Delivery system

Abstract

To provide a delivery system capable of protecting privacy information.SOLUTION: A delivery system 1 according to the present disclosure, the delivery system for delivering a cargo provided with privacy information comprises; a moving robot for delivering the cargo; a transfer mechanism for transferring the cargo delivered by the moving robot to a storage place, or transferring the cargo present in the storage place to the moving robot; and a detection part 19 for detecting whether or not a person is present around the storage place. The cargo is transferred in a transferring form of protecting the privacy information from the person present around the storage place.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This disclosure relates to a delivery system.

Background Art

[0002] Patent Document 1 discloses a transport robot for transporting luggage. This transport robot has a mechanism for locking (fixing) the luggage placed on the frame to the frame. With this locking mechanism, it is possible to prevent the luggage from falling during travel and from being removed by a third party who is not the recipient.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a transport robot transfers luggage to a storage location, there is a possibility that information regarding the privacy of the recipient may be seen by people around. For example, a label with personal information such as the recipient's address and name may be attached to the luggage. Alternatively, a logo or the like that reveals the contents of the luggage may be attached to the luggage. There is a risk that privacy information such as the recipient's personal information and the contents of the luggage may be seen by people around during the transfer of the luggage. Furthermore, if it is presumed from the logo of a product or brand that the luggage contains expensive items, there is also a risk that the luggage may be stolen.

[0005] The present invention has been made in view of the above background, and an object thereof is to provide a delivery system capable of protecting privacy information.

Means for Solving the Problems

[0006] The delivery system relating to this disclosure is a delivery system for delivering packages to which privacy information is attached, comprising: a mobile robot for delivering the packages; a transfer mechanism for transferring the packages delivered by the mobile robot to a storage location, or transferring packages located in the storage location to the mobile robot; a detection unit for detecting whether or not there are people in the vicinity of the storage location; and a transfer mechanism for transferring the packages to the storage location in a manner that protects the privacy information from people in the vicinity. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a delivery system that can protect private information. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic overview explaining the delivery system. [Figure 2] This is a functional block diagram illustrating the configuration of the delivery system. [Figure 3] This is a top view illustrating a transfer method that protects privacy information by rotating the mounting platform. [Figure 4] This is a top view illustrating a transfer method that protects privacy information depending on the orientation of the delivery robot. [Figure 5] This is a perspective view illustrating a transfer method that protects privacy information, depending on the direction in which the door is opened and closed. [Modes for carrying out the invention]

[0009] The delivery system and its methods will be explained below with reference to Figure 1. Figure 1 is a schematic perspective view illustrating the overview of delivery system 1. Delivery system 1 is used for the last mile in logistics, that is, for logistics services from the final destination to the end user (also simply called the user). For example, delivery system 1 is used in facilities that have individual rooms and corridors for each user. Specifically, delivery system 1 is used in apartment buildings and other multi-unit housing, or hotels and other accommodation facilities.

[0010] The delivery system 1 comprises a delivery robot 10 and storage shelves 30. The delivery robot 10 travels along the facility's corridor A. The storage shelves 30 are installed in each room of an apartment building where, for example, user U lives. The storage shelves 30 are installed in each dwelling in the apartment building. The storage shelves 30 serve as storage locations for goods 20. For example, the storage shelves 30 are smart mailboxes or parcel lockers. The delivery robot 10 does not need to hand the goods to the user and can complete the delivery. For example, if a user purchases goods 20 through online shopping, the delivery robot 10 delivers the goods 20 to the user (purchaser), who is the recipient.

[0011] The delivery robot 10 moves sequentially in front of multiple storage shelves 30 and stops, and stores the goods 20 in the storage shelves 30. This may also be called delivery. Alternatively, the delivery robot 10 moves sequentially in front of multiple storage shelves 30 and stops, retrieves the goods 20 from the storage shelves 30, and transports the retrieved goods 20. This may also be called collection. The delivery robot 10 (or storage shelves 30) is equipped with a mechanism for transferring goods to and from the storage shelves 30. The delivery robot 10 is also equipped with various sensors to detect the storage shelves 30 and obstacles in the aisles, and is capable of moving autonomously. Known object recognition technologies can be used.

[0012] The storage shelf 30 may include multi-tiered shelves (not shown) capable of accommodating items 20. The storage shelf 30 is installed, for example, on the corridor side of each room in a building or apartment complex. Alternatively, the storage shelf may be located around the entrance of an apartment complex. The delivery robot 10 accesses the storage shelf 30 from the corridor side to put in and take out items 20. Residents (users) access the storage shelf 30 from inside their rooms to put in and take out items 20.

[0013] For example, the storage shelf 30 is equipped with a door 31. The door 31 is located on the aisle side. The delivery robot 10 opens the door 31 and takes items 20 into and out of the storage shelf 30 from the aisle side. The door 31 may be, for example, a horizontally opening shutter, a vertically opening shutter, a single-leaf door, or a double-leaf door. Here, we will explain assuming that the door 31 can be opened and closed from either the left or the right. The storage shelf 30 may also have an additional door on the room side. In this case, the user can open the door from inside the room and take out the items 20.

[0014] Door 31 may be lockable. For example, user U or delivery robot 10 may lock / unlock door 31. This can prevent theft of goods 20. Delivery robot 10 may control the opening and closing of door 31. For example, when delivery robot 10 moves near storage shelf 30, delivery robot 10 sends a command to storage shelf 30 to open door 31 of the storage shelf 30. Delivery robot 10 and storage shelf 30 are wirelessly connected.

[0015] As shown in Figure 1, the delivery robot 10 comprises a base section 11 equipped with multiple wheels 13 (these may collectively be referred to as a trolley section 130), a storage section 12 provided on the base section 11 and capable of storing a large number of items 20, and a platform 15 provided on the base section 11 on which the items 20 are placed. The base section 11 may be a roughly rectangular, elongated plate-like member. In addition, one or more sensors 18 are provided at any location on the delivery robot 10 (in this example, on the base section 11) to detect or photograph objects in all directions around the delivery robot 10, and to detect the location of obstacles on the road, the location of storage shelves, etc. The sensors 18 may be, for example, a camera or LiDAR (Light Detection And Ranging). Furthermore, the sensors 18 are provided to detect the presence of people around the delivery robot 10 or the storage shelves 30.

[0016] Furthermore, the delivery robot 10 may also utilize data from sensors 218 (see Figure 2) installed in locations other than the delivery robot 10. Sensors 218 are such as surveillance cameras installed in the facility. Alternatively, if two or more robots are used in the facility, sensors 218 may be installed on other robots. The delivery robot 10 receives data from sensors 218 via a wireless network.

[0017] The mounting platform 15 is equipped with a mechanism for placing an item 20 taken out of the storage section 12 on it and storing the item 20 on a designated shelf of the storage shelf 30. The mounting platform 15 is also equipped with a telescopic arm (not shown) that is vertically movable and horizontally movable. The telescopic arm is configured to move forward, backward, left, and right. In some embodiments, the mounting platform 15 may be configured to rotate around a vertical axis. The mounting platform 15 may also be configured to move in all directions (360°) with the item 20 on it. However, as shown in Figure 1, since the storage section 12 is located on one side of the base section 11, the mounting platform 15 cannot move in the direction of the storage section 12 (also referred to as the rear side in this specification).

[0018] The delivery system 1 may also include a management server (not shown) that controls the movement of the delivery robot 10. In this case, the management server includes a control unit 100 (see Figure 2) connected to the delivery robot 10 via a network. In other embodiments, the functions of the control unit of the management server and the control unit of the delivery robot can be distributed to realize this disclosure.

[0019] The article 20 has a label 21 attached thereto. Here, the label 21 is attached to the side surface of the article 20. For example, the label 21 is an attached address seal such as a cardboard box for containing a delivery item. The label 21 includes privacy information such as a destination and a recipient's name. Therefore, the privacy information written on the label 21 is visible to the person P around. Also, the privacy information is not limited to the personal information of the recipient, and may be information that allows the content of the article to be understood. For example, the privacy information may be a product logo, a brand, or the like. Also, the privacy information may be directly printed on an outer box such as cardboard.

[0020] FIG. 2 is a block diagram for explaining the functions of the delivery system 1. The delivery system 1 includes a control unit 100. The control unit 100 can be provided in the delivery robot 10, the management server, or the like. The control unit 100 receives sensor signals from sensors 18 and 218 connected by a wired or wireless network, and controls the normal operations of the delivery system including the delivery robot such as the carriage unit 130, the elevating unit 151, and the telescopic arm 152. In some embodiments, the control unit 100 can control the operation of the door in front of the storage shelf and the manipulator inside thereof.

[0021] The carriage unit 130 has a base unit 11, drive wheels 13 (see FIG. 1) rotatably provided on the base unit 11, and motors 1301 for rotationally driving the respective drive wheels 13. Each motor 1301 rotates each drive wheel 13 via a speed reducer or the like. Each motor 1301 rotates each drive wheel 13 in response to a control signal from the control unit 100. Each motor 1301 can move and stop the base unit 11 at an arbitrary position by rotating and stopping each drive wheel 13 in response to a control signal from the control unit 100. Note that the configuration of the carriage unit 130 described above is an example and is not limited thereto. For example, the number of drive wheels and driven wheels of the carriage unit 130 may be arbitrary, and any configuration can be applied as long as the base unit 11 can be moved to an arbitrary position.

[0022] The lifting section 151 extends and retracts along the vertical axis, causing the mounting base 15 to move up and down. The lifting section 151 is equipped with a rotating device 1511. The telescopic arm 152 is attached to the mounting base 15. The telescopic arm 152 comprises an arm body and a drive device 1521. The drive device 1521 is installed inside the mounting base 15 (not shown) and moves the arm body horizontally. The drive device 1521 may further have a mechanism for rotating the arm body around an axis.

[0023] Sensor 18 is installed at any location on the delivery robot 10, including the trolley section 130. Sensor 18 is, for example, a camera and can acquire captured images. Sensor 18 may be, for example, LiDAR (Light Detection And Ranging). Sensor 18 can detect the presence of passages, obstacles, people, storage shelves, etc. Sensor 18 may also include a movement detection sensor that detects the movement of the trolley section 130 and a height detection sensor that detects the height of the mounting platform 15.

[0024] The delivery robot 10 may also utilize data from sensors 218 installed elsewhere. Sensors 218 are surveillance cameras installed in elevators, stairwells, corridors, etc., within the facility. Alternatively, if two or more robots are used in the facility, sensors 218 may be installed on other robots. The delivery robot 10 receives data from sensors 218 via a wireless network.

[0025] The detection unit 19 detects whether or not there are people in the vicinity based on sensor data from sensor 18 or sensor 218. For example, the detection unit 19 detects the presence of people P in the vicinity by performing image processing on a camera image. The camera image may be from sensor 18 installed on the delivery robot 10, or from a sensor 18 such as a surveillance camera. The detection unit 19 detects the presence of people P in the vicinity based on point cloud data from LiDAR, etc. Alternatively, the detection unit 19 may detect whether or not there are people on the floor based on elevator operation information, etc.

[0026] The detection unit 19 may be mounted inside the delivery robot 10, or it may be located outside the delivery robot 10. For example, if a server located outside the delivery robot 10 is connected to the delivery robot 10, the server can send a detection signal to the delivery robot 10 indicating that it has detected a person.

[0027] The control unit 100 controls the normal operation of the delivery system, including the delivery robot, such as the trolley unit 130, the lifting unit 151, and the telescopic arm 152. The control unit 100 controls the rotation of each drive wheel 13 by transmitting control signals to each motor 1301 of the trolley unit 130, thereby moving the base unit 11 to any desired position. The control unit 100 can change the height position of the mounting platform 15 by transmitting control signals to the rotating device 1511 of the lifting unit 151. In addition, the control unit 100 can change the horizontal position of the arm body by transmitting control signals to the drive device 1521 of the telescopic arm 152.

[0028] The control unit 100 may control the movement of the base unit 11 by performing well-known controls such as feedback control and robust control based on rotation information of the drive wheels 13 detected by rotation sensors provided on the drive wheels 13. The control unit 100 may also control the operation of the trolley unit 130, the lifting unit 151, and the telescopic arm 152 based on distance information detected by distance sensors such as cameras and ultrasonic sensors provided on the base unit 11, and map information of the movement environment. The control unit 100 determines the stopping position and stopping direction of the delivery robot relative to the storage shelf based on the position of obstacles detected by the camera and the position of the storage shelf.

[0029] The control unit 100 includes a microcomputer consisting of, for example, a memory 102 which is a ROM (Read Only Memory) that stores control programs, calculation programs, etc., executed by a CPU (Central Processing Unit) 101 that performs control processing, calculation processing, etc., and an interface unit (I / F) 103 that performs signal input and output with the outside. The CPU 101, memory 102, and interface unit 103 are interconnected via a data bus or the like.

[0030] (Transfer process) When the detection unit 19 detects a person P during the transfer process, the control unit 100 performs control to protect privacy information. For example, when the delivery robot 10 transfers items to the storage shelf 30, it transfers the items in a manner that protects privacy information from people P who are in the vicinity of the storage shelf 30. A transfer manner that protects privacy information means that privacy information such as labels 21 is not visible to people P in the vicinity. This ensures that privacy information such as addresses and names is reliably protected. Alternatively, it can prevent product names, brand names, etc., from being known to others. Several examples of transfer manners are described below.

[0031] (Example of transfer format 1) An example of a transfer method that protects privacy information, Example 1, will be explained using Figure 3. Figure 3 is a schematic top view showing the operation of a delivery robot 10 transferring an item 20 to a storage shelf 30. The mounting platform 15 rotates the item 20, changing the orientation of the label 21. The mounting platform 15 changes the orientation of the item 20 so that the label 21 is positioned on the opposite side from person P. The telescopic arm 152 transfers the item 20 with the label on the opposite side from person P.

[0032] For example, when the delivery robot 10 moves to the front of the storage shelf 30, the delivery robot 10 opens the door 31. Furthermore, the delivery robot 10 takes the item 20 out of the storage compartment 12. This results in the state before transfer shown in Figure 3. At this time, it is assumed that a person P is walking in front of the delivery robot 10. The label 21 of the item 20 is facing the direction of person P.

[0033] When the detection unit 19 detects a person P in front, the delivery robot 10 rotates the platform 15 according to the direction of the person P. As the platform 15 rotates, the side of the item 20 on which the label 21 is attached faces away from the person P. After the platform 15 rotates, the label 21 is in a blind spot of the item 20, so the person P cannot see the label 21. The delivery robot 10 then transfers the item 20 to the storage shelf 30 in this state. Thus, the delivery robot 10 can transfer the item 20 in a manner that protects the privacy information of people P who are near the storage shelf 30.

[0034] For example, the position where the label 21 is attached to the item 20 is known. Alternatively, the control unit 100 may detect the attachment position of the label 21 using camera images or the like. When the detection unit 19 detects a person P, it determines the direction of the person P relative to the delivery robot 10. The control unit 100 then controls the rotating device 1511 so that the label 21 faces away from the person P. The rotating device 1511 rotates the mounting platform 15 to the desired angle, ensuring that the label 21 is properly oriented. When the rotation of the mounting platform 15 is complete, the drive unit 1521 extends and retracts the telescopic arm 152. This allows the delivery robot 10 to transfer the item 20 to the storage shelf 30 in a manner that protects the privacy of people P in the vicinity.

[0035] Furthermore, in transfer configuration example 2, the delivery robot 10 may transfer the item 20 in a transfer configuration that protects privacy information, regardless of the direction of person P. For example, by changing the orientation in which the item 20 is stored in the storage unit 12, it is possible to realize a transfer configuration that protects privacy information. The item 20 is stored in the storage unit 12 with the label 21 facing the rear of the delivery robot 10. When the telescopic arm 152 takes the item 20 out of the storage unit 12, the label 21 will be facing the storage unit 12 (label orientation after rotation in Figure 3). The storage unit 12 is higher than the mounting surface of the mounting platform 15. The range in which the label 21 can be seen can be reduced. The delivery robot 10 can transfer the item 20 in a transfer configuration that protects privacy information.

[0036] Of course, the item 20 may be placed in the storage compartment 12 so that the label 21 faces the bottom (underside). Alternatively, the platform 15 may be rotated so that the label 21 faces the door 31. In other words, the delivery robot 10 should transfer the item 20 to the storage shelf 30 with the label 21 facing in a direction that is a blind spot for person P.

[0037] (Example of transfer format 2) An example of a transfer method that protects privacy information, Example 2, will be explained using Figure 4. Figure 4 is a schematic top view showing the operation of a delivery robot 10 transferring an item 20 to a storage shelf 30. In Transfer Method Example 2, the delivery robot 10 moves to transfer an item in a manner that protects privacy information. Specifically, the delivery robot 10 moves to the transfer position in the storage location with the label 21 facing away from the person P. The telescopic arm 152 transfers the item 20 with the label 21 facing away from the person P.

[0038] In Figure 4, before transfer, the delivery robot 10 is moving from left to right. The detection unit 19 detects a person P near the storage shelf 30 just before reaching it. The delivery robot 10 then changes direction and moves. Here, the delivery robot 10 passes the storage shelf 30 once, then changes direction and returns to the storage shelf 30. In other words, the delivery robot 10 makes a U-turn and moves to the transfer position to the storage shelf 30. Therefore, the delivery robot 10 approaches the storage shelf 30 from the left and reaches the transfer position. The label 21 is positioned on the opposite side from person P.

[0039] When the delivery robot 10 moves to the transfer position, it retrieves the item 20 from the storage unit 12. At this time, the item 20 is retrieved with the label 21 facing away from the person P. Because the label 21 is in the blind spot of the item 20, the person P cannot see the label 21. The delivery robot 10 can transfer the item 20 in a transfer method that protects privacy information.

[0040] (Transfer format example 3) An example of a transfer method that protects privacy information, Example 3, will be explained using Figure 5. Figure 5 is a schematic perspective view showing a configuration in which a delivery robot 10 transfers items to a storage shelf 30. In Figure 5, the delivery robot 10 controls the opening and closing of the door 31 so that the door, which opens in both left and right directions, opens toward person P. The door 31 hides the item 20 from person P. As a result, as shown by the dashed arrow in Figure 3, the door 31 makes the item 20 a blind spot for person P. The item 20 can be transferred without person P being able to see the label 21.

[0041] In other words, the delivery robot 10 can transfer the items 20 from people P near the storage shelf 30 in a transfer manner that protects their privacy information. The delivery robot 10 may also control the opening and closing direction and angle of the door 31. This ensures that privacy information is reliably protected. By controlling the opening and closing direction of the door 31, the items 20 are transferred in a manner that protects their privacy information.

[0042] According to at least one of the transfer configuration examples 1 to 3, the delivery robot 10 can transfer the label 21 while concealing it from the person P. Note that each of the transfer configuration examples 1 to 3 may be implemented individually, or two or more may be used in combination. For example, privacy information may be protected by both the opening and closing direction of the door 31 and the rotation of the item 20. Alternatively, privacy information may be protected by both the opening and closing direction of the door 31 and the orientation of the delivery robot 10. This ensures reliable protection of privacy information.

[0043] The above description illustrates an example in which the delivery robot 10 transfers items 20 to the storage shelf 30. However, the delivery system 1 can also apply a similar transfer method to an example in which the delivery robot 10 receives items 20 from the storage shelf 30. In this case, before receiving the items, the delivery robot 10 may capture images of the items 20 with a camera and identify the location where privacy information is attached from the images.

[0044] Furthermore, the detection unit 19 may identify person P. The detection unit 19 may also determine whether the identified person P is a person whose privacy information should be protected. If person P is the recipient of item 20, there is no need to protect their privacy information. If person P is in the vicinity and is the recipient, the delivery robot 10 will transfer the item using a transfer method other than the one that protects privacy information (referred to as the unprotected method). For example, whether or not person P is the recipient can be determined by facial recognition using a facial image. It is sufficient if facial images of people whose privacy information does not need to be protected are registered in memory beforehand.

[0045] Of course, the recipient is not the only person whose privacy does not need to be protected. Even if person P is a family member or cohabitant of the recipient, the delivery system 1 may transfer the item 20 to the storage shelf 30 in an unprotected manner. In other words, the delivery system 1 may adopt a privacy-protecting transfer manner when there are people in the vicinity who are not related to the item 20, and an unprotected manner when there are people in the vicinity who are related to the item 20.

[0046] Furthermore, although the above description assumes that privacy information is attached to only one side of item 20, privacy information may be attached to two or more sides. For example, a label 21 may be attached to one side, and a brand name or similar may be printed on the adjacent side. In this case, the delivery system 1 may make the two sides invisible to person P. Alternatively, the delivery system 1 may make only one side invisible to person P. In this case, it is preferable that the delivery system 1 makes more important privacy information, such as address and name, invisible to person P.

[0047] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. Furthermore, this disclosure can be implemented by having a processor such as a CPU (Central Processing Unit) execute a computer program to perform some or all of the control processing in the delivery system 1. For example, the control unit 100 can be implemented as a program-executable device such as a central processing unit of a computer. Various functions can also be implemented by programs. [Explanation of Symbols]

[0048] 10 Delivery Robots 20. Goods (luggage) 21 Labels 30 Storage shelves (storage locations)

Claims

1. A delivery system for delivering packages containing private information, A mobile robot for delivering the aforementioned packages, A transfer mechanism for transferring the goods delivered by the mobile robot to a storage location, or for transferring goods located in the storage location to the mobile robot, The system includes a detection unit that detects whether or not there are people in the vicinity of the storage location, A delivery system that transfers the cargo to the storage location in a manner that protects the privacy information of people in the vicinity.

2. The vehicle further comprises a drive mechanism that changes the orientation of the luggage so that the privacy information is positioned on the opposite side of the person. The delivery system according to claim 1, wherein the transfer mechanism transfers the package while the privacy information is on the opposite side of the person.

3. The mobile robot moves to the transfer position of the storage location with the privacy information positioned opposite to the person, The delivery system according to claim 1, wherein the transfer mechanism transfers the package while the privacy information is on the opposite side of the person.

4. The storage area is equipped with left and right opening and closing doors, The delivery system according to claim 1, wherein the transfer mechanism transfers the cargo with the left and right opening doors, of which the opening doors are the ones that open in the direction of the person, in the open position.

5. The delivery system according to any one of claims 1 to 4, wherein if a person in the vicinity is a person associated with the package, the package is transferred in a transfer method other than the transfer method that protects the privacy information.

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