JP2022150826A - Home delivery device - Google Patents

Abstract

To assist a resident to appropriately handle a package after a home delivery device delivers the package to a dwelling unit.SOLUTION: A home delivery device 1 autonomously delivers a package to a dwelling unit in a multiple dwelling house. The home delivery device 1 includes a travel unit 2. The home delivery device 1 is an electrical autonomous vehicle having a battery 25 as a main power source. The home delivery device 1 includes detection units 8 to 10 that detect surrounding targets, and a plurality of accommodation units 3 and 4 that accommodate packages. Display units 5 to 7 are arranged on an upper peripheral surface to display information on the packages to a deliverer, a receiver, and surrounding people.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous home delivery device.

A robot that autonomously moves in a building and performs various services has been proposed (for example, Patent Document 1).

JP 2017-220123 A

One possible application of such robots is a parcel delivery service in collective housing. On the other hand, it is assumed that residents will handle the packages after the robots have transported the packages to each dwelling unit, and it is desirable to avoid inappropriate handling at that time.

SUMMARY OF THE INVENTION An object of the present invention is to assist a resident in appropriately handling a parcel after a home delivery device delivers the parcel to a dwelling unit.

A home delivery device according to one embodiment of the present invention has the following configuration. i.e.
A home delivery device that autonomously delivers parcels to dwelling units in an apartment complex,
A display unit for displaying information about the package is provided.

After the delivery device delivers the package to the dwelling unit, it is possible to assist the resident to properly handle the package.

1A is a side view of a home delivery device according to one embodiment of the present invention, and FIG. 1B is an explanatory diagram of the internal structure of the home delivery device of FIG. FIG. 2 is a block diagram of a control system of the home delivery device of FIG. 1(A); Explanatory drawing of the example of the home-delivery service in collective housing. FIG. 4 is a diagram showing an example of display by a display unit;

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

<Overview of home delivery device>
FIG. 1A is a side view of a home delivery device 1 according to an embodiment of the present invention, and FIG. 1B is an explanatory diagram of the internal structure of the home delivery device 1. FIG. An arrow X in the drawing indicates the front-rear direction of the home delivery device 1, F indicates the front, and R indicates the rear. Arrows Y and Z indicate the width direction (horizontal direction) and the vertical direction of the home delivery device 1 .

The home delivery device 1 is an electric autonomous vehicle that includes a traveling unit 2 and uses a battery 25 as a main power source. The battery 25 is, for example, a secondary battery such as a lithium ion battery. The traveling unit 2 is a four-wheeled vehicle having a pair of left and right front wheels 20 and a pair of left and right rear wheels 21 . Traveling unit 2 may be in other forms, such as in the form of a tricycle.

The traveling unit 2 has a steering mechanism 22 . The steering mechanism 22 is a mechanism that changes the steering angle of the pair of front wheels 20 using a motor 22a as a drive source. By changing the steering angle of the pair of front wheels 20, the traveling direction of the home delivery device 1 can be changed. The travel unit 2 also includes a drive mechanism 23 . The drive mechanism 23 is a mechanism that rotates the pair of rear wheels 21 using a motor 23a as a drive source. The home delivery device 1 can be moved forward or backward by rotating the pair of rear wheels 21 .

The home delivery device 1 includes detection units 8 to 10 that detect targets around the home delivery device 1 . The detection units 8 to 10 are a group of external sensors that monitor the surroundings of the home delivery device 1, and in the case of this embodiment, are all imaging devices that capture images of the surroundings of the home delivery device 1. For example, optical sensors such as lenses are used. A system and an image sensor. However, instead of or in addition to the imaging device, it is also possible to employ radar or lidar (light detection and ranging).

Two detection units 8 are arranged in the front part of the home delivery device 1 so as to be spaced apart in the Y direction, and mainly detect a target in front of the home delivery device 1 . The detection units 9 are arranged on the left side and the right side of the home delivery device 1 respectively, and mainly detect targets on the sides of the home delivery device 1 . The detection unit 10 is arranged at the rear of the home delivery device 1 and mainly detects targets behind the home delivery device 1 .

The home delivery device 1 includes a plurality of storage units 3 and 4 (four units in total in this embodiment) that store parcels. Both the storage units 3 and 4 have a box-shaped storage space, and the storage unit 4 has a larger volume than the storage unit 3 . Therefore, it is suitable to store large packages in the storage unit 4 and small packages in the storage unit 3, respectively.

Two storage units 3 are arranged on the front side of the delivery device 1 . One of the two storage units 3 is provided with a door 3a on the left side of the home delivery device 1, and packages can be taken in and out from the left side of the home delivery device 1 by opening the door 3a. The other of the two storage units 3 is provided with a door 3a on the right side of the home delivery device 1, and packages can be taken in and out from the right side of the home delivery device 1 by opening the door 3a. FIG. 1(A) shows a state in which the door 3a is closed, and FIG. 1(B) shows a state in which the door 3a is opened.

Two storage units 4 are arranged on the rear side of the delivery device 1 . One of the two storage units 4 is provided with a door 4a on the left side of the home delivery device 1, and packages can be taken in and out from the left side of the home delivery device 1 by opening the door 4a. The other of the two storage units 4 is provided with a door 4a on the right side of the home delivery device 1, and packages can be taken in and out from the right side of the home delivery device 1 by opening the door 4a. FIG. 1(A) shows a state in which the door 4a is closed, and FIG. 1(B) shows a state in which the door 4a is opened.

Each storage unit 3 and 4 is individually provided with a switching unit 11 and a storage sensor 12 . The switching unit 11 of this embodiment is a locking/unlocking mechanism for the doors 3a and 4a using an actuator such as a solenoid or a motor as a drive source.

When the switching unit 11 is locked, the storage spaces of the storage units 3 and 4 are closed by the doors 3a and 4a, and the storage units 3 and 4 are in a closed state in which it is difficult to take in and out the luggage. Further, by unlocking the switching unit 11, the doors 3a and 4a can be opened, and the storage units 3 and 4 are opened so that luggage can be taken in and out.

The storage sensor 12 is, for example, an optical sensor or a pressure sensor, and detects whether or not luggage is stored in the storage spaces of the storage units 3 and 4 .

Display units 5 to 7 are arranged on the upper peripheral surface of the home delivery device 1 . The display units 5-7 are liquid crystal display panels, for example, and display information to the delivery person, the recipient, and others around them. The display unit 5 is arranged in the front part of the home delivery device 1 . The display units 6 are arranged on the left side and the right side of the home delivery device 1, respectively. The display unit 7 is arranged at the rear of the home delivery device 1 .

A manipulator 24 is storably arranged on the top of the home delivery device 1 . The manipulator 24 is provided to operate buttons such as an entry button at the entrance of the housing complex, a destination floor button of the elevator, an interphone button at the entrance of the dwelling unit, and the like.

An operation panel 13 and a reader 14 are also provided on the top of the delivery device 1 . The operation panel 13 is, for example, a touch panel, and receives various requested operations from the delivery person and the recipient. Also, the reader 14 is, for example, a device that optically reads a two-dimensional code, reads a code presented by a delivery person or a recipient, and performs corresponding processing. A delivery person can input information about the package from the operation panel 13 or the reader 14 . Also, the recipient can input information regarding the delivery request of the parcel from the operation panel 13 or the reader 14 .

<Control system>
FIG. 2 is a block diagram of the control system of the delivery device 1. As shown in FIG. The home delivery device 1 includes a control unit (ECU) 15 . The control unit 15 includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used for processing by the processor, and the like. A plurality of sets of processors, storage devices, and interfaces may be provided for each function of home delivery apparatus 1 and configured to communicate with each other.

The control unit 15 acquires detection results of the detection units 8 to 10, input information of the operation panel 13 and the reader 14, and detection results of the storage sensor 12, and executes corresponding processing. The voice input device 19 picks up voices of delivery staff, recipients, or other people. The control unit 15 can recognize the input voice and execute corresponding processing. A GNSS (Global Navigation Satellite system) sensor 16 detects the current position of the home delivery device 1 by receiving GNSS signals. The storage device 17 is a large-capacity storage device that stores information on the collective housing of the delivery destination, information on the housing unit of the delivery destination, information on packages, and the like.

The control unit 15 controls the motors 22 a and 23 a (travel control of the travel unit 2 ), the operation control of the manipulator 24 , the display control of the display units 5 to 7 , and the lock/unlock control of the switching unit 11 . The control unit 15 also uses the voice output device 18 to output voice notifications and information to the delivery person, recipient, or other person. The communication device 30 is a device capable of short-distance wireless communication with the portable terminals of delivery workers and recipients, and communication terminals in collective housing. The communication device 31 is a device capable of wirelessly communicating with the home delivery device 1 and the server 50 that manages the home delivery service in general via a communication network such as the Internet. The home delivery device 1 is managed by, for example, a collective housing management association or a delivery company.

<Delivery form in collective housing>
FIG. 3 is an explanatory diagram of an example of a home delivery service by the home delivery device 1 in the housing complex 100. As shown in FIG. The housing complex 100 has a plurality of floors, and an elevator 103 allows movement between floors. In an apartment complex with a large number of dwelling units, such as a tower apartment, the home delivery service by the home delivery device 1 is advantageous, and it is possible to deliver packages in a shorter time while reducing the burden on the delivery person.

A parcel 201 is received by a delivery person 200 on the ground in the home delivery apparatus 1, and information such as a delivery destination is input by the delivery person 200. - 特許庁Information can be input by wireless communication between the portable terminal of the delivery person 200 and the communication device 30 , operation of the operation panel 13 by the delivery person 200 , or presentation of a code to the reader 14 . In this embodiment, an example of loading the home delivery device 1 is illustrated, but it is also possible to adopt a mode in which the loading is performed at another location and the home delivery device 1 is transported.

The home delivery device 1 stores in the storage device 17 in advance information necessary for autonomous movement within the housing complex 100 . This information includes, for example, a floor map of the collective housing 100 provided by the management association of the collective housing 100, or information obtained by the home delivery apparatus 1 from past delivery records or prior learning. Using such information and the detection results of the detection units 8 to 10 and the GNSS sensor 16, the robot autonomously moves to the dwelling unit 101a of the delivery destination.

The home delivery device 1 uses the elevator 103 when moving between floors. The home delivery device 1 rides on the car 103 a , and the destination floor is specified by operating the manipulator 24 or by communicating between the communication terminal on the elevator 103 side and the communication device 30 . When it arrives at the destination floor, it travels along the common corridor 102 by the traveling unit 2 and heads for the dwelling unit 101 of the delivery destination. In a dwelling unit 101 of a delivery destination, a parcel 201 is handed over to a resident P who is a recipient. When packages are stored for a plurality of delivery destinations, the packages are delivered by sequentially moving the delivery destinations.

When handing over the package, the switching unit 11 corresponding to the storage unit storing the package to be delivered among the storage units 3 and 4 is driven to open the storage unit. When the luggage is taken out, the switching unit 11 is driven to close the storage unit. It can be determined from the detection result of the storage sensor 12 whether or not the luggage has been taken out. The above completes the delivery of the package.

<Provision of information on luggage>
When the delivery device 1 arrives at the delivery destination dwelling unit 101, the package 201 is handled by the resident P. For example, the resident P takes out the luggage 201 from the storage units 3 and 4 and carries it into the dwelling unit 101 . The home delivery device 1 according to this embodiment can assist the resident P in appropriately handling the package 201 by providing the resident P with information on the package.

For example, in one embodiment, the display units 5-7 included in the home delivery device 1 display information about packages. An example of information displayed by the display unit 5 will be described below, but the other display units 6 to 7 may display similar information. The display unit 5 can display information about the package when it arrives at the delivery destination. On the other hand, the display unit 5 may refrain from displaying information about the package while it is in transit to the delivery destination so as not to be known to other residents of the apartment complex.

Information on the package includes information on the weight of the package 201 being delivered. For example, the display unit 5 can display information about the weight of the package 201 being delivered upon arrival at the delivery destination. According to the configuration in which the display unit 5 displays information about the weight of the load 201, for example, it is possible to inform the resident P that the load 201 is heavy. can be taken out. Also, the resident P who knows that the load 201 is heavy can request another resident living in the same dwelling unit 101 to take out the load 201 . FIG. 4 shows an example of display of information (10 kg) on the weight of the package 201 by the display unit 5. As shown in FIG.

Furthermore, the resident P may refuse to accept the package 201 in view of the information regarding the package. The resident P can make an input indicating refusal of receipt via the operation panel 13 or via the mobile terminal 40 and the communication device 30 possessed by the resident P. For example, a resident P who knows that the load 201 is heavy can refuse to receive the load 201 . In this case, the home delivery device 1 can deliver the parcel 201 to the dwelling unit 101 again at a later time or at a time specified by the resident P. In this way, another resident of the dwelling unit 101 who can take out the package 201 can take out the package 201 .

Information displayed by the display unit 5 is not limited to information on the weight of the luggage. For example, the display unit 5 may display information about the package itself, such as information about the fragility of the package, information about how the package is stored (eg ambient or refrigerated), or information about the contents of the package. Furthermore, the display unit 5 may display information relating to the delivery of the package, such as the sender of the package or the recipient of the package. By displaying such information as well, it is possible to assist the resident P in handling the package 201 appropriately.

The home delivery device 1 acquires information about these parcels by wireless communication between the mobile terminal of the delivery person 200 and the communication device 30, by the operation of the delivery person 200 on the operation panel 13, or by presenting the code to the reader 14. can be done.

It should be noted that the method of notifying information about packages is not limited to information display on the display unit 5 . As a specific example, the audio output device 18 may output audio information about the package. As another example, the control unit 15 may function as an audio information output section that outputs audio information about the package to the portable terminal 40 owned by the resident P via the communication device 30 . As yet another example, the delivery notification may include information regarding the package. For example, an email sent to the mobile terminal 40 owned by the resident P that announces the delivery of the parcel 201 may include information indicating the weight of the delivered parcel.

In one embodiment, the display unit 5 displays information about the package, while the home delivery device 1 outputs audio information about the package as described above. For example, when the home delivery device 1 arrives at the delivery destination, it can display information about the package and output voice information about the weight of the package being delivered. According to such a configuration, the resident P is more likely to check the information about the package, so it can be expected that the resident P will handle the package 201 more appropriately.

<Provision of information on receiving posture>
The home delivery device 1 may provide information regarding the attitude of the resident P to receive the parcel 201 . For example, the control unit 15 may function as a caution information output section that outputs caution information regarding the posture of a person receiving a package, based on the image of the person acquired by the detection units 8 to 10, which are imaging devices. For example, if the resident P is trying to pick up the package with one hand, the control unit 15 can notify that the receiving posture is incorrect or suggest that the resident P should hold the package with both hands. In addition, when lifting a heavy load, bending the knees to grasp the load and lifting the load while straightening the knees can prevent back pain. For this reason, when the resident P is trying to lift the load with his knees stretched, the control unit 15 notifies him that the receiving posture is incorrect, or suggests that he should bend his knees before picking up the load. can be done. The control unit 15 can detect a person's posture by, for example, posture recognition processing on an image using deep learning technology or joint point detection technology.

The control unit 15 may also provide information regarding the receiving orientation of the package 201 based on the information regarding the package. For example, the control unit 15 can output warning information when the resident P's receiving posture is not appropriate for the weight of the package 201 . As a specific example, if the weight of the load 201 is greater than or equal to the threshold and the resident P is trying to lift the load with one hand, the control unit 15 can suggest holding the load with both hands. This threshold may be determined according to the resident P. For example, the threshold may be preset for each resident P, or the threshold may be determined according to the resident P's age or sex. According to such a configuration, it can be expected that the resident P will handle the package 201 more appropriately.

A method of providing information on the receiving posture of the package 201 is not particularly limited. The control unit 15 may cause the display unit 5 to display this information, may cause the audio output device 18 to output this information as audio, or may transmit this information to the portable terminal 40 possessed by the resident P via the communication device 30. and output this information.

<Monitoring the person who received the package>
The home delivery device 1 may monitor the condition of the person who received the parcel. For example, the home delivery device 1 can monitor whether or not there is any abnormality in the appearance of the resident P who has received the parcel 201 . According to such a configuration, even if the resident P hurts his/her back when receiving the heavy parcel 201, the home delivery device 1 can notify the fact.

For example, the control unit 15 can function as a monitoring unit that monitors the state of the person who received the package based on the image of the person acquired by the detection units 8 to 10, which are imaging devices. In this case, the control unit 15 detects the posture of the resident P by performing posture recognition processing on the image, and detects when the resident P falls down, when the posture of the resident P changes suddenly, or when the resident P does not move for a certain period of time. First, it can be determined that there is an abnormality in the appearance of the resident P.

The control unit 15 can also function as a monitoring unit that monitors the state of the person who received the parcel based on the sound collected by the voice input device 19 . In this case, the control unit 15 can determine that the appearance of the resident P is abnormal when a moaning voice or a loud sound is collected.

The control unit 15 may monitor the state of the resident P immediately after receiving the package 201 in order to monitor the condition of the resident's waist after receiving the package 201 . Further, when it is determined that there is an abnormality in the appearance of the resident P, the control unit 15, via the communication device 30, controls a terminal provided in the management room of the collective housing, a mobile terminal owned by a family associated with the resident P, or call emergency services.

<Delivery of luggage according to the person>
The home delivery device 1 may identify the person who is going to receive the package, and change the delivery operation of the package according to the identification result. In this case, the control unit 15 can operate as an identification unit that identifies a person. For example, the control unit 15 can identify a person by performing face authentication on images captured by the detection units 8 to 10, which are imaging devices. In this case, the person's feature information used for authentication can be registered in the server 50 or the storage device 17 . As another example, the control unit 15 can identify a person possessing the portable terminal 40 by communicating with the surrounding portable terminal 40 via the communication device 30 .

In one embodiment, the control unit 15 can act as a decision unit that changes the package to be delivered depending on the identified person. The control unit 15 can also function as a determination unit that determines whether or not to hand over the package according to the identified person at the delivery destination.

For example, when the home delivery device 1 delivers the parcel 201 to the destination dwelling unit 101 , any resident of the dwelling unit 101 may take out the parcel 201 . On the other hand, it may be desired to limit the recipient of the package 201 . For example, the home delivery device 1 can deliver a parcel addressed to a specific resident of the dwelling unit 101 while delivering another parcel addressed to another resident of the dwelling unit 101 . In addition, home delivery device 1 can control whether or not to deliver package 201 based on the information designating the recipient of package 201 and the identification result of the person who intends to receive the package. Specifically, the home delivery device 1 can deliver the package 201 when it is identified that there is a recipient designated for the package 201 . According to such a configuration, it is possible to prevent the package 201 from being received by anyone other than the designated recipient. As another example, when a person who lives with the designated recipient of the parcel 201 is identified in the dwelling unit 101 as the destination, the home delivery device 1 can refrain from delivering the parcel 201 . According to such a configuration, the designated recipient can receive the parcel 201 in secret. In this case, home delivery device 1 transmits information designating the recipient of parcel 201 by wireless communication between mobile terminal of delivery person 200 and communication device 30, operation of operation panel 13 by delivery person 200, or code for reader 14. can be obtained by presenting

Further, the control unit 15 may further consider the weight of the package 201 to determine whether to hand over the package 201 . According to such a configuration, if the package 201 is heavy, the recipient can be limited to those who can take out the package 201 . For example, an upper limit value of the weight of luggage that can be taken out may be registered in advance for each resident. In this case, the control unit 15 can deliver the package 201 if the weight of the package 201 is equal to or less than the upper limit set for the identified person. On the other hand, the control unit 15 may refrain from handing over the package 201 if the weight of the package 201 exceeds the upper limit set for the identified person. As another example, the control unit 15 may identify the age or sex of the person who intends to receive the package, and determine whether or not to deliver the package 201 according to the identification result and the weight of the package 201 . According to such a configuration, as a result of handing over a heavy load, it is possible to prevent improper handling of the load, such as dropping of the load.

When it is determined that delivery of the parcel 201 is withheld, the home delivery device 1 can deliver the parcel 201 to the dwelling unit 101 again at a later time or at a time specified by the resident. In this way, another resident of the dwelling unit 101 who can take out the package 201 can take out the package 201 .

The configuration for providing information on the package, the configuration for presenting the information on the receiving posture, the configuration for monitoring the person who received the package, and the configuration for handing over the package according to the person can be combined arbitrarily. For example, the home delivery device 1 that displays information about the package on the display unit 5 further presents information about the receiving posture, monitors the person who received the package, and/or delivers the package according to the person. may have a configuration.

<Summary of embodiment>
The above embodiment discloses at least the following home delivery device.

1. The home delivery device (1) of the above embodiment is
A home delivery device that autonomously delivers a package (201) to a dwelling unit (101) in a collective housing (100),
A display section (5 to 7) for displaying information about the package (201) is provided.
According to this embodiment, it is possible to provide the resident with information on the package, so it is expected that the resident will appropriately handle the package.

2. In the above embodiment,
The display units (5-7) display information about the weight of the parcel (201) being delivered.
According to this embodiment, it is expected that the residents will handle the luggage appropriately according to its weight.

3. In the above embodiment,
The display units (5 to 7) display information on the weight of the parcel (201) being delivered when it arrives at the delivery destination.
According to this embodiment, it is possible to inform only the residents of the delivery destination of the information regarding the parcel.

4. The home delivery device (1) of the above embodiment is
It further comprises voice information output means (15, 18, 40) for outputting voice information relating to the parcel (201).
According to this embodiment, it is possible to increase the likelihood that the resident will check the information regarding the package.

5. In the above embodiment,
The voice information output means (15, 18, 40) outputs voice information regarding the weight of the parcel (201) being delivered upon arrival at the delivery destination.
According to this embodiment, it is expected that the resident will more likely check the information regarding the weight of the luggage, and that the resident will handle the luggage appropriately according to the weight.

6. The home delivery device (1) of the above embodiment is
imaging means (8 to 10);
caution information output means (15) for outputting caution information regarding the posture of the person receiving the package (201) based on the image of the person acquired by the imaging means (8 to 10);
further provide.
According to this embodiment, it can be expected that the resident will receive the package in the correct posture.

7. The home delivery device (1) of the above embodiment is
imaging means (8 to 10) or sound collecting means (19);
Monitoring means (15) for monitoring the condition of the person who received the package (201) based on the image of the person acquired by the imaging means (8 to 10) or the sound collected by the sound collecting means (19). When,
further provide.
According to this embodiment, it is possible to detect that an abnormality has occurred in the state of the resident who received the parcel, and to report it as necessary.

8. The home delivery device (1) of the above embodiment is
identification means (15) for identifying a person;
a determination means (15) for changing the parcel (201) to be delivered according to the identified person;
Prepare.
According to this embodiment, the package can be handed over to the appropriate person.

9. The home delivery device (1) of the above embodiment is
identification means (15) for identifying a person;
determination means (15) for determining whether or not to deliver the package (201) according to the identified person at the delivery destination;
Prepare.
According to this embodiment, the package can be handed over to the appropriate person.

10. In the above embodiment,
The determination means (15) further considers the weight of the cargo (201) and determines whether or not to hand over the cargo (201).
According to this embodiment, the luggage can be handed over to the person who can take it out.

Although the embodiments of the invention have been described above, the invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention.

1 home delivery device, 5 to 7 display unit, 8 to 10 detection unit, 15 control unit, 100 housing complex, 101 dwelling unit, 201 parcel

Claims (10)

A home delivery device that autonomously delivers parcels to dwelling units in an apartment complex,
A home delivery device, comprising a display section for displaying information about the parcel. 2. The home delivery device according to claim 1, wherein said display unit displays information about the weight of the parcel being delivered. 3. The home delivery device according to claim 1, wherein the display unit displays information about the parcel when the parcel arrives at the delivery destination. 4. The delivery device according to any one of claims 1 to 3, further comprising voice information output means for outputting voice information relating to said parcel. 5. The home delivery device according to claim 4, wherein said voice information output means outputs voice information regarding the weight of the parcel being delivered upon arrival at the delivery destination. imaging means;
caution information output means for outputting caution information regarding the posture of the person receiving the package based on the image of the person acquired by the imaging means;
The home delivery device according to any one of claims 1 to 5, further comprising: imaging means or sound collecting means;
monitoring means for monitoring the state of the person who received the package based on the image of the person acquired by the imaging means or the sound collected by the sound collecting means;
The home delivery device according to any one of claims 1 to 5, further comprising: identification means for identifying a person;
determining means for changing the package to be handed over according to the identified person;
The home delivery device according to any one of claims 1 to 7, characterized by comprising: identification means for identifying a person;
determination means for determining whether or not to hand over the package according to the identified person at the delivery destination;
The home delivery device according to any one of claims 1 to 7, characterized in that it comprises: 10. The home delivery device according to claim 9, wherein said determination means further considers the weight of said package when determining whether or not to deliver said package.

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