Delivery system

Abstract

To provide a delivery system capable of requesting a person to remove an obstacle existent within a predetermined area in front of a storage shelf.SOLUTION: A delivery system 1 includes a storage shelf 30, a delivery robot 10 capable of moving to the storage shelf and delivering a commodity, one or more detection units 18 that detect an obstacle existing around the storage shelf, and a control unit 100 that controls the operation of the delivery system including the delivery robot. When the detection units detect that an obstacle exists within a predetermined area near the storage shelf, if the control unit 100 decides that the delivery robot cannot deliver the commodity to the storage shelf because of the obstacle, the control unit 100 notifies to remove the detected obstacle from the predetermined area.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] There is a disclosed technology in which a vehicle such as an AGV (automated guided vehicle) stores a load in a locker of an end user when delivering the load.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order for a delivery robot to store an article in a storage shelf, it is necessary to stop within a predetermined area near the storage shelf. However, when there are obstacles within the predetermined area near the storage shelf, the delivery robot may not be able to stop within the predetermined area near the storage shelf. Therefore, the delivery robot cannot perform the operation of storing the article in the storage shelf.

[0005] The present disclosure has been made in view of such problems, and provides a delivery system capable of requesting a person to remove an obstacle within a predetermined area in front of a storage shelf.

Means for Solving the Problems

[0006] A delivery system according to an aspect of the present disclosure includes a storage shelf, a delivery robot capable of moving to the storage shelf and delivering an article, one or more detection units that detect an obstacle around the storage shelf, a control unit that controls the operation of a delivery system including the delivery robot, Equipped with, If the detection unit detects that there is an obstacle within a predetermined area near the storage shelf, and the control unit determines that the delivery robot cannot deliver the item to the storage shelf due to the obstacle, The control unit is configured to notify the system to remove the detected obstacle from the predetermined area. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a delivery system, etc., that can request a person to remove obstacles within a predetermined area in front of a storage shelf. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic perspective view illustrating the delivery system according to Embodiment 1. [Figure 2] This is a block diagram illustrating the functions of the delivery system according to Embodiment 1. [Figure 3] This is a perspective view illustrating the delivery by the delivery robot after the removal of obstacles according to Embodiment 1. [Figure 4] This is a perspective view illustrating the notification to a communication terminal and delivery to another storage shelf by the delivery robot according to Embodiment 1. [Figure 5] This is a perspective view illustrating an example in which an obstacle in front of a storage shelf is detected before the delivery robot according to Embodiment 1 arrives at the storage shelf. [Figure 6] This is a schematic perspective view illustrating the delivery robot and storage shelves of the delivery system according to Embodiment 2. [Modes for carrying out the invention]

[0009] The following describes specific embodiments applying this disclosure with reference to the drawings. However, this disclosure is not limited to the following embodiments. Also, for clarity, the following description and drawings have been simplified as appropriate.

[0010] Embodiment 1 The delivery system according to Embodiment 1 will be described below with reference to the drawings. Figure 1 is a schematic perspective view illustrating the overview of delivery system 1. Delivery system 1 can be used for last-mile logistics, that is, logistics services from the final location to the end user. Delivery system 1 comprises a delivery robot 10 and a storage shelf 30. The storage shelf 30 is also called a smart post, and the delivery robot does not need to hand the goods to the end user, thus completing the delivery. The storage shelf can be installed, for example, in each room of an apartment building where the end user lives. Residents (end users) can access and retrieve items stored in the storage shelf from inside their rooms.

[0011] The delivery robot 10 moves sequentially in front of multiple storage shelves 30 located in various places 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 located in various places 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 shelf 30) is equipped with a mechanism for transferring goods to and from the storage shelf 30. The delivery robot 10 is also equipped with various sensors that can detect people, storage shelves, roads and obstacles, and move autonomously. Known object recognition technologies can be used. This disclosure proposes a delivery system and delivery method that can request a person to remove obstacles when they are present near a storage shelf.

[0012] The storage shelf 30 may include multiple shelves (not shown) capable of accommodating items. The storage shelf 30 may be installed, for example, in front of each room in a building or apartment complex, and may have a door (not shown) on its front. This door can be opened automatically when the delivery robot 10 stops in front of the storage shelf 30. The door may be, for example, a side-opening shutter, a vertical-opening shutter, a single-leaf door, or a double-leaf door.

[0013] 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 and to detect the location of obstacles on the road, the location of storage shelves, etc. The sensors 18 may be, for example, cameras. In some embodiments, in addition to the delivery robot 10, a patrol robot 60 (see Figure 5) equipped with sensors (for example, sensors 18 such as cameras) that patrols within an apartment building, or another delivery robot equipped with sensors that performs different deliveries may be provided. The patrol robot 60 may, for example, move along corridors within an apartment building and monitor whether there are any obstacles on the corridors. The patrol robot 60 can communicate monitoring information to the delivery robot 10 via a wireless network. In other embodiments, a fixed monitoring camera 70 (sensor 18) (see Figures 4 and 5) may be installed near the storage shelf 30 (for example, on the ceiling of a corridor in an apartment building).

[0014] The platform 15 is equipped with a mechanism for placing an item 20 taken out of the storage unit 12 on it and storing the item 20 on a designated shelf of the storage shelf 30. The platform 15 is also equipped with a telescopic arm (not shown) that is vertically movable and horizontally movable, and the telescopic arm is configured to move forward, backward, left, and right. In some embodiments, the platform 15 may be configured to rotate with respect to the vertical axis. The platform 15 may also be configured to move in all directions (360°) with an item on it. However, as shown in Figure 1, since the storage unit 12 is located on one side of the base unit 11, the platform 15 cannot move in the direction of the storage unit 12 (also referred to as the rear side in this specification). The delivery robot 10 is used to transfer items between the delivery robot and the storage shelf 30 and is not equipped with a mechanism for removing obstacles. Therefore, human assistance may be required to remove obstacles within a predetermined area in front of the storage shelf.

[0015] Note that the delivery system 1 may be provided with a management server (not shown) that controls the travel of the delivery robot 10. In this case, the management server includes a control unit 100 connected to the delivery robot 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 implement the present disclosure.

[0016] FIG. 2 is a block diagram for explaining the functions of the delivery system. The delivery system 1 includes a control unit 100. The control unit 100 can be provided in the delivery robot 10 or the management server or the like. The control unit 100 receives sensor signals from the sensors 18 connected by a wired or wireless network, and controls the normal operations of the delivery system such as the carriage unit 130, the elevating unit 151, and the telescopic arm 152. Further, the control unit 100 can receive the sensor signals from the sensors 18 and notify the presence of an obstacle via the notification unit 17 via the network. 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.

[0017] As shown in FIG. 1, the carriage unit 130 has a base portion 11, drive wheels 13 rotatably provided on the base portion 11, and motors 1301 (FIG. 2) that rotationally drive 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 portion 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 portion 11 can be moved to an arbitrary position.

[0018] The lifting table 15 moves up and down by the telescopic movement of the lifting part 151 along the vertical axis. The lifting part 151 includes a rotating device 1511. The telescopic arm 152 is attached to the lifting table 15. The telescopic arm 152 includes an arm body and a driving device 1521. The driving device 1521 is attached inside the lifting 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.

[0019] The sensor 18 is provided at an arbitrary location of the delivery robot 10 including the cart unit 130 and the like. The sensor 18 is also called a detection unit and can be, for example, a camera that can acquire a photographed 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 cart unit 130 and a height detection sensor that detects the height of the lifting 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.

[0020] The notification unit 17 can be a built-in speaker, a built-in monitor and a lamp of the delivery robot, or a communication terminal of a specific person (for example, a passerby, a recipient, their family, a manager, a neighbor, etc.). The notification unit 17 can receive a control signal from the control unit 100 and notify the presence of an obstacle detected by the sensor 18 and the removal request thereof. For example, the built-in speaker of the delivery robot can notify the presence of an obstacle and the removal request thereof by voice. Also, the built-in monitor and the lamp of the delivery robot can notify the presence of an obstacle and the removal request thereof visually. The communication terminal can notify the presence of an obstacle and the removal request thereof by voice or visually.

[0021] The control unit 100 controls the normal operation of the delivery system, including the trolley unit 130, the lifting unit 151, and the telescopic arm 152. The control unit 100 can transmit control signals to the notification unit 17 to notify a specific person of the presence of an obstacle and a request for its removal. The control unit 100 can control 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.

[0022] The control unit 100 may control the movement of the base unit 11 (cart unit 130) 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 cart 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.

[0023] 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.

[0024] In Figure 1, an obstacle 40 is placed in front of the storage shelf 30. The control unit 100 of the delivery robot 10 detects the position of the obstacle 40 and the position of the storage shelf 30 using a sensor 18. Based on the detected positions of the obstacle and the storage shelf, the control unit 100 cannot determine the stopping position and direction of the delivery robot relative to the storage shelf. In this case, the control unit 100 detects a person 2 in the vicinity via the sensor 18. The control unit 100 can send a control signal via the network to the notification unit 17, which may be a built-in speaker or built-in monitor and lamp of the delivery robot 10, to notify the person 2 to remove the obstacle 40. In this case, the control unit 100 can determine that the obstacle 40 will be removed by the person 2 in a short time and have the delivery robot 10 wait in that location.

[0025] Figure 3 is a perspective view illustrating the delivery by the delivery robot after obstacle removal. After the control unit 100 confirms via the sensor 18 that the person 2 has removed the obstacle 40, it stops the delivery robot 10 to the left of the storage shelf 30, as shown in Figure 3. The delivery robot 10 can also stop as close to the storage shelf 30 as possible so that the extension distance of its telescopic arm is as short as possible. Subsequently, the control unit 100 of the delivery robot 10 controls the telescopic arm 152 and the lifting unit 151 based on the position of the storage shelf 30 as seen from the sensor 18. As a result, the platform 15 can store the items 20 on the designated shelf of the storage shelf 30.

[0026] Figure 4 is a perspective view illustrating the notification to a communication terminal by a delivery robot and the delivery to another storage shelf. In Figure 4, an obstacle 40 is placed in front of the storage shelf 30a. The control unit 100 of the delivery robot 10 detects the position of the obstacle 40 and the position of the storage shelf 30a using a sensor 18. Based on the detected positions of the obstacle and the storage shelf, the control unit 100 cannot determine the stopping position and direction of the delivery robot relative to the storage shelf 30a. In this case, the control unit 100 can notify a specific person (e.g., the recipient, their family, the manager, a neighbor, etc.) to remove the obstacle 40 via the notification unit 17 of the communication terminal 50 of that person. In Figure 4, the communication terminal 50 is depicted as a smartphone, but it is not limited to this, and various communication terminals that can notify people by voice or display can be used. In this case, the control unit 100 may also notify the specific person along with an image of the obstacle taken by the detection unit, which is a camera. This allows the specific person (e.g., the manager) to confirm the position of the obstacle 40 in front of the storage shelf from the image and take immediate action to remove the obstacle 40.

[0027] In this case, the control unit 100 can determine that the obstacle 40 will not be removed by a specific person in a short time, and, as shown in Figure 4, move the delivery robot 10 to another storage shelf 30b and deliver a different item. On the other hand, for example, the sensor 18 of a fixed surveillance camera 70 placed on the ceiling can monitor whether the obstacle 40 in front of the storage shelf 30a has been removed by a person. If the obstacle 40 has been removed, the control unit 100 can notify the delivery robot 10 to redeliver and arrange for the item 20 to be delivered to the storage shelf 30a again. This allows the delivery robot to efficiently carry out another delivery in the time it takes for the obstacle 40 to be removed by a specific person.

[0028] Figure 5 is a perspective view illustrating an example where a sensor detects an obstacle in front of a storage shelf before the delivery robot arrives at the shelf. In Figure 5, two obstacles 40 are placed in front of the storage shelf 30. The control unit 100 of the management server detects the positions of the two obstacles 40 and the storage shelf 30 using the sensors 18 of the patrol robot 60 or the sensors 18 of the fixed surveillance camera 70. Based on the detected positions of the obstacles and the storage shelf, the control unit 100 of the management server cannot determine the stopping position and direction of the delivery robot relative to the storage shelf. In this case, the control unit 100 can notify a specific person 2's communication terminal 50 before the delivery robot arrives and request that the obstacles 40 be removed from the predetermined area in front of the storage shelf 30. In this case, the control unit 100 may also notify the specific person 2 along with images of the obstacles captured by the sensor 18, which is a camera. Note that the patrol robot 60 may be a delivery robot performing a different delivery.

[0029] A specific person 2 views the captured images via the communication terminal 50 and removes the two obstacles 40 from a predetermined area in front of the storage shelf 30. When the sensors 18 of the patrol robot 60 or the sensors 18 of the fixed surveillance camera 70 detect that the obstacles 40 have been removed, the control unit 100 of the management server can arrange a delivery schedule for the delivery robot 10 to deliver the items to the storage shelf 30. In this way, the delivery schedule of the delivery robot can be optimized by ensuring that the obstacles are removed before the delivery robot arrives at the storage shelf.

[0030] If multiple people are notified of a request to remove an obstacle, and a specific person actually removes the obstacle, that person may be given an incentive or reward.

[0031] Embodiment 2 Figure 6 illustrates the delivery robot 10a and storage shelf 30c of the delivery system 1a. The delivery system 1a comprises a storage shelf 30c and a delivery robot 10a. The delivery robot 10 transports items and stores them in the storage shelf 30. The delivery robot 10a retrieves items from the storage shelf 30c and transports the retrieved items. Although not shown in Figure 9, the delivery robot 10a may also include a storage section 12 as shown in Figure 1. Furthermore, the storage shelf 30c and delivery robot 10a according to Embodiment 2 are equipped with an engagement mechanism, as described later, to enable safe loading and unloading of items. In Figure 6, components identical to those in Embodiment 1 are omitted from explanation as appropriate.

[0032] The storage shelf 30c houses articles not shown in the illustration. These articles may be, for example, transport boxes. The storage shelf 30 comprises a housing 311, a support member 312, and a guide rail 313. The support member 312 supports the articles housed in the storage shelf 30c.

[0033] The guide rail 313 engages with a groove 156 provided in the mounting base 15a of the delivery robot 10a. The guide rail 313 extends vertically. The guide rail 313 may also be a plate-shaped member provided parallel to the front surface of the storage shelf 30c. The plate-shaped member protrudes inward from the housing 311. The guide rail 313 may be provided on both the left and right sides of the housing 311, or on either side.

[0034] The delivery robot 10a comprises a platform 15a, a trolley section 130a, a lifting section 151a, a telescopic arm 152a, and an engagement detection sensor 155. The platform 15a is a platform on which items can be placed, and is also called a top plate. A groove 156 extending vertically is provided on the side of the platform 15a. When the platform 15a rises from its lower end due to the operation of the lifting section 151a, the groove 156 engages with the guide rail 313 of the storage shelf 30c. The groove 156 may be provided on both the right and left sides of the side of the platform 15a.

[0035] The delivery robot 10a moves horizontally on a movable trolley 130a. The lifting unit 151a is mounted on the trolley 130a. The lifting unit 151a raises and lowers the loading platform 15a. The telescopic arm 152a extends and retracts horizontally. The telescopic arm 152a takes items from the storage shelf 30c and places them on the loading platform 15a, and stores the items on the loading platform 15a back into the storage shelf 30.

[0036] The engagement detection sensor 155 is provided in the groove 156. The engagement detection sensor 155 detects that the guide rail 313 and the groove 156 are engaged. When the guide rail 313 and the groove 156 are engaged, the guide rail 313 and the mounting base 15a are engaged. The engagement detection sensor 155 is, for example, a photointerrupter or a photoreflector. In this case, the engagement detection sensor 155 comprises a light-emitting part and a light-receiving part. If the light from the light-emitting part is blocked by the guide rail 313, it may be detected that the guide rail 313 and the mounting base 15 are engaged. If the light from the light-emitting part is reflected by the guide rail 313, it may be detected that the guide rail 313 and the mounting base 15a are engaged. The engagement detection sensor 155 may also be a sensor that detects the force received from the guide rail 313 (for example, a contact sensor or a magnetic sensor).

[0037] Although the above embodiment describes a delivery system, this disclosure is also applicable to a delivery method using components of a delivery system.

[0038] The program described above includes a set of instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions. The program may be stored on 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 electrically, optically, acoustically or otherwise propagating signals.

[0039] This disclosure is not limited to the embodiments described above, and may be modified as appropriate without departing from its spirit. [Explanation of Symbols]

[0040] 1. Delivery System 2 people 10 Delivery Robots 11 Base section 12 Storage compartments 13 wheels 15. Mounting platform 18. Sensor (detection unit) 20 Goods 30, 30a, 30b, 30c storage shelves 40 Obstacles 50 Communication terminals 60 Patrol robots 70 Fixed Surveillance Cameras 100 Control Unit 102 memory 103 Interface section 130 Bogie section 151 Lifting section 152 Extendable Arm 1301 Motor 1511 Rotating device 1521 Drive unit

Claims

1. Storage shelves and A delivery robot capable of moving to the aforementioned storage shelf and delivering goods, One or more detection units for detecting obstacles around the storage shelf, A control unit that controls the operation of a delivery system including a delivery robot, Equipped with, If the detection unit detects that there is an obstacle within a predetermined area near the storage shelf, and the control unit determines that the delivery robot cannot deliver the item to the storage shelf due to the obstacle, The control unit is configured to notify that the detected obstacle be removed from the predetermined area. The system is configured to notify a specific person's communication terminal of a request to remove the obstacle, along with the image of the obstacle captured by the detection unit. When a request to remove an obstacle is notified to the specific person along with the captured image, the system is configured to move the delivery robot to another storage shelf and deliver another item until the detection unit detects that the obstacle has been removed. Delivery system.

2. A storage shelf, A delivery robot capable of moving to the aforementioned storage shelf and delivering goods, One or more detection units for detecting obstacles around the storage shelf, A control unit that controls the operation of a delivery system including a delivery robot, Equipped with, If the detection unit detects that there is an obstacle within a predetermined area near the storage shelf, and the control unit determines that the delivery robot cannot deliver the item to the storage shelf due to the obstacle, The control unit is configured to notify that the detected obstacle be removed from the predetermined area. If a detection unit different from the detection unit provided on the delivery robot detects that there is an obstacle in a predetermined area near the storage shelf, and the control unit determines that the delivery robot cannot deliver the item to the storage shelf due to the obstacle, A delivery system in which the control unit is configured to notify a specific person's communication terminal to remove the detected obstacle from the predetermined area.

3. The delivery system according to claim 2, wherein the control unit, when it detects a passerby using the detection unit, requests the passerby to remove the obstacle from within a predetermined area, and has the delivery robot wait until the detection unit detects that the obstacle has been removed.

Images