DELIVERY SYSTEM AND DELIVERY METHOD

A delivery system according to the present disclosure includes: a delivery robot configured to deliver a package to a storage place; a prediction unit configured to predict a time during which a receiver of the package is absent; and a scheduling unit configured to set a schedule so that the delivery robot delivers the package to the storage place during the time when the receiver is absent.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese patent application No. 2023-090053, filed on May 31, 2023, the disclosure of which is incorporated herein in its entirety by reference.

BACKGROUND

The present disclosure relates to a delivery system and a delivery method.

Japanese Unexamined Patent Application Publication No. 2022-61816 discloses a technology for, when a package is delivered to an end user's locker (for example, a smart post) by a vehicle such as an AGV (last-mile delivery), placing the package in the locker.

SUMMARY

When a vehicle delivers a package, a receiver may try to open the door of a delivery locker even though the delivery locker is locked because the receiver wants to receive the package quickly. Alternatively, the receiver may try to take the package directly from a robot, which is a safety concern.

The present invention has been made in view of the aforementioned circumstances, and an object thereof is to provide a delivery system and a delivery method capable of appropriately delivering a package.

A delivery system according to the present disclosure includes: a delivery robot configured to deliver a package to a storage place; a prediction unit configured to predict a time during which a receiver of the package is absent; and a scheduling unit configured to set a schedule so that the delivery robot delivers the package to the storage place during the time when the receiver is absent.

According to the present disclosure, an object of the present invention is to provide a delivery system and a delivery method capable of appropriately delivering a package.

DESCRIPTION OF EMBODIMENTS

Hereinafter, a delivery system and a method therefor will be described with reference toFIGS.1and2.FIG.1is a schematic perspective view for explaining an outline of a delivery system1.FIG.2is a top view schematically showing a configuration of a facility where the delivery system1is utilized. The delivery system1is used for the last one mile in logistics, i.e., logistics services from a final base to an end user (also referred to simply as a user). For example, as shown inFIG.2, the delivery system1is utilized in a facility including a plurality of rooms R1and R2and a passage A. Specifically, the delivery system1is utilized in an apartment building such as a condominium or an accommodation facility such as a hotel. The delivery system1may be utilized within a predetermined range of a city where a plurality of buildings exist. The buildings are not limited to apartment buildings and hotels, but may be stand-alone houses, public facilities, etc. Further, the delivery system1may be used in a city or a part thereof where apartment buildings, stand-alone houses, etc. are present.

The delivery system1includes a delivery robot10and a storage shelf30. The delivery robot10travels through the passage A of a facility. The storage shelf30is installed in each house. The storage shelf30is installed, for example, in each of the rooms R1and R2of an apartment building where a user U lives. The rooms R1and R2are not limited to houses in the apartment building but may be hotel rooms. Alternatively, the storage shelf30may be installed in a stand-alone house. The storage shelf30serves as a storage place for storing an article20. For example, the storage shelf30is a smart post or a delivery locker. The delivery robot10can complete delivery without having to hand an article to an end user. For example, when a user purchases the article20through Internet mail order or the like, the delivery robot10delivers the article20to the user (purchaser) who is a receiver. Although only two rooms R1and R2are shown inFIG.1, each of the number of rooms and the number of storage shelves30provided in the facility may be three or more.

The delivery robot10moves to a plurality of storage shelves30, stops in front of each of the storage shelves30, and stores the article20in each of the storage shelves30. This operation can also be referred to as delivery. Further, the delivery robot10moves to a plurality of storage shelves30, stops in front of each of the storage shelves30, and takes the article20out of the storage shelf30, and conveys the article20taken out. This operation can also be referred to as a pickup. The delivery robot10(or the storage shelf30) includes a mechanism for delivering articles to and from the storage shelf30. The delivery robot10also includes various types of sensors, and it can detect the storage shelf30and obstacles in the passage A, and move autonomously. A known object recognition technique can be used.

The storage shelf30may include a plurality of shelves (not shown) capable of housing the articles20. The storage shelf30is installed, for example, on the passage A side of each of the rooms R1and R2of a building or an apartment building. The delivery robot10accesses the storage shelf30from the passage A side thereof to take the article20out of it or put the article20into it. A resident (a user) accesses the storage shelf30from the room R1or R2to take the article20out of it or put the article20into it.

For example, the storage shelf30includes two doors31and32. The door31is provided on the passage A side, and the door32is provided on the rooms R1and R2sides. The user U opens the door32and takes the article20out of the storage shelf30or puts it into the storage shelf30from the room R1side. The delivery robot10opens the door31and takes the article20out of the storage shelf30or puts it into the storage shelf30from the passage A side. Each of the doors31and32may be, for example, a horizontally openable shutter, a vertically openable shutter, a single swing door, or a double swing door.

The doors31and32may be lockable. For example, the user U or the delivery robot10may lock/unlock the doors31and32. By doing so, for example, the article20can be prevented from being stolen. The delivery robot may control opening and closing of the door31. For example, when the delivery robot10moves to the vicinity of the storage shelf30, the delivery robot sends a command to the storage shelf30to open the door31of the storage shelf30. Radio communication between the delivery robot10and the storage shelf30is enabled.

As shown inFIG.1, the delivery robot10includes a base part11including a plurality of wheels13(may be collectively referred to as a carriage part130), a storage part12provided on the base part11and in which a large number of articles20can be stored, and a mounting table15which is provided on the base part11and on which each of the articles20is mounted. The base part11may be a substantially rectangular elongated plate-like member. Further, one or more sensors18that detect or capture an image of an object or the like present in all directions of the delivery robot10and detect a position of an obstacle on a road, a position of a storage shelf, or the like are provided at any place in the delivery robot10(the base part11in this example). The sensor18may be, for example, a camera or Light Detection And Ranging (LiDAR).

Further, the delivery robot10may utilize data from a sensor218(seeFIG.2) installed in a place other than the delivery robot10. The sensor218is a monitoring camera or the like installed in a facility. Alternatively, when more than one robot is utilized in a facility, the sensor218may be installed in another robot. The delivery robot10receives data from the sensor218through a wireless network.

The mounting table15includes a mechanism for mounting one article20taken out of the storage part12and storing this article20on one desired shelf of the storage shelf30. Further, the mounting table15can be moved up and down along a vertical direction, and includes an extendable arm (not shown) which can be extended and contracted on a horizontal direction axis. The extendable arm is configured so as to be movable in the front-rear and right-left directions. In some embodiments, the mounting table15may be configured so as to be rotatable about a vertical axis. The mounting table15may also be configured so as to be movable in all directions (360°) in a state in which the article20is mounted thereon. However, as shown inFIG.1, since the storage part12is disposed on one side of the base part11, the mounting table15cannot be moved in a certain direction of the storage part12(also referred to as a rear side in this specification).

Note that the delivery system1may include a management server (not shown) that controls the travelling of the delivery robot10. In this case, the management server includes a control unit100(seeFIG.3) connected to the delivery robot10through a network. In another embodiment, the control unit of the management server and the control unit of the delivery robot can achieve the present disclosure by distributing the functions thereof.

FIG.3is a block diagram for explaining functions of the delivery system1. The delivery system1includes the control unit100. The control unit100may be provided in the delivery robot10or a management server. The control unit100receives sensor signals from the sensors18and218connected thereto through a wired or wireless network and controls a normal operation of the delivery system that includes the delivery robot including the carriage part130, an elevating part151, an extendable arm152, and the like. In some embodiments, the control unit100can control a door on the front surface of the storage shelf and an operation of a manipulator provided inside the door.

The carriage part130includes the base part11, the driving wheels13(seeFIG.1) rotatably provided in the base part11, and motors1301that rotatably drive the respective driving wheels13. Each of the motors1301rotates a respective one of the driving wheels13through a speed reducer or the like. Each of the motors1301rotates a respective one of the driving wheels13in accordance with a control signal sent from the control unit100. Each of the motors1301rotates a respective one of the driving wheels13in accordance with a control signal sent from the control unit100, thereby enabling the base part11to move to any position. Note that the above-described configuration of the carriage part130is merely an example, and the configuration of the carriage part130is not limited to this example. For example, the number of driving wheels of the carriage part130and the number of driven wheels of the carriage part130may be any number, and any configuration in which the base part11can be moved to any position can be used.

The mounting table15moves up and down by the elevating part151extending and contracting along the vertical axis. The elevating part151includes a rotating apparatus1511. The extendable arm152is attached to the mounting table15. The extendable arm152includes an arm body and a driving apparatus1521. The driving apparatus1521, which is attached to an internal part (not shown) of the mounting table15, moves the arm body in the horizontal direction. The driving apparatus1521may further include a mechanism that rotates the arm body around the axis.

The sensor18is provided at any place in the delivery robot10including the carriage part130and the like. The sensor18is also referred to as a detection unit, and is, for example, a camera and can acquire captured images. The sensor18can detect the presence of passages, obstacles, people, storage shelves, and the like. The sensor18may include a movement detection sensor that detects movement of the carriage part130and a height detection sensor that detects a height of the mounting table15. In some embodiments, the sensor18may be attached to another traveling robot instead of a delivery robot, or may be fixed to a building or the like. In this case, like in the above case, the sensor18may be connected to the control unit100of the delivery robot10through a wireless network.

The control unit100controls a normal operation of the delivery system that includes the delivery robot including the carriage part130, the elevating part151, the extendable arm152, and the like. The control unit100can control the rotation of each of the driving wheels13and move the base part11to any position by transmitting a control signal to each of the motors1301of the carriage part130. The control unit100can change a height position of the mounting table15by transmitting a control signal to the rotating apparatus1511of the elevating part151. The control unit100can also change a horizontal position of the arm body by transmitting a control signal to the driving apparatus1521of the extendable arm152.

The control unit100may control the movement of the base part11by performing well-known control such as feedback control and robust control based on information about the rotations of the driving wheels13detected by a rotation sensor(s) provided in the driving wheels13. The control unit100may control the operations of the carriage part130, the elevating part151, and the extendable arm152based on information such as information about a distance(s) detected by a distance sensor such as a camera or an ultrasonic sensor provided in the base part11and information about a map of the moving environment. The control unit100determines, based on the position of an obstacle detected by the camera and the position of a storage shelf, a stop position of the delivery robot relative to the storage shelf and a direction relative to the storage shelf which the delivery robot is facing when it stops.

The control unit100includes, for example, a microcomputer including a control program executed by a Central Processing Unit (CPU)101that performs control processing, arithmetic processing, etc., a memory102including a Read Only Memory (ROM) that stores arithmetic programs etc., and an interface unit (I/F)103that inputs and outputs signals to and from the outside. The CPU101, the memory102, and the interface unit103are connected to one another through a data bus or the like.

FIG.4is a functional block diagram showing a configuration of the control unit100. The control unit100includes a prediction unit105, a scheduling unit106, and a user information acquisition unit107. The prediction unit105predicts a time during which a receiver is absent. The prediction unit105predicts a time during which a user who is a receiver is not in the room. The scheduling unit106sets a schedule so that the article20is delivered to the storage shelf30during the time when a receiver is absent. The prediction unit105, the scheduling unit106, and the user information acquisition unit107may be mounted on the delivery robot10or on an external server or the like.

In this way, the article20can be appropriately delivered because the delivery robot10can deliver the article to the storage shelf30while a receiver is absent. For example, it is possible to prevent a user from opening the door32because the user wants to receive the article20quickly. Alternatively, it is possible to prevent a user from attempting to take the article20directly from the delivery robot10while the delivery robot10is transferring the package to the storage shelf30. The delivery robot10can transfer the article20to the storage shelf30at a timing when a receiver is absent. Safety can be improved. It is possible to prevent an error or the like from occurring in the delivery robot10when a receiver comes into contact with the delivery robot10.

The prediction unit105associates a room number with a user ID of a user who is a resident and stores it. The prediction unit105can specify a user for each room of a delivery destination. For example, when a receiver is a purchaser who has purchased the article20through network shopping or the like, the prediction unit105specifies a user who is the receiver based on purchaser information. The prediction unit105can specify the room number and the receiver (user ID etc.) of the delivery destination.

The control unit100may include the user information acquisition unit107. The user information acquisition unit107acquires user information for predicting a time during which a user is absent. For example, the user information acquisition unit107includes a memory or the like and loads user information about a user from the memory or the like. The user information may include information about the schedule of the user.

The user information may include, for example, schedule information such as the time when the user returns home, the time during which the user is out, the working hours, and the working days. The user information acquisition unit107may acquire schedule information from a calendar on the network. The prediction unit105can predict a time during which a receiver is absent based on the schedule information. The user information may include reservation information about services such as a rental car and a restaurant. It is expected that a receiver will be absent when the receiver uses these services. The prediction unit105predicts a time during which a receiver is absent based on the above user information.

Alternatively, the prediction unit105may predict a time during which a receiver is absent using sensor data from the sensor218. In this case, the prediction unit105can predict a time during which a receiver is absent without using user information. For example, it is assumed that the sensor218is a camera installed in the passage A or an elevator of the facility. In this case, the sensor218performs image processing such as face recognition on a captured image, whereby a user can be specified. The prediction unit105may determine that a user is absent or at home based on the sensor data. By doing so, the prediction unit105can determine whether a user is out or at home.

As described above, the prediction unit105predicts a time during which a receiver is absent. Then, the scheduling unit106determines a delivery schedule so that the article20is delivered during the time when a receiver is absent. For example, inFIG.2, since a receiver is absent in the room R1, the delivery robot10transfer the article20to the storage shelf30in the room R1. On the other hand, since the user U, who is a receiver, is in the room R2, the delivery robot10does not deliver the article20to the storage shelf30in the room R2. In this way, article can be appropriately delivered.

Further, in a case in which a plurality of users are residents in one room, the delivery robot10may deliver the article20to the storage shelf30when a receiver is not present. That is, the scheduling unit106may set a schedule so that the article20is delivered when a user other than the receiver is present.

The user other than the receiver do not need to receive the article quickly. Thus, another user is less likely to directly take a package being transferred out of the delivery robot10. Therefore, even when another user is in a room, the delivery robot10can appropriately deliver the article to the storage shelf30in the room.

Further, it is assumed that a plurality of articles20received by receivers different from each other are stored in the storage part12. That is, it is assumed that delivery destinations of the articles20stored in the storage part12are different from each other. In this case, the scheduling unit106sets a schedule so that the plurality of articles20are delivered to respective rooms in order. The scheduling unit106determines a delivery order of the rooms so that the article20is delivered during the time when a receiver is absent.

For example, the scheduling unit106may set a schedule so that the articles20are delivered in an order starting from the package of the receiver whom it has been predicted will be absent. That is, the scheduling unit106determines a delivery order of the rooms based on the predicted time during which a receiver is absent and delivers the articles20in order. The scheduling unit106gives a lower priority to a room where a receiver is present. The delivery robot10gives priority to a room where a receiver is absent and then delivers an article. By doing so, it is possible to prevent the article20from being delivered to a room where a receiver is present, and thus an article can be appropriately delivered.

For example, as shown inFIG.2, it is assumed that a receiver is not in the room R1and a receiver (user U) is in the room R2next to it. In this case, the scheduling unit106sets a schedule so that the delivery robot10delivers the articles in the order of the room R1, another room, and the room R2. The scheduling unit106sets a schedule so that a time when the delivery robot10delivers the article20to the room R2is a predicted time during which the user U is absent. The delivery robot10may deliver the articles to a plurality of other rooms until the time when the user U is absent. The scheduling unit106then sets a schedule so that the delivery robot10moves to the room R2after a scheduled time when the user U is out. By doing so, safety can be enhanced and an article can be appropriately delivered.

Note that the present disclosure is not limited to the above-described embodiments and may be changed as appropriate without departing from the scope and spirit of the present disclosure. Further, in the present disclosure, it is possible to implement all or part of control processing performed by the delivery system1by causing a Central Processing Unit (CPU) to execute a computer program. For example, the control unit100and the like can be implemented as an apparatus capable of executing a program, such as a Central Processing Unit (CPU) of a computer. Further, various types of functions can be implemented by the program.