Delivery system and delivery method

Abstract

To provide a delivery system and a delivery method that can deliver packages properly.SOLUTION: The delivery system 1 relating to the present disclosure has: a delivery robot 10 that delivers package to a storage location; a prediction unit 105 that predicts the time of absence of the receiver of the package; and a scheduling unit 106 that schedules the delivery robot to deliver the package to the storage location during the receiver's absence.SELECTED DRAWING: Figure 4

Description

Technical Field

[0007] ,

[0001] The present disclosure relates to a delivery system and a delivery method.

Background Art

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a vehicle delivers a package, since the recipient wants to receive the package quickly, there is a risk that the recipient may try to open the door of the home delivery locker even though it is locked. Alternatively, there are concerns about safety, such as trying to forcefully take the package directly from the robot.

[0005] The present invention has been made in view of the above background, and an object thereof is to provide a delivery system and a delivery method capable of appropriately delivering a package. <00000 twenty-nine>

Means for Solving the Problems

[0006] The delivery system according to the present disclosure includes a delivery robot that delivers a package to a storage location, a prediction unit that predicts the absence time of the recipient of the package, and a scheduling unit that schedules the delivery robot to deliver the package to the storage location at the absence time of the recipient.

Effects of the Invention

[0008] [Figure 1] This is a schematic perspective view illustrating the delivery system according to Embodiment 1. [Figure 2] This is a schematic top view showing the configuration of a facility where a delivery system is used. [Figure 3] This is a block diagram illustrating the functions of the delivery system according to Embodiment 1. [Figure 4] This is a functional block diagram showing the configuration of the control unit. [Modes for carrying out the invention]

[0009] The delivery system and its method will be described below with reference to Figures 1 and 2. Figure 1 is a schematic perspective view illustrating the overview of delivery system 1. Figure 2 is a schematic top view showing the configuration of a facility in which delivery system 1 is used. Delivery system 1 is used for the last mile in logistics, that is, logistics services from the final destination to the end user (also simply called the user). For example, as shown in Figure 2, delivery system 1 is used in facilities that have multiple rooms R1, R2 and corridor A. Specifically, delivery system 1 is used in apartment buildings and other multi-unit housing, or hotels and other accommodation facilities. Delivery system 1 may also be used within a predetermined area of ​​a city where multiple buildings exist. The buildings are not limited to apartment buildings and hotels, but may also be single-family homes, public facilities, etc. Furthermore, delivery system 1 may be used in a city where apartment buildings and single-family homes are mixed, or in a part of such a city.

[0010] The delivery system 1 includes 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 residence. For example, the storage shelves 30 are installed in rooms R1 and R2 of an apartment building where user U lives. Rooms R1 and R2 are not limited to apartment buildings; they could also be hotel rooms. Alternatively, the storage shelves 30 may be installed in a detached house. The storage shelves 30 serve as storage locations for goods 20. For example, the storage shelves 30 could be smart mailboxes or parcel lockers. The delivery robot 10 does not need to hand the goods to the user, and the delivery can be completed without this. 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. In Figure 1, only two rooms R1 and R2 are shown, but the number of rooms and storage shelves 30 provided in the facility may be three or more.

[0011] The delivery robot 10 moves sequentially in front of multiple storage shelves 30 and stops, then 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, then 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 obstacles in the storage shelves 30 and passage A, 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 side of corridor A in each room R1, R2 of a building or apartment complex. The delivery robot 10 accesses the storage shelf 30 from corridor A and puts items 20 in and out. Residents (users) access the storage shelf 30 from inside rooms R1, R2 and puts items 20 in and out.

[0013] For example, the storage shelf 30 has two doors 31 and 32. Door 31 is located on the aisle A side, and door 32 is located on the room R1 and R2 side. User U opens door 32 and puts items 20 into and out of the storage shelf 30 from the room R1 side. The delivery robot 10 opens door 31 and puts items 20 into and out of the storage shelf 30 from the aisle A side. Doors 31 and 32 may be, for example, horizontally opening shutters, vertically opening shutters, single-leaf doors, or double-leaf doors.

[0014] Doors 31 and 32 may be lockable. For example, user U or delivery robot 10 may lock / unlock doors 31 and 32. This can prevent theft of items 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 also be collectively 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).

[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 3) 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] FIG. 3 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 or a 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 it.

[0020] 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 each drive wheel 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 can be arbitrary, and any configuration can be applied as long as the base unit 11 can be moved to an arbitrary position.

[0021] The mounting table 15 moves up and down as the elevating unit 151 expands and contracts along the vertical axis. The elevating unit 151 includes a rotating device 1511. The telescopic arm 152 is attached to the mounting table 15. The telescopic arm 152 includes an arm body and a driving device 1521. The driving device 1521 is attached inside the mounting table 15 (not shown) and moves the arm body in the horizontal direction. The driving device 1521 may further have a mechanism for rotating the arm body around an axis.

[0022] The sensor 18 is provided at an arbitrary position of the delivery robot 10 including the carriage unit 130 and the like. The sensor 18, also called a detection unit, is, for example, a camera and can acquire a captured image. The sensor 18 can detect the presence of passages, obstacles, people, storage shelves, etc. The sensor 18 may include a movement detection sensor that detects the movement of the carriage unit 130 and a height detection sensor that detects the height of the mounting table 15. In some embodiments, the sensor 18 may be attached to another patrol robot instead of the delivery robot or may be fixed to a building or the like. Also in this case, the sensor 18 can be connected to the control unit 100 of the delivery robot 10 via a wireless network.

[0023] The control unit 100 controls the normal operation of the delivery system including the delivery robot such as the carriage unit 130, the lifting unit 151, and the telescopic arm 152. The control unit 100 can control the rotation of each drive wheel 13 and move the base unit 11 to an arbitrary position by transmitting a control signal to each motor 1301 of the carriage unit 130. The control unit 100 can change the height position of the mounting table 15 by transmitting a control signal to the rotating device 1511 of the lifting unit 151. Further, the control unit 100 can change the horizontal position of the arm body by transmitting a control signal to the driving device 1521 of the telescopic arm 152.

[0024] 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 the rotation information of the drive wheels 13 detected by the rotation sensors provided on the drive wheels 13. The control unit 100 may control the operations of the carriage unit 130, the lifting unit 151, and the telescopic arm 152 based on information such as 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 stop position and stop orientation of the delivery robot with respect to the storage shelf based on the positions of the obstacles and the storage shelf detected by the camera.

[0025] 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.

[0026] Figure 4 is a functional block diagram showing the configuration of the control unit 100. The control unit 100 includes a prediction unit 105, a scheduling unit 106, and a user information acquisition unit 107. The prediction unit 105 predicts the time when the recipient will be absent. The prediction unit 105 predicts the time when the recipient (the user) will not be in the room. The scheduling unit 106 schedules the delivery of the item 20 to the storage shelf 30 during the time when the recipient is absent. The prediction unit 105, the scheduling unit 106, and the user information acquisition unit 107 may be mounted on the delivery robot 10, or they may be mounted on an external server or the like.

[0027] In this way, the delivery robot 10 can deliver the items to the storage shelf 30 when the recipient is absent, thus ensuring proper delivery of the items 20. For example, it prevents the user from trying to open the door 32 because they want to receive the items 20 quickly. Alternatively, it prevents the user from trying to take the items 20 directly from the delivery robot 10 while it is transferring the items to the storage shelf 30. The delivery robot 10 can transfer the items 20 to the storage shelf 30 when the recipient is absent. Safety can be improved. It prevents the recipient from coming into contact with the delivery robot 10 and causing errors in the delivery robot 10.

[0028] The prediction unit 105 stores the room number in association with the user ID of the resident user. The prediction unit 105 can identify a user for each room at the delivery destination. For example, if the recipient is a purchaser who bought item 20 through network shopping, the prediction unit 105 identifies the recipient user based on the purchaser information. The prediction unit 105 can identify the room number and recipient (user ID, etc.) at the delivery destination.

[0029] The control unit 100 may include a user information acquisition unit 107. The user information acquisition unit 107 acquires user information for predicting absence times. For example, the user information acquisition unit 107 has memory or the like, and reads user information about the user from the memory or the like. The user information may include information about the user's schedule.

[0030] User information includes, for example, schedule information such as the user's return time, time spent out, working hours, and working days. The user information acquisition unit 107 may acquire schedule information from a calendar on the network. The prediction unit 105 can predict the time the user is absent based on the schedule information. User information may also include reservation information for services such as rental cars and restaurants. The time the recipient is expected to be absent during the use of these services is predicted. The prediction unit 105 predicts the time the user is absent based on this user information.

[0031] Alternatively, the prediction unit 105 may predict the absence time using sensor data from sensor 218. In this case, the prediction unit 105 can predict the absence time without using user information. For example, suppose sensor 218 is a camera installed in a corridor A or elevator of a facility. In this case, sensor 218 can identify the user by performing image processing such as face recognition on the captured image. The prediction unit 105 may determine whether the user is absent or at home based on the sensor data. This allows the prediction unit 105 to determine whether the user is out or at home.

[0032] In this way, the prediction unit 105 predicts the recipient's absence time. The scheduling unit 106 then determines a delivery schedule so that the item 20 is delivered during the recipient's absence time. For example, in Figure 2, since the recipient is absent from room R1, the delivery robot 10 transfers the item 20 to the storage shelf 30 in room R1. On the other hand, since the recipient, user U, is in room R2, the delivery robot 10 does not deliver the item 20 to the storage shelf 30 in room R2. In this way, items can be delivered appropriately.

[0033] Furthermore, if multiple users reside in the same room, the delivery robot 10 may deliver the item 20 to the storage shelf 30 if there is no recipient present. In other words, the scheduling unit 106 may schedule the delivery so that the item 20 is delivered even if there are other users present besides the recipient. Other users do not need to receive the item quickly. Therefore, it is unlikely that other users will directly retrieve the item from the delivery robot 10 while it is being moved. Thus, even if other users are in the room, the delivery robot 10 can properly deliver the item to the storage shelf 30 in that room.

[0034] Furthermore, let's assume that the storage unit 12 contains multiple items 20 with different recipients. In other words, let's assume that the items 20 stored in the storage unit 12 have different delivery destinations. In this case, the scheduling unit 106 schedules the delivery of the multiple items 20 to each room in sequence. The scheduling unit 106 determines the delivery order for each room so that the items 20 are delivered during times when the recipient is absent.

[0035] For example, the scheduling unit 106 may schedule the delivery of items 20 in order, starting with recipients who are expected to be absent. In other words, the scheduling unit 106 determines the delivery order to each room based on the expected absence time and delivers the items 20 in that order. The scheduling unit 106 postpones deliveries to rooms where recipients are present. The delivery robot 10 prioritizes delivering items to rooms where recipients are absent. This prevents items 20 from being delivered to rooms where recipients are present, thus ensuring that items are delivered appropriately.

[0036] For example, as shown in Figure 2, suppose there is no recipient in room R1, but the recipient (user U) is in the adjacent room R2. In this case, the scheduling unit 106 schedules the delivery robot 10 to deliver to room R1, then to another room, and then to room R2. The scheduling unit 106 schedules the delivery of the item 20 to room R2 so that it coincides with the expected time when user U will be out. The delivery robot 10 may deliver the item to several other rooms until user U is out. The scheduling unit 106 then schedules the delivery robot 10 to move to room R2 after user U is scheduled to leave the house. This enhances safety and ensures that the item is delivered appropriately.

[0037] 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 CPU (Central Processing Unit) execute a computer program for part or all of the control processing in the delivery system 1. For example, the control unit 100, etc., can be implemented as a program-executable device such as a computer's central processing unit (CPU). Various functions can also be implemented by programs. [Explanation of symbols]

[0038] 10 Delivery Robots 20. Goods (luggage) 30 Storage shelves (storage locations)

Claims

1. A delivery robot that delivers packages to the storage location, A user information acquisition unit that acquires user information regarding the recipient's schedule for the aforementioned package, A prediction unit predicts the time when the recipient of the package will be absent, based on the user information. A delivery system comprising: a scheduling unit that schedules the delivery robot to deliver the package to the storage location during the recipient's absence.

2. The aforementioned delivery robot is equipped with a storage compartment for storing multiple packages, The aforementioned storage location is installed in each residence. The delivery system according to claim 1, wherein the scheduling unit delivers the packages in order to the recipients who are predicted to be absent.

3. A delivery method using a delivery robot to deliver packages to a storage location, The steps include obtaining user information regarding the recipient's schedule for the aforementioned package, A step of predicting the recipient's absence time based on the user information, A delivery method comprising the step of scheduling the delivery robot to deliver the package to the storage location during the recipient's absence.

4. The delivery robot is equipped with a storage compartment for storing multiple packages, The aforementioned storage location is installed in each residence. The delivery method according to claim 3, wherein the packages are delivered in order to the recipients who are expected to be absent.

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