in the delivery shelf 3, based on the identification information of the tray 2 in the delivery shelf 3 at the delivery destination, the identification information of the rail 33 of the delivery shelf 3 at the delivery destination, and the identification information of the reserved rail 33 (S24).

[0086] If there is no tray 2 in the area below the reserved rail 33 (NO in S24), the control unit 73 of the management device 6 omits the detection of the package 9 in the collection and delivery rack 3 by the detection sensor 54 of the robot 5, and controls the transport mechanism 53 via the control unit 55 of the robot 5 based on the information indicating the height position of the selected rail 33, which is linked to the identification information of the rail 33, and causes the transport mechanism 53 to place the delivery item 9b in the collection and delivery rack 3 so that the delivery tray 2b is supported by the reserved rail 33 along with the delivery item 9b (S25).

[0087] In other words, if there is no tray 2 in the area below the reserved rail 33, it is clear that there is no package 9 in the area below the reserved rail 33, and it is obvious that the delivered item 9b can be placed in the collection / delivery shelf 3. Therefore, the detection of package 9 in the collection / delivery shelf 3 by the robot 5's detection sensor 54 can be omitted, and the efficiency of the robot 5's detection sensor 54 in detecting package 9 in the collection / delivery shelf 3 can be improved.

[0088] On the other hand, if a tray 2 is located in the area below the reserved rail 33 (YES in S24), the control unit 73 of the management device 6 controls the transport mechanism 53 via the control unit 55 of the robot 5, and causes the detection sensor 54 to detect the state around the height position of the reserved rail 33 within the collection and delivery rack 3 (S26).

[0089] Then, the control unit 73 of the management device 6 determines whether there are no trays 2 or packages 9 around the height position of the reserved rail 33 in the collection and delivery rack 3, that is, whether the height position of the reserved rail 33 is empty (S27). If the height position of the reserved rail 33 is empty (YES in S27), the control unit 73 proceeds to the process in S25.

[0090] On the other hand, if the height position of the reserved rail 33 is not available (NO in S27), the planning unit 72 of the management device 6 determines whether it can select a rail 33 of the delivery shelf 3 that can accommodate the delivery item 9b together with the delivery tray 2b, based on the information obtained from DB7 indicating the storage status of the package 9 in the delivery shelf 3 of the delivery shelf 3, the identification information of the rail 33 of the delivery shelf 3 of the delivery shelf 3 of the delivery shelf 3 of the delivery shelf 3, and the information indicating the height of the delivery item 9b (S28). In other words, the planning unit 72 determines whether it can create a delivery plan for the delivery item 9b again.

[0091] If the rail 33 of the delivery rack 3 can be reselected (YES in S28), the planning unit 72 of the management device 6 transmits the identification information of the selected rail 33 to DB7. Then, the control unit 73 proceeds to the process in S25. On the other hand, if the rail 33 of the delivery rack 3 cannot be reselected (NO in S28), the delivery of the item 9b is abandoned, and the control unit 73 controls the robot 5 to have the item 9b returned to the delivery base (S29).

[0092] As described above, if there is no tray 2 in the area below the reserved rail 33, it is clear that there is no package 9 in the area below the reserved rail 33, and it is obvious that the delivered item 9b can be stored in the collection and delivery rack 3.

[0093] Therefore, the detection of packages 9 in the delivery rack 3 by the robot 5's detection sensor 54 can be omitted, and the efficiency of the robot 5's detection sensor 54 in detecting packages 9 in the delivery rack 3 can be improved. Incidentally, in this embodiment, the storage status information update unit 69 of Embodiment 1 may be omitted.

[0094] <Embodiment 4> In Embodiment 1 and other embodiments, when collecting the collected cargo 9a, a robot 5 is selected that has a storage section 52 with a large clearance height relative to the distance between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a.

[0095] In this case, if the collected items 9a are lower than the distance between the collection tray 2a and the tray 2 positioned directly above the collection tray 2a, there will be wasted space in the storage compartment 52 of the robot 5. Therefore, in this embodiment, the wasted space in the storage compartment 52 of the robot 5 is reduced.

[0096] Figure 9 is a block diagram showing the configuration of the control system of the collection and delivery system of this embodiment. As shown in Figure 9, the collection and delivery system 101 of this embodiment includes a third height information acquisition unit 102 that acquires information indicating the height of the collected package 9a, which is entered by the requester who requests the collection of the package 9a via a mobile terminal 4. Since the collection and delivery system 101 of this embodiment has substantially the same configuration as the collection and delivery system 1 of Embodiment 1, elements that are the same as those in Embodiment 1 and so on will be described using the same reference numerals.

[0097] In this case, the information indicating the height of the package to be collected 9a, entered by the client via the mobile terminal 4, may be inaccurate. If the robot 5 is selected based solely on the information indicating the height of the package to be collected 9a entered by the client via the mobile terminal 4, the package to be collected 9a may not be able to be collected by the robot 5.

[0098] Therefore, the planning unit 104 of the management device 103 in this embodiment creates a collection plan for the collected packages 9a by changing the ratio (i.e., confidence level) of the information indicating the height of the collected packages 9a entered by the client to the information indicating the distance between the collection tray 2a and the tray 2 placed directly above the collection tray 2a when the collected packages 9a will be collected next time, based on the difference between the height of the collected packages 9a based on the detection information of the robot 5's detection sensor 54 and the height of the collected packages 9a entered by the client.

[0099] The ratio to be reflected can be calculated based, for example, on the ratio of the difference between the height of the collected package 9a based on the detection information of the robot 5's detection sensor 54 and the height of the collected package 9a entered by the requester, and the number of times the requester has requested the collection of the package 9a.

[0100] By changing the ratio of the information indicating the height of the collected packages 9a, which was entered by the client when creating the collection plan for the collected packages 9a, it is possible to reduce the wasted empty height of the storage section 52 of the robot 5 while suppressing the inability of the robot 5 to collect the packages 9a.

[0101] <Other Embodiments> In the above embodiment, the luggage 9 is supported using the tray 2, but the luggage 9 may also be supported by storing it inside a storage box or the like. Also, in the above embodiment, the tray 2 is supported by multiple pairs of rails 33 so that its height position can be changed within the delivery rack 3, but any configuration that allows the support part for supporting the luggage 9 to be supported so that its height position can be changed within the delivery rack 3 is acceptable.

[0102] Some or all of the above processes may be executed by a computer program. That is, the control of the processing unit is performed by a control computer constituting the processing unit executing a program. The program described above includes a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments when loaded into a computer. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrical, optical, acoustic or other forms of propagating signals.

[0103] This disclosure is not limited to the embodiments described above, and may be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0104] 1. Collection and Delivery System 2 trays, 2a collection tray, 2b delivery tray 21 Brim, 22 Tags 3. Delivery shelves 31 Frame, 32 Reading section, 33 Rail 4 Mobile devices 5 Robots 51 Moving section, 52 Storage section, 53 Transport mechanism, 54 Detection sensor, 55 Control unit, 56 Top plate 6 Management device 61 First identification information acquisition unit, 62 Second identification information acquisition unit, 63 Third identification information acquisition unit, 64 Collection / delivery request information acquisition unit, 65 Receipt completion information acquisition unit, 66 First height information acquisition unit, 67 Second height information acquisition unit, 68 Storage status information acquisition unit, 69 Storage status information update unit, 70 Available height information acquisition unit, 71 Calculation unit, 72 Plan creation unit, 73 Control unit 8 Networks 9. Packages, 9a. Collection of packages, 9b. Delivery items 101 Delivery System 102 Third Height Information Acquisition Unit 103 Management device 104 Planning Department

Claims

1. A management device for a delivery system that uses robots to collect packages stored in delivery shelves and deliver them to a delivery base, and delivers packages from the delivery base to the delivery shelves using the robots, A first identification information acquisition unit acquires identification information linked to information indicating the height positions of multiple support parts that are arranged in the aforementioned delivery rack so as to be able to change their height and support the aforementioned packages, A second identification information acquisition unit acquires identification information for a first support unit that supports the collected cargo, which is the cargo collected by the robot, in the plurality of support units, A calculation unit for calculating the vertical distance of the collection and delivery rack between the first support and the second support positioned directly above the first support among the plurality of support units, A planning unit creates a collection plan for the collected packages so that the robot can collect the packages based on the information indicating the interval, A control device equipped with the following features.

2. The robot is equipped with a space height information acquisition unit that acquires information indicating the available space height in the storage section for storing the cargo, The management device according to claim 1, wherein the planning unit creates a collection plan for the collected cargo so that a robot capable of collecting the collected cargo collects the cargo, based on information indicating the interval and information indicating the available height of the storage compartment in the robot.

3. A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A control unit for controlling the robot, Equipped with, The management device according to claim 1 or 2, wherein, with the aforementioned packages stored in the collection and delivery rack, the control unit controls the robot so that, in order to store a delivery item which is a package to be delivered by the robot above the package stored in the collection and delivery rack, the robot raises the delivery item while detecting the package stored in the collection and delivery rack with the detection sensor.

4. A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A second height information acquisition unit acquires information indicating the height of the delivery item, which is a package delivered by the robot, A unit for acquiring receipt completion information that acquires information indicating the completion of receipt of the delivery item, entered by the requester who requested the delivery of the delivery item, A storage status information acquisition unit acquires information indicating the storage status of packages in the storage rack based on identification information of support parts arranged in the storage rack, information indicating the height of the delivered items, and information indicating the completion of receipt of the delivered items. A storage status information update unit updates information indicating the storage status of packages in the collection and delivery rack based on the detection information from the detection sensor, The control device according to claim 1 or 2, comprising:

5. The management device according to claim 4, wherein the planning unit creates a delivery plan for the deliveries so that the deliveries can be stored in the delivery rack together with a third support unit that supports the deliveries, based on updated information indicating the storage status of the deliveries in the delivery rack.

6. A first height information acquisition unit acquires information indicating the height of the package based on detection information from a detection sensor mounted on the robot in order to detect the state inside the delivery rack, A second height information acquisition unit acquires information indicating the height of the package, which is entered by the client who requested the collection of the package. Equipped with, The management device according to claim 1 or 2, wherein the planning unit creates a collection plan for the collected packages by changing the ratio of the information indicating the height of the collected packages entered by the requester to the information indicating the interval for the next collection of the collected packages, based on the difference between the height of the collected packages based on the detection information of the detection sensor and the height of the collected packages entered by the requester.

7. The robot is equipped with a control unit that controls the robot, When a delivery item, which is a package delivered by the robot, is placed in the delivery rack, the control unit controls the robot to detect the state of the area around the height position where the third support part for supporting the delivery item is located within the delivery rack using a detection sensor mounted on the robot to detect the state of the area around the height position where the third support part is located within the delivery rack if other support parts exist in a region below the height position where the third support part for supporting the delivery item is located within the delivery rack, and omits the detection of the state of the area around the height position where the third support part is located within the delivery rack using the detection sensor if no other support parts exist in a region below the height position where the third support part is located within the delivery rack. The control unit controls the robot to detect the state of the area around the height position where the third support part is located within the delivery rack using a detection sensor to detect the state of the area around the height position where the third support part is located within the delivery rack.

8. A control device according to claim 1 or 2, The aforementioned robot, The aforementioned collection and delivery shelves, A collection and delivery system equipped with these features.

9. A method for managing a delivery system in which a robot collects packages stored in a delivery rack and takes them to a delivery base, and a robot delivers packages from the delivery base to the delivery rack, The process of obtaining identification information linked to the height position information of multiple support parts that are arranged in the aforementioned delivery rack so as to be able to change their height position and support the aforementioned packages, A step of acquiring identification information for a first support that supports the collected cargo, which is the cargo collected by the robot, in the plurality of support parts, A step of calculating the distance in the height direction between the first support portion and the second support portion positioned directly above the first support portion among the plurality of support portions, A step of creating a collection plan for the collected packages so that the robot can collect the packages based on the information indicating the interval, A management method that includes the following features.

10. A management program for a delivery system that uses robots to collect packages stored in delivery shelves and deliver them to a delivery base, and delivers packages from the delivery base to the delivery shelves using the robots, A process to acquire identification information linked to the height position information of multiple support parts that are arranged in the aforementioned delivery rack so as to be able to change their height and support the aforementioned packages, A process for acquiring identification information of a first support unit that supports the collected cargo, which is the cargo collected by the robot, in the plurality of support units, A process for calculating the height distance between the first support and the second support positioned directly above the first support among the plurality of support parts, A process to create a collection plan for the collected packages so that the robot can collect the packages based on the information indicating the interval, A management program that causes a computer to execute commands.

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