JP6961739B2 - Delivery management device, delivery system, and delivery management method - Google Patents

Description

The present invention relates to a delivery management device, a delivery system, and a delivery management method.

An unmanned and movable delivery machine (hereinafter also referred to as UGV (Unmanned Ground Vehicle)) makes it possible to deliver packages from a delivery base to a delivery destination such as a residence. When the UGV arrives at the delivery destination, the recipient of the package receives the package stored in the UGV.

According to Patent Document 1, a user inputs an authentication key when receiving a package stored in a door on the side of an unmanned delivery machine, and it is determined that the recorded delivery command and the input user authentication key match. If so, the unmanned delivery machine is stated to open the door containing the luggage destined for the user.

Japanese Unexamined Patent Publication No. 2018-58656

The inventor considered improving the delivery service using a delivery machine that has a plurality of storage units for storing luggage and can be moved unmanned, in particular, a delivery machine that has outlets for the storage units on a plurality of surfaces. ing.

When a delivery machine delivers luggage at a specific pick-up location, there is not always enough space at that pick-up location. Limited space is prone to problems with baggage receipt, for example, it is difficult to easily access all sides of the baggage outlet.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique for alleviating a problem that occurs when a user receives a package from an unmanned and movable delivery machine.

In order to solve the above problems, the delivery management device according to the present invention is transported by an unmanned and movable delivery machine provided with an outlet for a storage unit for storing cargo and including a plurality of surfaces facing different directions. Each of the plurality of packages is stored based on an acquisition unit that acquires delivery information including a plurality of packages and a receiving location where the user receives each of the plurality of packages, and each receiving location of the plurality of packages. A determination unit that determines the surface having the outlet of the storage unit to be used,
Includes an output unit that outputs information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.

In one embodiment of the present invention, the determination unit stores each of the plurality of packages based on the respective receiving locations of the plurality of packages and the user who is the delivery destination of each of the plurality of packages. The surface having the take-out port of the portion may be determined.

In one embodiment of the present invention, the determination unit has a surface having an outlet for a storage unit that stores a plurality of the plurality of packages when a plurality of delivery destination users of the plurality of packages are the same. May be determined so that

In one embodiment of the present invention, the determination unit is a storage unit of the delivery machine, and is a receiving place having the largest number of packages to be delivered to a storage unit having an outlet on the surface having the most vacant storage units. Allocate the package to be delivered to, and the determination unit may allocate the remaining package to the unallocated storage unit.

In one embodiment of the present invention, the determination unit obtains the number of packages to be delivered for each receiving location, sorts the receiving locations by the number of packages to be delivered, and the determination unit is the k-th sorted (k). Is an integer greater than or equal to 1 and less than or equal to the number of receiving locations).

The delivery system according to the present invention includes an unmanned movable delivery machine provided with an outlet for a storage unit for storing luggage and including a plurality of surfaces facing different directions, and a plurality of luggage transported by the delivery machine. , An acquisition unit that acquires delivery information including a receiving place where the user receives each of the plurality of packages, and a storage unit that stores each of the plurality of packages based on each receiving location of the plurality of packages. It includes a determination unit for determining a surface having an outlet, and an output unit for outputting information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.

In one embodiment of the invention, the given pick-up location is based on a surface that is part of the plurality of packages and is provided with an outlet for one or more packages received by the user at a given pick-up location. A delivery machine control unit that controls the standby position and orientation of the delivery machine in the above may be further included.

In one embodiment of the present invention, the delivery machine control unit ensures that the surface provided with the outlet for one or more packages received by the user at a given receiving place is not adjacent to a surrounding object at the receiving place. , The standby position and orientation of the delivery machine may be controlled.

The delivery management method according to the present invention includes a plurality of packages transported by an unmanned movable delivery machine including a plurality of surfaces facing different directions provided with outlets for storage units for storing the packages, and the plurality of packages. A surface having a step of acquiring delivery information including a receiving place where the user receives each of the packages, and an outlet of a storage unit for storing each of the plurality of packages based on the respective receiving locations of the plurality of packages. A step of determining the above and a step of outputting information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.

According to the present invention, it is possible to reduce the problem that occurs when a user receives a package from an unmanned and movable delivery machine.

It is a figure which shows an example of the structure of the package delivery system which concerns on embodiment of this invention. It is a perspective view which shows an example of a delivery machine. It is a figure which shows an example of the relationship between a delivery base, a receiving place, and a delivery machine. It is a figure explaining the delivery machine which waits at the receiving place of a delivery destination. It is a block diagram which shows the function realized by a package delivery system. It is a flow chart which shows an example of the processing of a package delivery system. It is a flow chart which shows an example of the processing of a storage decision part. It is a figure explaining the process of allocating a baggage to a storage part. It is a figure explaining the process of allocating a baggage to a storage part. It is a flow chart which shows an example of the processing of a delivery machine at a receiving place. It is a flow chart which shows an example of the processing of a delivery machine at a receiving place. It is a figure explaining the turn of a delivery machine at a receiving place. It is a figure explaining the turn of a delivery machine at a receiving place.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Duplicate description will be omitted for configurations with the same reference numerals. In the present embodiment, a package delivery system for delivering a package to an apartment house or the like where a plurality of users live as a delivery destination will be described.

FIG. 1 is a diagram showing an example of a configuration of a package delivery system according to an embodiment of the present invention. As shown in FIG. 1, the package delivery system includes one or more delivery machines 1, a central server 2, and a base management server 3 installed at a delivery base 6. The delivery base 6 is a base for storing the package addressed to the user in the delivery machine 1.

The delivery machine 1 is a device that delivers luggage by traveling on the ground by unmanned automatic control without a driver getting on the vehicle. The delivery machine 1 is called an Unmanned Ground Vehicle (UGV). Although one delivery machine 1 is shown in FIG. 1, a plurality of delivery machines 1 may exist. The delivery machine 1 is communicatively connected to the central server 2 via wireless communication. Wireless communication may be based on a communication standard such as LTE (Long Term Evolution).

The central server 2 communicates with the delivery machine 1 and the base management server 3 and manages them.

FIG. 2 is a perspective view showing an example of the delivery machine 1. As shown in FIGS. 1 and 2, the delivery machine 1 includes a processor 11, a storage unit 12, a communication unit 13, an input / output unit 14, a sensor unit 15, a plurality of storage units 16, and a drive unit (not shown).

The processor 11 executes processing according to the programs and data stored in the storage unit 12. The processor 11 also controls the communication unit 13, the input / output unit 14, the sensor unit 15, and the storage unit 16.

The storage unit 12 includes a volatile memory such as a RAM and a non-volatile memory such as a flash memory. The storage unit 12 may further include a storage device such as a hard disk. The storage unit 12 stores the above program. Further, the storage unit 12 stores information and calculation results input from the processor 11, the communication unit 13, and the input / output unit 14. The above program may be provided via the Internet or the like, or may be stored and provided in a computer-readable storage medium such as a flash memory.

The communication unit 13 includes an integrated circuit or the like that realizes a communication interface for wireless communication. Based on the control of the processor 11, the communication unit 13 inputs the information received from the other device to the processor 11 and the storage unit 12, and transmits the information to the other device.

The input / output unit 14 is composed of a display output device, an input device, and an interface with them. The input / output unit 14 is specifically a touch panel with a display (hereinafter referred to as an “input panel”), and is used for inputting authentication information (for example, a PIN code and a passcode). The input / output unit 14 may be a display and physical buttons, or may be another type of display output device and input device. The input / output unit 14 causes the display / output device to display an image under the control of the processor 11, and acquires data input by the user from the input device. The sensor unit 15 includes a rider and a camera that recognize the size and position of surrounding obstacles.

The plurality of storage units 16 are areas for storing luggage. The delivery machine 1 has side surfaces 19a and 19b in which outlets (doors in the example of FIG. 2) of the storage unit 16 are arranged on the outer periphery thereof and face different directions (opposite to each other in the example of FIG. 2) and their side surfaces 19a. , 19b has an end portion 18b, which is a surface on which the input / output unit 14 is arranged, and an end portion 18a, which is a surface facing the end portion 18b. Hereinafter, for convenience of explanation, the side surface 19a may be referred to as an L surface and the side surface 19b may be referred to as an R surface. In the example of FIG. 2, the number of surfaces on which the outlet of the storage unit 16 is arranged is 2, but it may be 3 or more.

A plurality of storage units 16 are provided on each of the side surfaces 19a and 19b of the delivery machine 1. Each of the storage units 16 is provided with an outlet (a door in the example of FIG. 2), and a key is provided at the outlet. The storage unit 16 also includes a circuit for electrically locking and unlocking the key of the outlet, and a sensor for detecting the presence or absence of luggage is arranged inside. A rider is provided on the upper surface of the delivery machine 1, and a camera (not shown) is provided on the end 18a.

The central server 2 includes a processor 21, a storage unit 22, a communication unit 23, and an input / output unit 24, and the base management server 3 includes a processor 31, a storage unit 32, a communication unit 33, and an input / output unit 34. The central server 2 may be one physical server, or may be configured by a plurality of physical servers such as a so-called cloud. The base management server 3 may also be one physical server or a plurality of physical servers.

The processors 21 and 31 execute processing according to the programs and data stored in the storage units 22 and 32, respectively. The processors 21 and 31 control the communication units 23 and 33 and the input / output units 24 and 34, respectively.

The storage units 22 and 32 include a volatile memory such as a RAM, a non-volatile memory such as a flash memory, and a storage device such as a hard disk. The storage units 22 and 32 store the above program. Further, the storage units 22 and 32 store information and calculation results input from the processors 21, 31 and the communication units 23 and 33, and the input / output units 24 and 34, respectively. The above program may be provided via the Internet or the like, or may be stored and provided in a computer-readable storage medium such as a flash memory.

The communication units 23 and 33 include integrated circuits and the like that realize a communication interface for wired communication. Based on the control of the processors 21 and 31, the communication units 23 and 33 input the information received from the other devices to the processors 21 and 31 and the storage units 22 and 32, respectively, and transmit the information to the other devices. The communication unit 23 may communicate with the delivery device 1 and the base management server 3 via the communication network and the wireless communication device included in the communication network, and the communication unit 33 may communicate with the communication network and the radio included in the communication network. It may communicate with the central server 2 and the delivery machine 1 via a communication device.

The input / output units 24 and 34 are composed of a video controller that controls the display, a controller that acquires data from the input device, and the like. Input devices include touch panels, keyboards, mice, and the like. The input / output units 24 and 34 output display data to the display output device based on the control of the processors 21 and 1, and acquire the data input by the user operating the input device.

The outline when a product is ordered by a user and a package containing the product is delivered to the user will be described. First, a package containing the product is transported from the warehouse that owns the product to the delivery base 6, and at the delivery base 6, the base management server 3 acquires the delivery information from the central server 2, and based on the instruction of the base management server 3, the base management server 3 acquires the delivery information. For example, an employee of a delivery base stores a package for a user in the delivery machine 1. The delivery machine 1 may store a plurality of packages for a plurality of users residing in one housing complex (corresponding to a delivery destination).

FIG. 3 is a diagram showing an example of the relationship between the delivery base 6, the receiving location 7, and the delivery machine 1. The pick-up locations 7a and 7b are shown in FIG. 3, and are described as the pick-up locations 7 unless otherwise specified below. The delivery machine 1 in which the baggage is stored moves to the delivery destination based on the instruction of the central server 2 or the base management server 3. When the delivery machine 1 arrives at the delivery destination 7 (for example, the entrance of an apartment house), the central server 2 sends a notification to the user together with the authentication information used for authenticating the user when receiving the package. The receiving place 7 is an area where the delivery machine 1 waits for the arrival of the user, and the delivery destination is provided with one or more receiving places. For example, one receiving place for a certain delivery destination is filled with the delivery machine 1. In that case, the delivery machine 1 may wait at another receiving place 7 of the delivery destination.

When the user moves toward and arrives at the delivery machine 1, the user inputs the authentication information to the input / output unit 14 of the delivery machine 1. When the user is authenticated by the authentication information, the delivery machine 1 unlocks the outlet of the storage unit 16 for storing the luggage for the user, and the user receives the luggage from the storage unit 16.

FIG. 4 is a diagram illustrating a delivery machine 1 that stands by at a delivery destination 7 at a receiving location 7. As shown in FIG. 4, it is desirable that one of the side surfaces 19a and 19b of the delivery machine 1 is adjacent to an object such as a wall surface when waiting at the receiving place 7. This is to ensure sufficient space for the user to receive the luggage in front of the outlet of the storage unit 16 so as not to obstruct the traffic of passersby. In this case, it is more convenient to combine the outlets of the storage unit 16 for storing the luggage received at the receiving place 7 into one of the plurality of side surfaces 19a and 19b as much as possible. Hereinafter, the details of the method of allocating the storage unit 16 for storing the package and the operation of the delivery machine 1 when receiving the package will be described.

FIG. 5 is a block diagram showing a function realized by the cargo delivery system. The package delivery system functionally includes a delivery information acquisition unit 51, a storage determination unit 52, an allocation output unit 53, and a delivery machine control unit 54. The delivery machine control unit 54 is realized by the processor 11 included in the delivery machine 1 executing a program stored in the storage unit 12 and controlling the communication unit 13, the input / output unit 14, and the sensor unit 15. In the processing of the delivery information acquisition unit 51, the storage determination unit 52, and the allocation output unit 53, the processor 31 included in the base management server 3 executes a program stored in the storage unit 32, and the communication unit 33 and the input / output unit 33 and input / output. It may be realized by controlling the unit 34. Further, a part or all of the processes of the delivery information acquisition unit 51, the storage determination unit 52, and the allocation output unit 53 execute a program in which the processor 21 included in the central server 2 is stored in the storage unit 22. , May be realized by controlling the communication unit 23. A part of the processing of the delivery machine control unit 54 may be realized by the processor 21 included in the central server 2 executing a program stored in the storage unit 22 and controlling the communication unit 23, or a plurality of processes. The processor 21 included in the server may be realized by executing a program stored in the storage unit 22 and controlling the communication unit 23.

The delivery information acquisition unit 51 includes delivery information including a plurality of packages carried by the delivery machine 1, a user who receives each of the plurality of packages, and information indicating a receiving place where the user receives each of the plurality of packages. To get.

The storage determination unit 52 determines the surface having the outlet of the storage unit 16 for storing each of the plurality of packages based on the respective receiving locations of the plurality of packages. When the storage determination unit 52 determines the surface, the storage determination unit 52 may also determine the storage unit 16 for storing the luggage. In the following, the storage determination unit 52 will be described as determining the storage unit 16 together with the surface. In the present embodiment, the storage determination unit 52 of the storage unit 16 stores each of the plurality of packages based on the respective receiving locations of the plurality of packages and the user who is the delivery destination of each of the plurality of packages. Determine the surface with the outlet. More specifically, the storage determination unit 52 has a surface having an outlet of the storage unit 16 for storing a plurality of the plurality of packages when the user who is the delivery destination is the same for the plurality of packages. Determine the faces so that they are the same.

The allocation output unit 53 outputs information for storing each of the plurality of packages in the storage unit 16 having an outlet on the determined surface. This information may be output on a display or paper so that the information can be visually recognized by the staff of the delivery base 6, or may be output to a robot that stores the luggage. Further, the allocation output unit 53 transmits the information of the user who is the delivery destination and the information of the storage unit 16 for each of the plurality of packages to the delivery machine control unit 54 of the delivery machine 1.

The delivery machine control unit 54 controls the operation of the delivery machine 1. More specifically, it controls the movement of the delivery machine 1 from the delivery base 6 to the pick-up location 7, the standby at the pick-up location 7, and the receipt of the package by the user. The delivery machine control unit 54 receives in advance information about the storage unit 16 for storing the package, the package receiving place 7, and the user who is the delivery destination of the package from the allocation output unit 53. Regarding the standby at the receiving place 7, the delivery machine control unit 54 receives the baggage based on the aspect of being a part of the plurality of packages and provided with the take-out port of one or a plurality of packages received by the user at a certain receiving place 7. The standby position and orientation of the delivery machine 1 at the place 7 are controlled. More specifically, the delivery machine control unit 54 sets the delivery machine so that the surface provided with the take-out port of one or a plurality of packages received by the user at a certain receiving place 7 is not adjacent to the surrounding objects at the receiving place 7. Control the standby position and orientation of 1.

The delivery machine control unit 54 controls the movement of the delivery machine 1 from the delivery base 6 to the delivery destination and the movement from the delivery destination to the delivery base 6 based on the data acquired by the rider of the delivery machine 1 and GPS. The delivery machine control unit 54 may control the movement based on the data acquired by the camera attached to the delivery machine 1. A part of the function of the delivery machine control unit 54 may be realized by the server computer.

The delivery machine control unit 54 controls delivery of the cargo stored in the storage unit 16 of the delivery machine 1 to the user. More specifically, the delivery machine control unit 54 receives the authentication information input by the user from the input / output unit 14. Then, when the delivery machine 1 authenticates the user based on the authentication information, the key of the storage unit 16 for storing the baggage for the authenticated user (strictly speaking, the key of the outlet of the storage unit 16) is unlocked. The delivery machine control unit 54 also detects whether or not the baggage in the storage unit 16 is exhausted (whether or not the user has received the baggage) based on the output of the sensor provided in the storage unit 16. When the delivery machine control unit 54 detects that the user has received the package, the delivery machine control unit 54 transmits the delivery completion information indicating that the package has been delivered to the user to the central server 2. The central server 2 transmits a delivery completion notification to the user based on the delivery completion information.

FIG. 6 is a flow chart showing an example of processing of the cargo delivery system. First, the delivery information acquisition unit 51 acquires delivery information including a plurality of packages delivered by a certain delivery machine 1, a user who receives each package, and a pick-up location of each package (step S201). When the delivery information is acquired, the storage determination unit 52 totals the number of packages for each receiving location 7 (step S202). The storage determination unit 52 sorts the receiving locations 7 in descending order of the amount of luggage (step S203).

The storage determination unit 52 selects the first receiving location among the plurality of sorted receiving locations 7 (step S204). The storage determination unit 52 allocates the package to be delivered to the selected receiving location to the storage unit 16 (step S205). At this time, the surface of the storage unit 16 for storing the package to be delivered to the selected receiving place is also determined. The details of this process will be described later. When the package to be delivered to the selected pick-up location is assigned, the storage determination unit 52 determines whether all the pick-up locations 7 have been selected from the sorted plurality of pick-up locations 7 (step S206). If there is a receiving location that has not yet been selected (N in step S206), the storage determination unit 52 selects the next receiving location 7 from the plurality of sorted receiving locations (step S207), and steps S205. The subsequent processing is repeated. On the other hand, when all the receiving locations have already been selected (step S206), the allocation output unit 53 outputs the information of the package assigned to each of the storage units 16 (step S208). The package information output here may be information for printing or display indicating the storage unit 16 for storing each package to the staff of the delivery base 6, or the package is stored in the robot that stores the package. It may be the information of the instruction to be made.

Next, the details of the process in step S205 will be described. FIG. 7 is a flow chart showing an example of the processing of the storage determination unit 52, and is a diagram showing the processing of step S205 for a certain receiving place 7.

When the pick-up location is selected, the storage determination unit 52 totals the number of packages to be delivered to the selected pick-up location for each user (step S221). Here, the storage determination unit 52 may aggregate by user group instead of aggregation by user. Each of the user groups may include, for example, one or more users who live in the same room at the delivery destination. In the case of totaling by user group, the process using the user group instead of the user is executed in each step shown in FIG. 7.

When the aggregation is performed, the storage determination unit 52 sorts the users in descending order of the number of packages (step S222). Then, the storage determination unit 52 selects the surface of the empty storage unit 16 having the largest number V of outlets (step S223), and selects the first user (step S224). The number V is equivalent to the number of storage units 16 having outlets on the surface thereof.

The storage determination unit 52 determines whether the number V for the selected surface is equal to or greater than the number s of unallocated luggage of the selected user (step S226). When the number V is smaller than the number s (N in step S226), the storage determination unit 52 allocates V pieces of luggage of the selected user to the storage unit 16 on the selected surface (step S228), and is currently vacant. The surface of the storage unit 16 having the largest number of outlets is newly selected (step S229), and the process is repeated from step S226.

On the other hand, when the number V is several s or more (Y in step S226), the storage determination unit 52 allocates the unallocated baggage of the selected user to the storage unit 16 on the selected surface (step S227). The transition to step S230. In step S230, the storage determination unit 52 determines whether all users are selected (step S230). If there is a user who has not been selected (N in step S230), the storage determination unit 52 selects the next user (step S231), and repeats the processes after step S226. On the other hand, if all the users have already been selected (Y in step S230), the process of step S205 relating to this receiving location ends.

By the process shown in FIG. 7, the luggage at a certain receiving place is assigned to a plurality of storage units 16 having outlets on the same surface as much as possible. Further, the luggage for the same user is more likely to be assigned to the storage unit 16 having the take-out port on the same surface.

In the process shown in FIG. 7, the baggage of a certain user is allocated to the storage unit 16 having the take-out port on the same surface as much as possible, but this process may not be performed. In that case, the processes of steps S222, S224, S230, and S231 do not have to be performed. Further, in the processing of steps S226 and S227, the number of packages delivered to the receiving location may be used instead of the number s of unallocated packages of the user, and in step S228, the storage determination unit 52 may use the receiving location. Allocate V pieces of luggage to the storage unit 16 of the selected surface.

FIG. 8 is a diagram illustrating a process of allocating the luggage to the storage unit 16. In FIG. 8, for ease of explanation, it is assumed that there are five storage units 16 having outlets on the L-plane and the R-plane. In addition, the luggage is represented by a rectangle with rounded corners, and the upper letter in the rectangle indicates the receiving place, and the lower letter indicates the user. In the example of FIG. 8, the same number of packages (10 pieces) as the number of storage units 16 are allocated, and the number of packages delivered to the receiving locations A, B, C, and D is 4, 3, 2, 1, respectively. Is.

In the example of FIG. 8, the process of allocating the cargo addressed to the receiving place A having the largest number of packages to the surface having the largest number of empty storage units 16 is performed first. In order to increase the possibility that the most frequently picked-up baggage is assigned to the storage unit 16 having the take-out port on the same surface, it is desirable to first perform the process of allocating the baggage at the receiving place to the storage unit 16. Also, in a pick-up place with a small amount of luggage, there is a high possibility that it will be assigned to the same surface without any special measures. Further, by making the same device for the user, there is an increasing possibility that the storage unit 16 having the take-out port on the same surface is assigned.

FIG. 9 is a diagram illustrating a process of allocating the luggage to the storage unit 16. The example of FIG. 9 is an example in which the receiving location C is assigned to the storage unit 16 having outlets on a plurality of surfaces. In the example of FIG. 9, in the example of FIG. 8, the same number of packages (10 pieces) as the number of storage units 16 are allocated, and the number of packages delivered to the receiving locations A, B, C, and D is 3, respectively. , 3, 3, 1. In this case, the receiving locations A and B are assigned to the storage units 16 on the same surface, but the luggage at the receiving locations C becomes the storage units 16 having outlets on a plurality of surfaces. However, at the time of allocation, by allocating the user with a large number of luggage first, the luggage of the same user can be easily stored in the storage unit 16 having the take-out port on the same surface. When the same user's luggage is assigned to the same surface, the user's luggage can be received smoothly, and it is not necessary to deploy the delivery machine 1 in the middle of receiving in order to secure a space in front of the take-out port.

The process shown in FIG. 7 is an example, and the process flow may be different. For example, the storage determination unit 52 detects whether the user's baggage or the baggage at the pick-up location is allocated to a plurality of surfaces, and in that case, cancels the allocation of the baggage at the pick-up location that was processed several times before. You may try other assignments by rearranging the pick-up locations.

The operation of the delivery machine 1 at the receiving place will be described below. 10 and 11 are flow charts showing an example of processing of the delivery machine 1. In the process shown in FIGS. 10 and 11, a plurality of packages are stored in the storage unit 16 of the delivery machine 1, and a user who is a destination of the packages stored in each of the storage units 16 is stored in the storage unit 12. It shall be executed from.

First, the delivery machine control unit 54 controls the delivery machine 1 to move toward the next delivery destination receiving place (step S102).

Then, when the delivery machine 1 arrives at the receiving place of the delivery destination, the delivery machine control unit 54 uses the rider and / or the camera included in the sensor unit 15 to surround the delivery machine 1 (for example, a radius of 1.5 m). It is determined whether or not there is a structure (step S103). When there is a structure in the surroundings (Y in step S103), the delivery machine control unit 54 moves so that one of the side surfaces 19a and 19b of the delivery machine 1 is adjacent to the structure (Y). Step S104). More specifically, in step S104, the delivery machine control unit 54 moves so that the input / output unit 14 is not adjacent to the structure and one of the side surfaces 19a and 19b is adjacent to the structure. On the other hand, if there is no structure around the delivery machine 1 (N in step S103), step S104 is skipped. Then, the delivery machine 1 starts waiting and transmits a message to that effect to the central server 2. The central server 2 sends a notification indicating the arrival of the delivery machine 1 to the user.

FIG. 4 shows an example in which the delivery machine 1 is moving so that the side surface 19b is adjacent to the wall which is a structure at the receiving place. By the operation of steps S103 and S104, a passerby can pass smoothly when the delivery machine 1 is on standby.

When the standby starts, the delivery machine control unit 54 detects the next user to receive the package (step S107). The detection may be detected by the central server 2 determining the approach of the user based on the output of the acceleration sensor, GPS sensor, or the like of the terminal owned by the user, and the delivery machine control unit 54 receiving the determination result. .. Further, the delivery machine control unit 54 may detect the approach of the user based on whether or not the face of the user who is the destination of the package is recognized from the image taken by the camera by the face recognition technology. Further, the face may be recognized on the central server 2 side.

When the approach of the user is detected, the delivery machine control unit 54 sets the outer circumference of the delivery machine 1 and is provided with the storage unit 16. (Step S108). Specifically, the delivery machine 1 stores the estimated luggage addressed to the user based on the information of the user who is the destination of the luggage stored in each of the storage units 16 stored in the storage unit 12. 16 is selected, and among the side surfaces 19a and 19b, the surface on which the outlet of the selected storage unit 16 exists is specified as the estimated surface.

The delivery machine control unit 54 determines whether the specified surface is adjacent to the structure (for example, a wall) based on the detection result of the surroundings by the rider (step S109). When the specified surface is adjacent to the structure (Y in step S109), the delivery machine control unit 54 changes the direction of the delivery machine 1 so that the specified surface is not adjacent to the structure (step S110). .. More specifically, the delivery machine control unit 54 changes the direction of the delivery machine 1 so that a surface different from the specified surface (for example, an opposing surface) is adjacent to the structure by controlling the drive unit. Here, the delivery machine control unit 54 changes the direction of the delivery machine 1 so that a surface different from both the specified surface and the input / output unit 14 (for example, a side surface facing the specified side surface) is adjacent to the structure. You can do it. On the other hand, if the specified surface is not adjacent to the structure (N in step S109), the process in step S110 is skipped.

12 and 13 are diagrams for explaining the turn of the delivery machine 1 at the delivery destination. FIG. 12 shows the delivery machine 1 before turning. When it is estimated that the user a will receive the package next, the delivery machine control unit 54 identifies the side surface 19b in which the package p addressed to the user a is stored. Then, since the specified side surface 19b is adjacent to the wall, the delivery machine control unit 54 turns the delivery machine 1 180 degrees so that the side surface 19a facing the side surface 19b is adjacent to the wall (see FIG. 12). Control the drive unit.

The processing of steps S109 and 110 is executed, and the user arrives near the delivery machine 1 (strictly speaking, a person stands in front of the input / output unit 14 of the delivery machine 1 by the human sensor of the delivery machine 1). (Detected), the delivery machine control unit 54 causes the input / output unit 14 to output a screen prompting the user to input the authentication information (for example, PIN code) (step S113). When the user inputs the authentication information according to the display, the delivery machine control unit 54 acquires the authentication result of the user based on the authentication information input from the user (step S114). This process is performed by the delivery machine control unit 54 authenticating the user based on the information for verifying the authentication information (for example, the information associated with the storage unit 16 and the PIN code) sent in advance from the central server 2. You may. Instead, the delivery machine control unit 54 transmits the authentication information input from the user or the processed information (for example, a hash value) of the authentication information to the central server 2, and receives the user's authentication result from the central server 2. May be good.

When the user is authenticated, the delivery machine control unit 54 identifies a storage unit 16 for storing the authenticated user's luggage (step S115). Then, the delivery machine control unit 54 unlocks the key of the outlet of the specified storage unit 16 (step S116). FIG. 8 shows a case where the user estimated by the delivery machine control unit 54 receives the cargo, and in this case, the user a can smoothly take out the cargo p.

If a user different from the estimated user is authenticated, the delivery machine control unit 54 performs the processes of steps S109 and S110 after step S116 in order to prevent the reception of the storage unit 16 from being hindered. You may.

When the outlet of the storage unit 16 is unlocked, the delivery machine control unit 54 waits until it detects the receipt of the package by the user (step S117). Upon detecting the receipt of the package, the delivery machine control unit 54 determines whether there is another user who receives the package stored in the storage unit 16 at this standby location (step S118). If another user exists (Y in step S118), the processes after step S105 are repeated. On the other hand, when there is no other user (N in step S118), the delivery machine control unit 54 moves from the current delivery destination to the next delivery destination or delivery base (step S119).

As can be seen from this process and the like, when the outlets of the plurality of storage units 16 for storing the luggage are dispersed on a plurality of surfaces at a certain receiving place, a turning operation is performed before the user receives the goods. By making the surface of the take-out port as the same as possible when storing the luggage in the storage unit 16, the number of turns can be minimized, the user can take out the luggage more smoothly, and the luggage can be received. It is possible to reduce the time required for.

1 Delivery machine, 2 Central server, 3 Base management server, 6 Delivery base, 7,7a, 7b Pickup location, 11,21,31 Processor, 12,22,32 Storage unit, 13,23,33 Communication unit, 14, 24, 34 Input / output section, 15 sensor section, 16 storage section, 18a, 18b end section, 19a, 19b side surface, 51 delivery information acquisition section, 52 storage decision section, 53 allocation output section, 54 delivery machine control section.

Claims (13)

It is transported by an unmanned movable delivery machine including a plurality of surfaces on the outer circumference facing different directions and a plurality of storage units each having an outlet on one of the plurality of surfaces and capable of storing luggage. An acquisition unit that acquires delivery information including a plurality of packages and a receiving location where the user receives each of the plurality of packages.
A determination unit that determines a surface having an outlet of a storage unit that stores each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
An output unit that outputs information for storing each of the plurality of luggage in a storage unit having an outlet on the determined surface, and
Delivery management equipment including. The delivery management device according to claim 1.
The determination unit is a surface having an outlet of a storage unit for storing each of the plurality of packages based on the respective receiving locations of the plurality of packages and the user who is the delivery destination of each of the plurality of packages. To decide,
Delivery management device. The delivery management device according to claim 2.
The determination unit is such that when the users who are the plurality of delivery destinations of the plurality of packages are the same, the surfaces having the outlets of the storage units for storing the plurality of the plurality of packages are the same. Determine the face,
Delivery management device. A receiving place where a user receives a plurality of cargoes carried by an unmanned movable delivery machine including a plurality of surfaces facing different directions with an outlet of a storage unit for storing the luggages, and each of the plurality of luggages. The acquisition department that acquires delivery information including and
A determination unit that determines a surface having an outlet of a storage unit that stores each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
Includes an output unit that outputs information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
The determination unit allocates the package to be delivered to the receiving location, which is the storage unit of the delivery machine and has the largest number of packages delivered to the storage unit having the outlet on the surface with the largest number of empty storage units. ,
The decision unit allocates the remaining luggage to the unallocated storage unit,
Delivery management device. A receiving place where a user receives a plurality of cargoes carried by an unmanned movable delivery machine including a plurality of surfaces facing different directions with an outlet of a storage unit for storing the luggages, and each of the plurality of luggages. The acquisition department that acquires delivery information including and
A determination unit that determines a surface having an outlet of a storage unit that stores each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
Includes an output unit that outputs information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
The determination unit obtains the number of packages to be delivered for each pick-up location, sorts the pick-up locations by the number of packages to be delivered, and sorts the pick-up locations.
The determination unit repeatedly allocates the sorted k-th (k is an integer of 1 or more and less than or equal to the number of receiving locations) to the storage unit having the outlet on the surface having the most vacant storage units.
Delivery management device. An unmanned and movable delivery machine including a plurality of surfaces on the outer circumference facing different directions, and a plurality of storage units each having an outlet on one of the plurality of surfaces and capable of storing luggage.
An acquisition unit that acquires delivery information including a plurality of packages carried by the delivery machine and a receiving place where the user receives each of the plurality of packages.
A determination unit that determines a surface having an outlet of a storage unit that stores each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
An output unit that outputs information for storing each of the plurality of luggage in a storage unit having an outlet on the determined surface, and
Shipping system including. The delivery system according to claim 6.
A standby position of the delivery machine at a given pick-up location based on a surface that is part of the plurality of packages and is provided with an outlet for one or more packages received by the user at a given pick-up location. And further includes a delivery machine control unit that controls the orientation,
Delivery system. The delivery system according to claim 7.
The delivery machine control unit is in a standby position of the delivery machine so that a surface provided with an outlet for one or more packages received by the user at a given receiving place is not adjacent to a surrounding object at the receiving place. And control the orientation,
Delivery system. It is transported by an unmanned movable delivery machine including a plurality of surfaces on the outer circumference facing different directions and a plurality of storage units each having an outlet on one of the plurality of surfaces and capable of storing luggage. A step of acquiring delivery information including a plurality of packages and a receiving place where the user receives each of the plurality of packages.
Based on the respective receiving locations of the plurality of packages, the step of determining the surface having the outlet of the storage unit for storing each of the plurality of packages, and
A step of outputting information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface, and
Delivery management methods including. An unmanned and movable delivery machine that has an outlet for storing luggage and includes multiple surfaces facing different directions.
An acquisition unit that acquires delivery information including a plurality of packages carried by the delivery machine and a receiving place where the user receives each of the plurality of packages.
A determination unit that determines a surface having an outlet of a storage unit that stores each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
Includes an output unit that outputs information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
The determination unit allocates the package to be delivered to the receiving location, which is the storage unit of the delivery machine and has the largest number of packages delivered to the storage unit having the outlet on the surface with the largest number of empty storage units. ,
The decision unit allocates the remaining luggage to the unallocated storage unit,
Delivery system. A receiving place where a user receives a plurality of cargoes carried by an unmanned movable delivery machine including a plurality of surfaces facing different directions with an outlet of a storage unit for storing the luggages, and each of the plurality of luggages. And the steps to get shipping information, including
Based on the respective receiving locations of the plurality of packages, the step of determining the surface having the outlet of the storage unit for storing each of the plurality of packages, and
Includes a step of outputting information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
In the step of determining the baggage to be delivered to the receiving place having the largest number of packages delivered to the storage section of the delivery machine, which has the outlet on the surface having the most empty storage sections. Allocate, allocate the remaining luggage to unallocated vaults,
Delivery management method. An unmanned and movable delivery machine that has an outlet for storing luggage and includes multiple surfaces facing different directions.
An acquisition unit that acquires delivery information including a plurality of packages carried by the delivery machine and a receiving place where the user receives each of the plurality of packages.
A determination unit that determines a surface having an outlet of a storage unit for storing each of the plurality of packages based on the respective receiving locations of the plurality of packages, and a determination unit.
Includes an output unit that outputs information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
The determination unit obtains the number of packages to be delivered for each pick-up location, sorts the pick-up locations by the number of packages to be delivered, and sorts the pick-up locations.
The determination unit repeatedly allocates the sorted k-th (k is an integer of 1 or more and less than or equal to the number of receiving locations) to the storage unit having the outlet on the surface having the most vacant storage units.
Delivery system. A receiving place where a user receives a plurality of cargoes carried by an unmanned movable delivery machine including a plurality of surfaces facing different directions with an outlet of a storage unit for storing the luggages, and each of the plurality of luggages. And the steps to get shipping information, including
Based on the respective receiving locations of the plurality of packages, the step of determining the surface having the outlet of the storage unit for storing each of the plurality of packages, and
Includes a step of outputting information for storing each of the plurality of packages in a storage unit having an outlet on the determined surface.
In the determination step, the number of packages to be delivered for each pick-up location is obtained, the pick-up locations are sorted by the number of packages to be delivered, and the pick-up locations are sorted.
In the step of determining, it is repeated to allocate the sorted k-th (k is an integer of 1 or more and less than or equal to the number of receiving places) to the storage unit having the outlet on the surface having the most vacant storage units.
Delivery management method.

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