JP7522016B2 - Unmanned delivery system and unmanned delivery method - Google Patents

Description

The present invention relates to an unmanned delivery system and an unmanned delivery method.

Conventionally, delivery systems using drones are known. For example, in the delivery system disclosed in Patent Document 1, a vehicle transports luggage to the vicinity of the destination, and then a drone transports the luggage to the destination.

JP 2020-083600 A

In the conventional delivery system described above, the parcel is ultimately delivered to its destination by an unmanned aerial vehicle, making it more difficult to smoothly deliver the parcel to the recipient than in current home delivery systems using vehicles and their drivers.

The present invention has been made to solve the above problems, and aims to provide a delivery system and delivery method that enables smooth delivery of packages to recipients.

To achieve the above objective, an unmanned delivery system according to one aspect of the present disclosure includes a self-propelled robot and an unmanned aerial vehicle for transporting a package to a location along the way to deliver the package, and the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the package that has been dropped off at the location along the way to the destination.

An unmanned delivery system according to another aspect of the present disclosure includes a self-propelled robot and an unmanned aerial vehicle for transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage, and the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the luggage that has been dropped off at the location along the way to the destination.

An unmanned delivery method according to yet another aspect of the present disclosure includes transporting the package to an intermediate location along the way by an unmanned aerial vehicle, and delivering the package, which has been dropped off at the intermediate location, to the destination by a self-propelled robot.

An unmanned delivery method according to yet another aspect of the present disclosure includes transporting the luggage and a self-propelled robot to a location along the way to deliver the luggage by an unmanned aerial vehicle, and delivering the luggage, which has been dropped off at the location along the way, to the destination by the self-propelled robot.

The present invention has the effect of providing a delivery system and delivery method that enables smooth delivery of packages to recipients.

FIG. 1 is a schematic diagram showing an example of the general configuration of an unmanned delivery system according to a first embodiment of the present disclosure. FIG. 2 is a perspective view showing an example of a detailed configuration of the operation unit of FIG. FIG. 3 is a side view showing an example of the configuration of the self-propelled robot of FIG. FIG. 4 is a functional block diagram showing an example of the configuration of a control system of the unmanned delivery system of FIG. FIG. 5 is a schematic diagram showing an example of delivery data stored in the storage unit of the robot controller. FIG. 6 is a flowchart showing an example of the contents of the autonomous operation/remote operation switching control. FIG. 7 is a flowchart showing an example of the operation of the unmanned delivery system of FIG. FIG. 8A is a schematic diagram showing an example of the operation of the unmanned delivery system of FIG. 1 in sequence. FIG. 8B is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. FIG. 8C is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. 1. FIG. 8D is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. FIG. 8E is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. 1. FIG. 8F is a schematic diagram showing an example of the operation of the unmanned delivery system of FIG. 1 in sequence. FIG. 8G is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. FIG. 8H is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. FIG. 8I is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. 1. FIG. 8J is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. 1. FIG. 8K is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. 1. FIG. 8L is a schematic diagram sequentially showing an example of the operation of the unmanned delivery system of FIG. FIG. 9A is a side view showing an example of the configuration of a self-propelled robot used in an unmanned delivery system according to embodiment 2 of the present disclosure. FIG. 9B is a plan view showing an example of the configuration of a self-propelled robot used in an unmanned delivery system according to embodiment 2 of the present disclosure. FIG. 10 is an exploded view showing an example of the configuration of a mobile robot used in an unmanned delivery system according to embodiment 4 of the present disclosure. FIG. 11 is a perspective view showing a first configuration and usage mode of a self-running robot in which the mobile robot of FIG. 10 is configured as a delivery robot. FIG. 12 is a perspective view showing a second configuration and usage mode of a self-running robot in which the mobile robot of FIG. 10 is configured as a delivery robot. FIG. 13 is a perspective view showing a third configuration and usage mode of a self-running robot in which the mobile robot of FIG. 10 is configured as a delivery robot. FIG. 14 is a perspective view showing a first configuration and usage mode of a high-altitude walking robot in which the mobile robot of FIG. 10 is configured as a maintenance robot. FIG. 15 is a perspective view showing a second configuration and usage mode of the high-altitude walking robot in which the mobile robot of FIG. 10 is configured as a maintenance robot.

An unmanned delivery system according to an aspect of the present disclosure includes a self-propelled robot and an unmanned aerial vehicle for transporting a package to a midway point along the way to deliver the package, and the self-propelled robot includes a robot controller configured to control the self-propelled robot so that the package, which has been dropped off at the midway point, is delivered to the destination. Here, the term "unmanned aerial vehicle" refers to an aircraft that does not carry a human, and is sometimes referred to as a drone. Examples of "aircraft" include airplanes and helicopters. Aircraft include aircraft that take off and land by normal runways, as well as VTOL aircraft (Vertical Take-Off and Landing aircraft).

With this configuration, the self-propelled robot can move on the ground and handle luggage, allowing for smooth delivery of luggage to recipients.

An unmanned delivery system according to another aspect of the present disclosure includes a self-propelled robot and an unmanned aerial vehicle for transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage, and the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the luggage that has been dropped off at the location along the way to the destination.

With this configuration, the self-propelled robot can travel on the ground and handle luggage, allowing for smooth delivery of luggage to recipients. Furthermore, the self-propelled robot is transported together with the luggage by an unmanned aerial vehicle to a location along the way to deliver the luggage, making it possible to deliver luggage unmanned to a wide range of areas, including places where self-propelled robots are not deployed.

The robot controller may be configured to control the self-propelled robot by switching between autonomous operation and remote operation.

With this configuration, relatively easy tasks can be performed autonomously while relatively difficult tasks can be performed remotely, making unmanned delivery easier.

The unmanned delivery system may include a plurality of the self-propelled robots and a robot controller for remotely controlling the plurality of self-propelled robots, and the plurality of self-propelled robots and the robot controller may be configured such that the plurality of self-propelled robots can be operated by a single robot controller.

This configuration allows for efficient unmanned delivery.

The unmanned aerial vehicle may be equipped with a lifting device capable of lowering a loaded object to the ground and loading an object on the ground, and the robot controller may be configured to cause the self-propelled robot to secure itself to the lifting device and to confirm that it has been secured.

This configuration allows the self-propelled robot to be safely mounted on an unmanned aircraft.

The robot controller may be configured to control the self-propelled robot so that, when the self-propelled robot is loaded onto the unmanned aerial vehicle, the self-propelled robot assumes a predetermined storage posture and charges its own battery via the unmanned aerial vehicle.

With this configuration, the self-propelled robot can increase the storage space for luggage by adopting a specified storage posture, and the self-propelled robot can operate reliably by charging its own battery using the unmanned aerial vehicle.

The self-propelled robot may have three assembly units: a robot arm unit, a base unit, and a moving unit that moves the self-propelled robot, and the robot arm unit may be attached to the top surface of the base unit, and the moving unit may be attached to the side of the base unit.

This configuration makes it easy to assemble a self-propelled robot.

The base unit may be configured so that a first robot arm section including a torso section extending vertically from the upper surface of the base unit and a second robot arm section that is attached directly to the upper surface of the base unit and can extend close to and along the upper surface of the base unit can be selectively attached to the upper surface, and a running section that causes the self-propelled robot to run and legs that cause the self-propelled robot to walk at high altitudes can be selectively attached to the sides.

According to this configuration, by attaching a first robot arm part to the top surface of the base unit and a running part to the side of the base unit, it is possible to configure, for example, a self-propelled robot for delivery. Also, by attaching a second robot arm part to the top surface of the base unit and attaching legs to the side of the base unit, it is possible to configure, for example, a high-altitude walking robot for maintenance of high-rise structures.

An unmanned delivery method according to yet another aspect of the present disclosure includes transporting the package to an intermediate location along the way by an unmanned aerial vehicle, and delivering the package, which has been dropped off at the intermediate location, to the destination by a self-propelled robot.

This configuration allows for smooth delivery of the package to the recipient.

An unmanned delivery method according to yet another aspect of the present disclosure includes transporting the luggage and a self-propelled robot to a location along the way to deliver the luggage by an unmanned aerial vehicle, and delivering the luggage, which has been dropped off at the location along the way, to the destination by the self-propelled robot.

This configuration allows smooth delivery of packages to recipients. It also allows packages to be delivered unmanned to a wide range of areas, including places where self-propelled robots are not deployed.

Specific embodiments of the present disclosure will be described below with reference to the drawings. Note that, hereinafter, identical or corresponding elements throughout all drawings will be given the same reference symbols, and duplicated descriptions will be omitted. In addition, since the following drawings are for explaining the present disclosure, elements unrelated to the present disclosure may be omitted, dimensions may be inaccurate due to exaggeration, or may be simplified, and the shapes of corresponding elements in multiple drawings may not match. In addition, the present disclosure is not limited to the following embodiments.

(Embodiment 1)
FIG. 1 is a schematic diagram showing an example of a general configuration of an unmanned delivery system 100 according to a first embodiment of the present disclosure.

[Hardware configuration]
Referring to FIG. 1 , an unmanned delivery system 100 of embodiment 1 includes an unmanned aerial vehicle (hereinafter referred to as a drone) 1, a self-propelled robot 2, and an operation unit 3.

The unmanned delivery system 100 is configured to use a drone 1 to transport a package to a location along the delivery route from a collection and distribution center 5 to a delivery destination 4 (a location along the way to deliver the package), and to use a self-propelled robot 2 to deliver the package dropped off at this location to the delivery destination 4. Note that, for simplicity, in the following description, the "self-propelled robot" may be simply referred to as the "robot."

These components are explained in more detail below.

<Drone 1>
Referring to Fig. 1, the drone 1 may be any drone capable of transporting a package to be delivered and a self-propelled robot 2. Examples of the drone 1 include airplanes and helicopters. Airplanes include aircraft that take off and land by normal running, as well as VTOL aircraft (Vertical Take-Off and Landing aircraft). Here, the drone 1 is constituted by a VTOL aircraft.

This drone 1 has a hangar 16 (see FIG. 8C) formed inside. Referring to FIG. 8C, hangar 16 has luggage shelves 17 arranged to surround a central space. Hanger 16 is configured so that self-propelled robot 2 can be stored in this central space, and so that self-propelled robot 2 can load and unload luggage from luggage shelves 17.

The rear side wall of the drone 1 is provided with a loading/unloading door 13 that opens and closes by rotating in the front-rear direction around its lower end as a fulcrum (see FIG. 8A). The inner surface of the loading/unloading door 13 is formed flat, and when the loading/unloading door 13 opens and its tip lands on the ground, it becomes a loading/unloading path for luggage G and the like. The drone 1 is also provided with a lifting device 11 (see FIG. 8B). The lifting device 11 is composed of a winch here (hereinafter referred to as winch 11). For this winch 11, a lifting door 15 that opens and closes left and right toward the bottom is provided on the bottom wall of the drone 1, and this lifting door 15 is opened when an object is lifted and lowered by the winch 11. The drone 1 is also provided with a drone controller 101. The drone controller 101 includes a processor Pr3 and a memory Me3.

<Operation unit 3>
Fig. 2 is a perspective view showing an example of a detailed configuration of the operation unit 3 in Fig. 1. Fig. 3 is a side view showing an example of the configuration of the self-running robot 2 in Fig. 1.

2 , for example, the operation unit 3 is disposed in an operation room 39. There are no particular limitations on the location of the operation unit 3. The operation unit 3 includes a robot operator 31 that operates the self-propelled robot 2, a drone operator 32 that operates the drone 1, an operator display 33, an operator microphone 34, an operator speaker 35, and an operator camera 36.

With reference to Figures 1 to 3, the robot operator 31 includes a travel unit operator 31A that operates the travel unit (cart) 21 of the self-propelled robot 2, and an arm operator 31B that operates the robot arm 22 of the self-propelled robot 2. This arm operator 31B is provided with an operation unit (not shown) for operating the display robot arm 27 that supports the customer display 23. The robot operator 31 can be composed of various types of operators. Here, it is composed of a joystick, for example. The robot operator 31 is placed on a desk 37.

The drone controller 32 is composed of, for example, various control sticks for controlling an aircraft. Here, the drone controller 32 is composed of a joystick-like control stick. The drone controller 32 is provided with various operating units (not shown) for controlling the drone 1. The drone controller 32 is placed on a desk 37.

The operator display 33 is composed of, for example, a liquid crystal display. An image including information that needs to be presented to the operator P1 is displayed on the operator display 33. Examples of such images include an image captured by the field of view camera 26 of the self-propelled robot 2, a field of view image captured by the field of view camera (not shown) of the drone 1, information required to operate the drone 1 (position, speed, amount of fuel, etc.), a navigation image, etc.

The operator display 33 is disposed on a desk 37 .

The operator speaker 35 provides the necessary audio information to the operator P1. Here, the operator speaker 35 is configured as a headphone, but may be configured in another form.

The operator microphone 34 captures the voice of the operator P1. Here, the operator microphone 34 is provided in the headphones 35, but may be configured in another form.

The operator camera 36 captures an image of the operator P1. Here, the operator camera 36 is provided on the operator display 33, but may be provided in another location.

An operation unit controller 301 is placed on the desk 37. The operation unit controller 301 includes a processor Pr1 and a memory Me1.

For example, when drone 1 is flying, operator P1 operates drone controller 32 with his right hand to pilot drone 1, and when self-propelled robot 2 is in operation, operator P1 operates traveling unit controller 31A and arm controller 31B with his left and right hands, respectively, to operate self-propelled robot 2. Operator P1 is, for example, a delivery company (delivery staff). Operator P1 may not be a delivery staff member, but may be a dedicated operator.

<Self-propelled robot 2>
3, the robot (self-propelled robot) 2 may be any robot capable of traveling under its own power and handling luggage. Here, the robot 2 includes a traveling unit (cart) 21 capable of traveling under its own power and a robot arm 22 provided on the traveling unit 21. Note that the component that handles luggage does not necessarily have to be a robot arm. For the robot 2 in FIG. 3, the left and right directions in the drawing are the forward and backward directions, respectively, in terms of the traveling direction.

In FIG. 3, the robot 2 is shown in a simplified form. In reality, the robot arm 22 of the robot 2 is configured in the same manner as the dual-arm robot arm 22 of the robot 2A of the second embodiment (see FIGS. 9A and 9B). That is, the robot arm 22 of the robot 2 is a dual-arm vertical multi-joint type robot arm. However, the robot arm 22 of the robot 2A of the second embodiment is a four-axis vertical joint type robot arm, whereas the robot arm 22 of the robot 2 of FIG. 3 is a five-axis vertical multi-joint type robot arm. With reference to FIGS. 9A and 9B, a gripping portion 221 (wrist portion) having three claws 222 is provided at the tip of each of the pair of robot arms 22, and the pair of robot arms 22 grips the luggage G with this pair of gripping portions 221.

Referring to FIG. 3, the running section of the robot 2 actually comprises a rectangular body frame (not shown), and the luggage storage section 212 is provided on this body frame so that it can move in the fore-and-aft direction. This body frame is covered by an appropriate case, and an opening is provided on the front of this case so that the luggage storage section 212 can enter and exit. The luggage storage section 212 is formed in the shape of a rectangular box with an open top, and is configured so that when not loading or unloading luggage, its front end face is positioned in a retracted position where it is flush with the case, and when loading or unloading luggage, it is positioned in an advanced position where a specified part of the front side protrudes forward.

A pair of front wheels 211, 211 and a pair of rear wheels 211, 211 are provided on the bottom of the running part 21. For example, either the pair of front wheels 211, 211 or the pair of rear wheels 211, 211 is a steering wheel, and for example, either the pair of front wheels 211, 211 or the pair of rear wheels 211, 211 is a driving wheel. A storage battery 28 and a motor (not shown) are mounted on the running part 21, and the motor drives the driving wheels using the storage battery 28 as a power source. In addition, the above-mentioned luggage storage part 212 is also driven to slide back and forth by a predetermined driving mechanism.

Furthermore, a display robot arm 27 is provided behind the robot arm 22 of the traveling section 21. A customer display 23 is attached to the tip of the display robot arm 27. A customer microphone 24, a customer speaker 25, and a view camera 26 are provided in appropriate positions on the customer display 23. The display robot arm 27 is, for example, configured as a vertical multi-joint type robot arm, and is capable of taking any posture, and the customer display 23, the customer microphone 24, the customer speaker 25, and the view camera 26 can be directed in any direction.

The customer display 23 is, for example, a liquid crystal display. An image including information that needs to be presented to the recipient P2 (see FIG. 8F) is displayed on the customer display 23. An example of such an image is an image captured by the operator camera 36.

The customer speaker 25 provides the necessary audio information (e.g., the voice of the operator P1 captured by the operator microphone 34) to the recipient P2.

The operator microphone 34 captures the voice of the operator P1. Here, the operator microphone 34 is provided in the headphones 35, but may be configured in another form.

The operator camera 36 captures an image of the operator P1. Here, the operator camera 36 is provided on the operator display 33, but may be provided in another location.

Furthermore, the traveling unit 21 is provided with a robot controller 201. The robot controller 201 includes a processor Pr2 and a memory Me2.

The robot 2 configured in this manner is controlled by the robot controller 201 to operate autonomously or remotely, and can handle luggage G using the robot arm 22 and move in a desired direction using the running unit 21.

[Control system configuration]
FIG. 4 is a functional block diagram showing an example of the configuration of a control system of the unmanned delivery system 100 of FIG.

Referring to FIG. 4, the unmanned delivery system 100 includes an operation unit controller 301, a robot controller 201, and a drone controller 101.

The operation unit controller 301 includes a robot operation signal generation unit 302, a drone operation signal generation unit 303, a display control unit 304, a microphone IF 305, a headphone IF 306, an operation unit communication unit 307, and a camera control unit 308.

The operation unit communication unit 307 is composed of a communication device capable of data communication. The operation unit controller 301 includes a robot operation signal generation unit 302, a drone operation signal generation unit 303, a display control unit 304, a microphone IF 305, a headphone IF 306, and a camera control unit 308, which are composed of a processor Pr1 and a memory Me1. These are functional blocks realized by the processor Pr1 executing a control program stored in the memory Me1 in this calculator. Specifically, this calculator is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), etc. These may be composed of a single calculator that performs centralized control, or may be composed of multiple calculators that perform distributed control. The robot operation signal generation unit 62 generates a robot operation signal in response to the operation of the robot operator 31. The drone operation signal generation unit 303 generates a drone operation signal in response to the operation of the drone operator 32. The display control unit 304 displays an image corresponding to an image signal transmitted from the operation unit communication unit 307 on the operator display 33. The microphone IF 305 converts the voice acquired by the operator microphone 34 into an appropriate voice signal. The headphone IF 306 emits the voice from the operator speaker in response to the voice signal transmitted from the operation unit communication unit 307. The camera control unit 308 generates an image signal of an image captured by the operator camera 36.

The operation unit communication unit 307 converts the robot operation signal transmitted from the robot operation signal generation unit 302, the drone operation signal transmitted from the drone operation signal generation unit 303, the audio signal transmitted from the microphone IF 305, and the image signal transmitted from the camera control unit 308 into wireless communication signals and transmits them wirelessly. The operation unit communication unit 307 also receives wireless communication signals transmitted from the robot communication unit 202, converts them into image signals or audio signals, transmits the image signals to the display control unit 304, and transmits the audio signals to the microphone IF 305. The operation unit communication unit 307 also receives wireless communication signals transmitted from the drone communication unit 102, converts them into information signals, and transmits them to the display control unit 304.

The robot controller 201 includes a robot communication unit 202, a robot control unit 203, and a memory unit 204. The robot communication unit 202 is composed of a communication unit capable of data communication. The robot control unit 203 and the memory unit 204 are composed of a computing unit having a processor Pr2 and a memory Me2. The robot control unit 203 and the memory unit 204 are functional blocks that are realized in this computing unit by the processor Pr2 executing a control program stored in the memory Me2. Specifically, this computing unit is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), etc. These may be composed of a single computing unit that performs centralized control, or may be composed of multiple computing units that perform distributed control.

The robot communication unit 202 receives wireless communication signals transmitted from the operation unit communication unit 307, converts them into robot operation signals, image signals, or audio signals, and transmits these signals to the robot control unit 203. The robot control unit 203 controls the operation of the robot 2 in response to the robot operation signals, displays an image corresponding to the image signal on the customer display 23, and emits audio corresponding to the audio signal from the customer speaker.

The drone controller 101 includes a drone communication unit 102 and a drone control unit 103. The drone communication unit 102 is composed of a communication unit capable of data communication. The drone control unit 103 is composed of a computing unit having a processor Pr3, a memory, and Me3. The drone control unit 103 is a functional block realized in this computing unit by the processor Pr3 executing a control program stored in the memory Me3. Specifically, this computing unit is, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array),
The control unit 100 may be configured with a single computing unit that performs centralized control, or may be configured with multiple computing units that perform distributed control.

The drone communication unit 102 receives a wireless communication signal transmitted from the operation unit communication unit 65, converts it into a drone operation signal, and transmits it to the drone control unit 103. The drone communication unit 102 also converts an information signal transmitted from the drone control unit 103 into a wireless communication signal, and transmits it wirelessly.

The drone control unit 103 controls the operation of the drone body 12 and the lifting device 11 of the drone 1 in response to a drone operation signal transmitted from the drone side communication unit 82. The drone control unit 03 transmits a field of view image captured by the field of view camera (not shown) of the drone 1, information required to control the drone 1 (position, speed, amount of fuel, etc.), a navigation image, etc., as an information signal to the drone communication unit 102.

Here, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and/or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a "device" or "part" is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. In the case of a processor, where the hardware is considered a type of circuit, the "device" or "part" is a combination of hardware and software, and the software is used to configure the hardware and/or the processor.

<Delivery data>
FIG. 5 is a schematic diagram showing an example of the delivery data D stored in the memory unit 204 of the robot controller 201.

Referring to FIG. 5, the delivery data D includes, for example, delivery address data D1, authentication facial image data D2, and map data D3. The delivery address data D1 is a list of delivery addresses. The authentication facial image data D2 is facial image data of the delivery recipient P2, and is obtained from the delivery requester when accepting the delivery, and is stored in the memory unit 204 of the robot controller 201. This authentication facial image data is stored in correspondence with the delivery address data D1. The map data D3 is used for delivery by the robot 2.

<Autonomous operation/remote operation switching control>
The robot control unit 203 of the robot controller 201 controls the robot 2 by switching between autonomous operation and remote operation. Remote operation means operation according to the operation (robot operation signal) of the robot operator 31.

Figure 6 is a flowchart showing an example of the contents of this autonomous operation/remote operation switching control. Referring to Figure 6, when the autonomous operation/remote operation switching control is started, the robot control unit 203 causes the robot 2 to perform an autonomous operation (autonomous operation) (step S1).

Next, the robot control unit 203 determines whether a remote command has been input (step S2). The remote command is included in the robot operation signal.

If a remote command is input (YES in step S2), the robot control unit 203 causes the robot 2 to perform a remote operation (remote operation) (step S5).

On the other hand, if no remote command is input (NO in step S2), the robot control unit 203 judges whether a predetermined condition is satisfied (step S3). The predetermined condition is, for example, that the route to the package destination 4 is a rough road 6 (see FIG. 8F) or that a person has approached the robot 2.

If the specified condition is met (YES in step S3), the robot control unit 203 causes the robot 2 to perform remote operation (remote driving) (step S5).

On the other hand, if the predetermined condition is not met (NO in step S3), the robot control unit 203 determines whether an end command has been input (step S4). The end command is included in the robot operation signal.

If an end command is not included (NO in step S4), the robot control unit 203 returns the control to step S1.

On the other hand, if an end command is included, the robot control unit 203 ends this control.

As described above, when a remote operation (remote driving) is performed in step S, the robot control unit 203 determines whether an autonomous command has been input (step S6). The autonomous command is included in the robot operation signal.

If an autonomous command is included (YES in step S6), the robot control unit 203 returns the control to step S1.

On the other hand, if an autonomous command is not input, the robot control unit 203 determines whether an authentication command is input (step S7). The authentication command is included in the robot operation signal.

If an authentication command is included (YES in step S7), the robot control unit 203 performs face authentication (step S8). Face authentication is performed by the robot control unit 203 comparing the face image data stored in the memory unit 204 with the image of the recipient P2 captured by the field of view camera 26. A well-known method can be used for face authentication. Therefore, a description thereof will be omitted.

When the facial authentication is completed, the robot control unit 203 returns the robot 2 to remote operation (step S5). In this case, if facial authentication is successful, the parcel is handed over, and if facial authentication is not successful, the parcel is appropriately handled through a dialogue between the operator P1 and the recipient P2.

On the other hand, if an authentication command has not been input (NO in step S7), the robot control unit 203 determines whether an end command has been input (step S9).

If an end command is not included (NO in step S9), the robot control unit 203 returns the control to step S5.

On the other hand, if an end command is included, the robot control unit 203 ends this control.

In this way, autonomous operation/remote operation switching control is performed.

<Human avoidance control>
Next, the person avoidance control will be described. The robot control unit 203 processes the image captured by the field of view camera 26 to determine whether or not a person is present in the image. Methods for extracting people from an image by image processing are well known, so a description thereof will be omitted here. When an image of a person extracted from an image captured by the field of view camera 26 approaches the field of view camera, the robot control unit 203 moves the robot 2 in the opposite direction to the image of the person. Whether or not the image of a person approaches the field of view camera is determined, for example, by the size of the image of the person and the speed at which it is enlarged.

[Operation of the unmanned delivery system 100 (unmanned delivery method)]
Next, the operation of the unmanned delivery system 100 configured as above (unmanned delivery method) will be described with reference to Figures 1 to 8L. Figure 7 is a flowchart showing an example of the operation of the unmanned delivery system 100 of Figure 1. Figures 8A to 8L are schematic diagrams sequentially showing an example of the operation of the unmanned delivery system 100 of Figure 1. In the operation of this unmanned delivery system 100, the drone 1 is operated by an operator P1, and the robot 2 is autonomously or remotely operated by the robot control unit 203 of the robot controller 201.

Referring to Figures 7 and 8A to 8C, first, loading is performed at the collection and delivery base 5 (step S11). There are three modes of this loading.

In the first mode, as shown in FIG. 8A, the loading/unloading door 13 of the drone 1 is opened by the operator P1, and the baggage G is loaded onto the drone 1 by the transport vehicle 14 through the loading/unloading door 13. In this case, the robot 2 boards the drone 1 through the loading/unloading door 13.

In the second mode, the baggage G is carried into the drone 1 by the transport vehicle 14, as in the first mode. The robot 2 is mounted on the drone 1 by the winch 11, as shown in FIG. 8B. In this case, the drone 1 is put into a hovering state (stopped flying state), and the lifting door 15 is opened. At the four corners of the upper surface of the traveling part 21 of the robot 2, there are provided hanging parts (not shown) for hanging the hook (not shown) at the end of the wire of the winch 11. When the wire of the winch 11 is lowered, the robot 2 is driven autonomously, and the hook at the end of the wire is hung on the hanging part by itself. The robot 2 also takes a predetermined storage posture (see FIG. 8B). Here, sensors are provided on the four hanging parts of the traveling part 21 of the robot 2, and the robot control part 203 confirms that the hook at the end of the wire is hung on the hanging part by a signal from the sensor. Then, a signal to that effect is transmitted to the operation unit communication part 307. Then, this information is displayed on the operator display 33. The operator P1 winds up the winch 11 and loads the robot 2 onto the drone 1. After that, the lifting door 15 is closed.

In the third mode, the robot 2 stores the luggage G in the storage section 212, and then, similarly to the second mode, the robot 2 uses the winch 11 to
8C , the robot 2 places the carried-in baggage G on the baggage shelf 17 in the hangar 16 by remote operation. When the baggage G is stored in its own baggage storage unit 212 in the third mode, the robot 2 removes the baggage G from the storage unit 212 and places it on the baggage shelf 17.

When the work is completed, the robot 2 autonomously charges the storage battery 28 from the drone 1, then secures itself to the hangar 16 by appropriate means and takes the specified storage posture described above.

7, the package G and the robot 2 are then airlifted (step S12). Here, the package G is delivered to multiple destinations 4 as shown in FIG. 8D.

Next, the following will explain the case where the destination 4 is in a suburban area and the case where the destination 4 is in an urban area.

<If delivery address 4 is in the suburbs>
Referring to Fig. 7, unloading is performed at a point on the way to the destination 4 (step S13). Referring to Fig. 8E, this unloading is performed by putting the drone 1 into a hovering state and lowering the robot 2 with the winch 11. This descent is performed by the operator P1 while checking the situation on the ground from the field of view image captured by the field of view camera of the drone 1, which is displayed on the operator display 33. This is to ensure safety. In this case, the altitude of the drone 1 is set to a predetermined level or higher. The predetermined altitude is set appropriately, but is set to, for example, 20 m.
In this case, the robot 2 autonomously releases itself from the storage position, and then remotely controls the robot 2 to store the package G to be delivered in the package storage section 212 .

After the robot 2 has been lowered to the ground, it autonomously removes the hook at the end of the winch 11 wire from the hook.

7, the package G is transported on the ground by the robot 2 to the destination 4 (step S14). The drone 1 waits in the sky for the robot 2 to return.

Referring to FIG. 8F, in this case, the robot 2 autonomously drives along suburban roads while referring to map data. Then, when it encounters a rough road 6 along the way, it switches to remote driving and drives according to the operations of the operator P1.

Referring to FIG. 7, when the robot 2 arrives at the destination 4, the package G is handed over (step S15). Referring to FIG. 8G, in this case, the robot 2 is switched to remote operation by the operation of the operator P1, and when the recipient (customer) P2 appears by pressing the intercom at the destination 4 , the robot 2 performs face authentication. Then, when the recipient P2 approaches, the robot 2 automatically stops and does not move unless triggered. From there, the robot 2 automatically switches to remote operation and hands over the package G to the recipient P2. At this time, the robot 2 automatically takes a predetermined package delivery posture as shown in FIG. 8H. If the recipient P2 gets too close, the robot 2 automatically moves in the opposite direction to the recipient P2. In this case, the robot 2 interacts with the recipient P2. Specifically, the robot control unit 203 causes the voice of the operator P1 acquired by the operator microphone 34 to be emitted from the customer speaker 25, causes the image of the operator P1 captured by the operator camera 36 to be displayed on the customer display 23, and also causes the voice of the recipient P2 acquired by the customer microphone 24 to be emitted from the operator speaker 35, and causes the image of the recipient P2 captured by the field of view camera 26 to be displayed on the customer display 23, thereby allowing the recipient P2 and the operator P1 to converse with each other. This conversation is, for example, as follows:

Operator P1 says, "I'm here to deliver the item," recipient P2 says, "Thank you very much. That's a great help," and operator P1 says, "We look forward to serving you again."

Referring to FIG. 7, the robot 2 returns to the unloading point in the same manner as on the outward journey (step S16). The robot 2 is then loaded onto the drone 1 where it was waiting (step S17). The manner in which the robot 2 is loaded is the same as the second loading manner in step S11.

<If delivery address 4 is in an urban area>
Referring to Fig. 8I, in this case, for example, the delivery destination 4 is a room in a high-rise apartment building. When the drone 1 reaches the sky above the high-rise apartment building , it descends the robot 2 onto the roof. There are two modes of this descent. The first descent mode is the same as when the delivery destination 4 is in the suburbs. In the second descent mode, the drone 1 lands on the roof, and the robot 2 descends onto the roof through the open loading/unloading door 13.

7, the package G is transported (transported on the ground) within the apartment building to the destination 4 by the robot 2 (step S14). The drone 1 waits in the sky for the robot 2 to return. In this case, the robot 2 is remotely operated. Referring to FIG. 8K, the robot 2 uses the elevator of the high-rise apartment building to go down to the target floor. In this case, the elevator door is opened and closed wirelessly by the robot 2.

8K, when the robot 2 approaches the target room, which is the delivery destination 4 , the operator switches the robot 2 to remote driving. The subsequent handover is the same as when the delivery destination 4 is in the suburbs, and a description thereof will be omitted.

The robot 2 arrives on the rooftop by autonomous driving, with appropriate remote driving. The robot 2 is then loaded onto the waiting drone 1 (step S17). The manner in which the robot 2 is loaded is the same as the second loading manner in step S11.

<Delivery to next destination 4 and return>
When delivery to one destination 4 is completed, delivery to the next destination 4 is carried out in the same manner as described above, and when delivery to all destinations 4 is completed, the drone 1 returns to the collection and distribution center 5 (steps S18, 19).

{Modification 1}
In the first modification, the robot 2 is placed at a point on the way to the above-mentioned destination 4. In this case, the robot 2 may remain on the spot or may be retrieved by the drone 1.

According to the embodiment 1 described above, the delivery of the package G to the recipient P2 can be carried out smoothly.

(Embodiment 2)
The unmanned delivery system of embodiment 2 differs from the unmanned delivery system 100 of embodiment 1 in that a robot 2A is used instead of the robot 2 of embodiment 1, but in all other respects is the same as the unmanned delivery system 100 of embodiment 1.

Figure 9A is a side view showing an example of the configuration of a robot 2A used in an unmanned delivery system according to embodiment 2 of the present disclosure. Figure 9B is a plan view showing an example of the configuration of a robot 2A used in an unmanned delivery system according to embodiment 2 of the present disclosure.

9A and 9B, the robot 2A includes a running unit (cart) 21 and a pair of robot arms 22 provided on the running unit 21. Each of the pair of robot arms 22 is configured as a four-axis vertical multi-joint type robot arm. That is, each robot arm 22 has a first link L1 that is rotatable around a vertical first rotation axis _Ax1 . This first link L1 is common to both robot arms 22. A base end of a second link L2 is provided at a tip end of the first link L1 so as to be rotatable around a second rotation axis _Ax2 perpendicular to the first rotation axis _Ax1 . A base end of a third link L3 is provided at a tip end of the second link L2 so as to be rotatable around a third rotation axis _Ax3 perpendicular to the second rotation axis _Ax2 . The base end of the fourth link L4 is provided at the tip of the third link L3 so as to be rotatable about a fourth rotation axis _Ax4 perpendicular to the third rotation axis _Ax3 . A gripper 221 (wrist) having three claws 222 is provided at the tip of the fourth link L4. The pair of robot arms 22 grips luggage G with the pair of grippers 221.

The running part 21 of the robot 2 is formed in a dolly shape, and a luggage storage part 212 is provided at the front end. The luggage storage part 212 is formed in a rectangular box shape with a bottom wall 212a and a side wall 212b and an open top. The rear side wall part of the luggage storage part 212 has a notch at the top, so that the pair of robot arms 22 can put luggage G into the luggage storage part through this notch. A pair of front wheels 211, 211 and a pair of rear wheels 211, 211 are provided at the bottom of the running part 21. For example, either the pair of front wheels 211, 211 or the pair of rear wheels 211, 211 is a steering wheel, and either the pair of front wheels 211, 211 or the pair of rear wheels 211, 211 is a driving wheel. A storage battery 28 and a motor (not shown) are mounted on the running part 21, and the motor drives the driving wheels using the storage battery 28 as a power source. Furthermore, a pair of out-triggers 213 are provided on both sides of the center of the running section 21. The out-triggers 213 are configured to be able to be stored inside the running section 21. When the robot 2A stops to load or unload luggage G, the out-triggers 213 protrude to the left and right from the running section 21 and land on the ground, preventing the running section 21 from moving.

Furthermore, a display robot arm 27 is provided behind the robot arm 22 of the traveling section 21. This display robot arm 27 is the same as that in embodiment 1, so its description will be omitted.

The unmanned delivery system of embodiment 2 can achieve the same effects as the unmanned delivery system 100 of embodiment 1.

(Embodiment 3)
In the third embodiment, the operator P1 in the first or second embodiment can operate a plurality of robots 2. Other points are the same as those in the first or second embodiment.

Specifically, referring to FIG. 4, the unmanned delivery system of embodiment 3 includes a plurality of robots 2. Each of the plurality of robots 2 is assigned an identification symbol. The robot operator 31 is provided with an operation unit (not shown) for specifying the robot 2 to be operated. In response to the operation of this operation unit, the robot operation signal generator 302 assigns the identification symbol of the specified robot 2 to the robot operation signal. When the robot operation signal includes the identification symbol of the robot 2 to which it belongs, the robot control unit 203 of each robot 2 controls the robot 2 based on the robot operation signal.

This allows the operator P1 to operate multiple self-propelled robots 2 using a single robot operator 31.

According to this embodiment 3, unmanned delivery can be carried out efficiently.

(Embodiment 4)
The unmanned delivery system of embodiment 4 differs from the unmanned delivery system 100 of embodiment 1 in that a robot 2B is used instead of the robot 2 of embodiment 1, but in other respects is the same as the unmanned delivery system 100 of embodiment 1.

Figure 10 is an exploded view showing an example of the configuration of a mobile robot 1000 used in an unmanned delivery system according to embodiment 4 of the present disclosure. Figure 11 is a perspective view showing a first configuration and usage mode of a self-running robot 2B in which the mobile robot 1000 in Figure 10 is configured as a delivery robot. Figure 12 is a perspective view showing a second configuration and usage mode of a self-running robot 2B in which the mobile robot 1000 in Figure 10 is configured as a delivery robot. Figure 13 is a perspective view showing a third configuration and usage mode of a self-running robot 2B in which the mobile robot 1000 in Figure 10 is configured as a delivery robot. Figure 14 is a perspective view showing a first configuration and usage mode of a high-altitude walking robot 2000 in which the mobile robot 1000 in Figure 10 is configured as a maintenance robot. Figure 15 is a perspective view showing a second configuration and usage mode of a high-altitude walking robot 2000 in which the mobile robot 1000 in Figure 10 is configured as a maintenance robot.

Referring to FIG. 10, the mobile robot 1000 can be configured as a self-propelled robot 2B, which is a delivery robot specialized for deliveries, and a high-altitude walking robot 2000, which is a maintenance robot specialized for the maintenance of high-rise structures. This will be explained in more detail below.

The mobile robot 1000 comprises a base unit 310, robot arm sections 320 and 330, and mobile sections 340 and 350. In FIG. 10, the base unit 310 is shown in the center, the robot arm section 320 and the transport vehicle 360 are shown in the upper left, the mobile section 340 is shown in the lower left, the robot arm section 330 is shown in the upper right, and the mobile section 350 is shown in the lower right.

A robot arm section 320 is attached to the top surface of the base unit 310, and moving sections 340 are attached to the sides of both ends of the base unit 310 to form a self-propelled robot 2B, which is a delivery robot (see Figures 11-13). A robot arm section 330 is attached to the top surface of the base unit 310, and moving sections 350 are attached to the sides of both ends of the base unit 310 to form a high-altitude walking robot 2000, which is a maintenance robot (see Figures 14-15).

<Base unit 310>
The base unit 310 is a part that constitutes the body and chassis of the mobile robot 1000, and is formed in a shape that has a substantially constant thickness and has narrow portions at both ends in the longitudinal direction.
A robot arm attachment section 311 to which the robot arm sections 320 and 330 are attached is provided on the upper surface of the center of the base unit 310. The robot arm attachment section 311 is formed, for example, in a short cylindrical shape, and is provided on the main body of the base unit 310 so as to be rotatable about a rotation axis A300 perpendicular to the upper surface of the center of the base unit 310 by a motor (not shown). The robot arm attachment section 311 is provided so that its upper surface is flush with the upper surface of the center of the base unit 310.

Movement unit attachment parts 312 are provided on each side of the narrow part at each end of the base unit 310, and openings are formed in these movement unit attachment parts 312. The ends 313 of the axles to which the movement units 340 and 350 are connected are exposed in these openings.

One of the two pairs of axles corresponding to the narrow portions at both ends of the base unit 310 is configured to be steerable, and one of the two pairs of axles is a drive axle driven by a drive source (not shown), and the other axle is a driven axle. Both axles may be drive axles. This drive source may be, for example, a motor.

The base unit 310 is equipped with a battery 328 and a robot controller 1201. The battery 328 supplies power to operate the mobile robot 1000. The robot controller 1201 is configured in the same manner as the robot controller 201 of the first embodiment.

When a crawler is attached to the base unit 310 as the moving unit 340C, the base unit 310 is formed narrow over its entire length, and the robot arm unit attachment part 311 is formed integrally with the main body (non-rotatable). The pair of axles are non-steerable axles. Even in this case, the robot arm unit attachment part 311 may be made rotatable, and the robot arm unit 320 may be configured to be attachable to the robot arm unit attachment part 311.

When the mobile unit 350 is attached to the mobile unit attachment part 312 of the base unit 310, each axle is driven individually as a base end link of the robot arm while being position-controlled by a motor.

<Robot arm unit (first robot arm unit) 320>
Robot arm unit 320 is a robot arm unit constituting self-propelled robot 2B. Since it is necessary to lift the luggage to a certain height in order to handle the luggage to be delivered, robot arm unit 320 has a body 321 that extends vertically upward from the upper surface of robot arm unit attachment section 311. A pair of robot arms 322, 322 is provided at the upper end of body 321. Each robot arm 322 is configured as a multi-joint robot arm (here, a multi-joint arm). Note that the configuration of the robot arm is not particularly limited, and may be a vertical multi-joint arm or a horizontal multi-joint arm (so-called SCARA arm). A hand 322a is attached to the tip of robot arm 322. The configuration of hand 322a is not particularly limited. Here, hand 322a is configured as a suction hand that vacuum-suctions an object. Hand 322a may be configured as a hand that, for example, holds an object from both sides.

A customer display 323 is provided at the upper end of the body 321. The customer display 323 is provided with a customer microphone 324, a customer speaker 325, and a field of view camera 326. The customer display 323, customer microphone 324, customer speaker 325, and field of view camera 326 are configured similarly to the customer display 23, customer microphone 24, customer speaker 25, and field of view camera 26 of embodiment 1, respectively. This enables communication between the self-propelled robot 2B and the recipient (customer) P2 at the delivery destination.

At the time of delivery, self-propelled robot 2B is coupled to transport vehicle 360 that stores the package to be delivered (see Figures 11-13). Transport vehicle 360 does not propel itself, but travels by being pushed or pulled by self-propelled robot 2B. Hereinafter, the forward and backward directions in the traveling direction of transport vehicle 360 are referred to as the forward and backward directions of transport vehicle 360. Transport vehicle 360 has main body 361 made of a rectangular box. The internal space of main body 361 serves as the storage space for the package to be delivered.

The main body 361 has a step 365 recessed forward at the bottom of the rear end face. An opening and closing door 364 is provided on the upper part of the step 365 on the rear face of the main body 361. This opening and closing door 364 is for inserting and removing packages to be delivered into and from the package storage space of the main body 361.

Wheels 362 are provided at each of the four corners of the bottom of the main body 361.

A pair of connecting parts 361a consisting of protrusions are provided on both side surfaces of main body 361. A connecting hole (not shown) consisting of a bottomed hole that receives a pair of hands 332a of self-propelled robot 2B is formed on the rear end surface of the pair of connecting parts 361a. Self-propelled robot 2B is connected to transport vehicle 360 by inserting the pair of hands 332a into the pair of connecting holes and adsorbing the bottom surfaces of the connecting holes. Note that the connecting structure between connecting part 361a and hand 322a is not limited to this. The connecting structure may be any structure that can connect connecting part 361a and hand 322a. For example, connecting part 361a and hand 322a may be provided with an engagement part to connect the two.

Transport vehicle 360 further includes battery 363. Connection portion 361a is provided with a first electrical contact (not shown) electrically connected to battery 363, and hand 322a of self-propelled robot 2B is provided with a second electrical contact (not shown) electrically connected to battery 328. When self-propelled robot 2B is coupled to transport vehicle 360, the first electrical contact and the second electrical contact come into contact and are electrically connected, and battery 328 of self-propelled robot 2B is charged by battery 363 of transport vehicle 360. This charging is performed appropriately as necessary under the control of robot controller 1201 of base unit 310. This increases the travel distance of self-propelled robot 2B compared to a case in which transport vehicle 360 does not include battery 363.

<Moving unit 340>
The moving unit 340 is composed of three types of running units that make the mobile robot 1000 move.

The first moving part 340A is composed of an indoor tire as the first running part. For example, an indoor tire is formed with relatively small unevenness in the tread (running surface). The indoor tire is attached to the base unit 310 so that its rotation axis is connected to the axle end 313 of the moving part attachment part 312 of the base unit 310.

The second moving part 340B is composed of an outdoor tire as the second running part. Outdoor tires have a relatively large unevenness in the tread (running surface). A suspension is attached to the tire. The outdoor tire is attached to the base unit 310 so that its rotation axis is connected to the axle end 313 of the moving part attachment part 312 of the base unit 310. The suspension is also connected to the base unit 310 as appropriate.

The third moving part 340C is composed of a crawler (caterpillar) as the third running part. The crawler is attached to the base unit 310 so that its drive mechanism is connected to the end 313 of the axle of the moving part mounting part 312 of the base unit 310.

<Robot arm unit (second robot arm unit) 330>
The robot arm unit 330 is a robot arm unit constituting the high-altitude walking robot 2000. The robot arm unit 330 includes a pair of robot arms 331, 331. Each robot arm 331 is configured as a multi-joint robot arm (here, a six-axis robot arm). A hand 331a is attached to the tip of the robot arm 331. The configuration of the hand 331a is not particularly limited. Here, the hand 331a is configured as a suction hand that vacuum-sucks an object. The hand 331a may be configured as a hand that clamps an object, for example.

Since the robot arm unit 330 needs long arms that extend horizontally to perform maintenance at high altitudes, the two robot arms 331, 331 are directly attached to the robot arm unit attachment parts 311 of the base unit 310. This allows the two robot arms 331, 331 to extend close to and along the upper surface of the base unit 310. In addition, since the high-altitude walking robot 2000 needs to be lifted to high altitudes, the robot arm unit 330 is configured so that the robot arm 331 can be folded compactly (see Figures 14 and 15).

The robot arm unit 330 further includes a field of view camera 326. The field of view camera 326 is also directly attached to the robot arm unit attachment portion 311 of the base unit 310. The field of view camera 326 is configured in the same manner as the field of view camera 26 in embodiment 1. In addition, a microphone and a speaker may be provided for cooperation with on-site workers and for collecting surrounding information.

<Moving unit 350>
The moving part 350 is composed of two types of legs that allow the mobile robot 1000 to walk at high altitudes.

The fourth moving part 350A is composed of a short leg as the first leg. The short leg is composed of, for example, a five-axis robot arm. In this five-axis robot arm, the base end link 354 corresponds to the base of the leg, and the tip end 352 corresponds to the foot of the leg. The base end link 354 is connected to the end 313 of the axle of the moving part mounting part 312 of the base unit 310. The tip end 352 is configured to be torsionally rotatable with respect to the link to which it is connected. This tip end 352 is configured to be attracted to an object. Here, the tip end 352 is equipped with an electromagnet, and is configured to attract the tip end 352 to a magnetic object by turning on the electromagnet, and to release the tip end 352 from the magnetic object by turning off the electromagnet. Therefore, when the tip 352 is fixed to an object by suction with the torsional rotation axis of the tip 352 parallel to the rotation axis of the base link 354, and the base link 354 is rotated while the torsional rotation of the tip 352 is compliance controlled, the base unit 310 moves in the opposite direction to the rotation. This enables the high-altitude walking robot 2000 to walk like an inchworm, as described below.

The fourth moving part 350A further includes a hollow fixed cover member 353. The fixed cover member 353 is fixed to the moving part mounting part 312 of the base unit 310 so that the base end link 354 passes through it so as to be freely rotatable. This allows the short leg to be attached to the base unit 310.

The fifth moving unit 350B is configured with a long leg as the second leg. The long leg is configured, for example, with a seven-axis robot arm. The rest of the configuration is the same as that of the fourth moving unit 350A.

<First configuration and usage mode of self-running robot 2B>
11 , in the first configuration of self-propelled robot 2B, robot arm unit 320 is attached to robot arm unit attachment part 311 of base unit 310, and indoor tires of first moving unit 340A are attached to each moving unit attachment part 312 of base unit 310. In this way, a delivery robot for indoor traveling is formed as the first configuration of self-propelled robot 2B.

This self-propelled robot 2B is used, for example, to transport luggage at a collection and delivery base (collection and delivery center) 5. In this case, the self-propelled robot 2B performs collection and delivery work, for example, as follows.

First, self-propelled robot 2B inserts a pair of hands 322a of a pair of robot arms 322 into the connection holes of a pair of connecting portions 361a of transport vehicle 360, and connects itself to transport vehicle 360 by adsorbing the bottom of the connection hole with hands 322a. At this time, battery 328 of self-propelled robot 2B is charged by battery 363 of transport vehicle 360. In addition, the front end of self-propelled robot 2B is positioned at step portion 365 on the rear surface of transport vehicle 360, and self-propelled robot 2B is connected closely to transport vehicle 360.

Next, self-propelled robot 2B propels itself to the baggage area while pushing and pulling transporter 360. Next, self-propelled robot 2B stops the adsorption of pair of hands 322a, removes pair of hands 322a from the connection holes of pair of connecting parts 361a of transporter 360, and detaches transporter 360 from itself. Next, self-propelled robot 2B loads the baggage onto transporter 360 by itself. That is, the robot that carries the baggage and the robot that loads and unloads the baggage are the same. Specifically, self-propelled robot 2B opens opening door 364 of transporter 360 with pair of robot arms 322, holds the baggage (not shown in FIG. 11) placed in the baggage area with pair of hands 322a of pair of robot arms 322, and places it in the storage space of transporter 360. At this time, self-propelled robot 2B performs the task while rotating body 321 as necessary. Once the self-propelled robot 2B has loaded the required cargo onto the transport vehicle 360, it closes the opening and closing door 364, couples the transport vehicle 360 to itself, and propels itself to the specified location.

Then, if necessary, the self-propelled robot 2B detaches itself from the transport vehicle 360 and removes the cargo from the transport vehicle 360 by performing the steps above in reverse order.

During the above operations, the self-propelled robot 2B communicates with people as necessary using the customer display 323, customer microphone 324, customer speaker 325, and field of view camera 326.

<Second configuration and usage of self-running robot 2B>
12, in the second configuration of self-propelled robot 2B, robot arm unit 320 is attached to robot arm unit attachment part 311 of base unit 310, and outdoor tires of second moving unit 340B are attached to each moving unit attachment part 312 of base unit 310. In this way, a delivery robot for outdoor traveling is configured as the second configuration of self-propelled robot 2B.

Self-propelled robot 2B of the second configuration is equipped with tires for outdoor use, and is therefore suitable for use as a self-propelled robot for delivery that delivers packages to final destination 4. Other than this, it is similar to self-propelled robot 2B of the first configuration.

<Third configuration and usage of self-running robot 2B>
13, in the third configuration of self-propelled robot 2B, robot arm unit 320 is attached to robot arm unit attachment part 311 of base unit 310, and the crawlers of third moving unit 340C are attached to each moving unit attachment part 312 of base unit 310. In this way, a delivery robot for traveling on rough roads is formed as the third configuration of self-propelled robot 2B.

Self-propelled robot 2B of the third configuration is equipped with crawlers, and is therefore suitable for use as a self-propelled robot for rough-road delivery that travels on rough roads and ultimately delivers packages to destination 4. Apart from this, it is similar to self-propelled robot 2B of the first configuration. Examples of rough roads include roads during disasters and uneven ground. Note that self-propelled robot 2B of the second configuration changes direction by slowing down or stopping the crawlers on one side.

<First Configuration and Usage of High-Altitude Walking Robot 2000>
14, in the first configuration of the high-altitude walking robot 2000, the robot arm unit 330 is attached to the robot arm unit attachment unit 311 of the base unit 310. Specifically, for example, a pair of robot arms 331 are attached to the robot arm unit attachment unit 311 of the base unit 310 so as to be located symmetrically with respect to the rotation axis A300. Then, the field of view camera 326 is attached to the robot arm unit attachment unit 311 so as to be located in front of the center of the pair of robot arms 331. Also, when a microphone and a speaker are provided for cooperation with on-site workers and for collecting peripheral information, these are appropriately attached to the robot arm unit attachment unit 311 and/or the field of view camera 326. Then, the short legs of the fourth moving unit 350A are attached to each moving unit attachment unit 312 of the base unit 310. Thereby, as the first configuration of the high-altitude walking robot 2000, a maintenance robot that walks at high altitudes and performs maintenance is configured.

The high-altitude walking robot 2000 in this first configuration is used, for example, as follows:

The high-altitude walking robot 2000 is transported to a maintenance site of a high-rise structure (e.g., a steel tower) by, for example, the drone of embodiment 1. Then, for example, when the high-rise structure has magnetic scaffolding members (hereinafter referred to as scaffolding members) 371 (e.g., horizontal beam members of a steel tower), the high-altitude walking robot 2000 adsorbs the tip ends 352 of each short leg to the side of the scaffolding members 371. Then, while checking the work object (e.g., wire rod) 372 with the view camera 326, the work object is adsorbed and held by a pair of hands 331a of a pair of robot arms 331, and the required maintenance is performed.

In this case, the high-altitude walking robot 2000 walks as follows:

For example, the high-altitude walking robot 2000 adheres the tip 352 of each short leg to the scaffolding member 371 with a small gap between them and the scaffolding member 371 with the torsional rotation axis of the tip 352 of each short leg parallel to the rotation axis of the base link 354, and rotates the base link 354 backward with compliance control of the torsional rotation of the tip 352. Then, the base unit 310 moves forward and downward based on the principle of "parallel link". When the base unit 310 comes into contact with the scaffolding member 371, the high-altitude walking robot 2000 moves the tip 352 of the two pairs of short legs forward and adheres and fixes them in the same manner as above. Then, when the base link 354 is rotated backward in the same manner as above, the base unit 310 moves forward, moves upward, and then moves downward to come into contact with the scaffolding member 371. By repeating this motion, the high-altitude walking robot 2000 walks like an inchworm.

When the scaffolding member 371 is not horizontal, the high-altitude walking robot 2000 can walk in an inchworm-like manner by moving the four short legs forward in sequence while maintaining a so-called "three-point support" state.

<Second configuration and usage mode of high-altitude walking robot 2000>
15, in the second configuration of the high-altitude walking robot 2000, the robot arm unit 330 is attached to the robot arm unit attachment part 311 of the base unit 310 in the same manner as described above. Then, the long legs of the fifth moving unit 350B are attached to each moving unit attachment part 312 of the base unit 310. In this way, a maintenance robot that walks at high altitudes and performs maintenance is constructed as the second configuration of the high-altitude walking robot 2000.

The high-altitude walking robot 2000 in the second configuration has long legs that are longer and thicker than the short legs, allowing it to perform a wider range of maintenance work.

Many modifications and other embodiments will be apparent to those skilled in the art from the above description. Therefore, the above description should be interpreted as illustrative only.

The delivery system and delivery method of the present invention are useful as a delivery system and delivery method that allows smooth delivery of packages to recipients.

1. Unmanned aerial vehicles (drones)
2. Self-propelled robot (robot)
3 Operation unit 4 Delivery destination 5 Collection and delivery base 31 Robot operation device 32 Drone operation device 101 Drone controller 201 Robot controller 301 Operation unit controller 310 Base unit 320 Robot arm section 330 Robot arm section 340 Moving section 350 Moving section 360 Transport vehicle

Claims (8)

Self-propelled robots and
and an unmanned aerial vehicle for transporting the baggage to a location along the way to deliver the baggage;
the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the package dropped off at the intermediate point to the destination;
the self-propelled robot includes three assembly units: a robot arm unit, a base unit, and a movement unit that moves the self-propelled robot;
The robot arm unit is attached to an upper surface of the base unit, and the moving unit is attached to a side surface of the base unit,
An unmanned delivery system configured such that the base unit can selectively have attached to its upper surface a first robot arm section including a torso extending vertically from the upper surface of the base unit, and a second robot arm section that is attached directly to the upper surface of the base unit and can extend close to and along the upper surface of the base unit, and also has selectively attached to its sides a running section that causes the self-propelled robot to travel, and legs that cause the self-propelled robot to walk at high altitudes. Self-propelled robots and
an unmanned aerial vehicle for transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage;
the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the package dropped off at the intermediate point to the destination;
The unmanned aerial vehicle is equipped with an elevator capable of lowering a loaded object to the ground and loading an object on the ground,
An unmanned delivery system , wherein the robot controller is configured to cause the self-propelled robot to secure itself to the lifting device and to confirm that it has been secured. Self-propelled robots and
an unmanned aerial vehicle for transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage;
the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the package dropped off at the intermediate point to the destination;
An unmanned delivery system, wherein the robot controller is configured to control the self-propelled robot so that, when the self-propelled robot is loaded onto the unmanned aerial vehicle, the self-propelled robot takes a predetermined storage posture and has its own capacitor charged by the unmanned aerial vehicle. Self-propelled robots and
an unmanned aerial vehicle for transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage;
the self-propelled robot includes a robot controller configured to control the self-propelled robot to deliver the package dropped off at the intermediate point to the destination;
the self-propelled robot includes three assembly units: a robot arm unit, a base unit, and a movement unit that moves the self-propelled robot;
The robot arm unit is attached to an upper surface of the base unit, and the moving unit is attached to a side surface of the base unit,
An unmanned delivery system configured such that the base unit can selectively have attached to its upper surface a first robot arm section including a torso extending vertically from the upper surface of the base unit, and a second robot arm section that is attached directly to the upper surface of the base unit and can extend close to and along the upper surface of the base unit, and also has selectively attached to its sides a running section that causes the self-propelled robot to travel, and legs that cause the self -propelled robot to walk at high altitudes. 5. The unmanned delivery system according to claim 1, wherein the robot controller is configured to control the self-propelled robot by switching between autonomous driving and remote driving. A plurality of the self-propelled robots;
a robot controller for remotely controlling the plurality of self-propelled robots,
6. The unmanned delivery system according to claim 1, wherein the plurality of self-propelled robots and the robot operator are configured such that the plurality of self-propelled robots can be operated by a single robot operator. Transporting the luggage and the self-propelled robot to a location along the way to deliver the luggage by an unmanned aerial vehicle having a lifting device capable of lowering the loaded object to the ground and loading the object on the ground ;
fastening the self-propelled robot to the lifting device and confirming that the self-propelled robot has been fastened;
delivering the package dropped off at the intermediate point to the destination by the self-propelled robot. Transporting the baggage and the self-propelled robot to a location along the way to deliver the baggage by an unmanned aerial vehicle;
When the self-propelled robot is mounted on the unmanned aerial vehicle, the self-propelled robot takes a predetermined storage posture and charges its own capacitor by the unmanned aerial vehicle;
delivering the package dropped off at the intermediate point to the destination by the self-propelled robot.

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