WO2019124335A1

WO2019124335A1 - Conveyance robot, conveyance system, conveyance method, and conveyance program

Info

Publication number: WO2019124335A1
Application number: PCT/JP2018/046464
Authority: WO
Inventors: 昌樹加藤; 勉古川; 伸吉野; 崇眞保; 圭伊藤; 知己阪上
Original assignee: 日本電産株式会社
Priority date: 2017-12-20
Filing date: 2018-12-18
Publication date: 2019-06-27
Also published as: JP2019108219A

Abstract

This conveyance robot, in which at least one delivery article is mounted and which is self-propelled within a building and conveys the delivery article in sequence to a delivery-article delivery destination designated for each delivery article, is provided with: a reception possibility information acquisition unit that acquires, for each delivery-article delivery destination, reception possibility information indicating whether the delivery article can be received; a delivery possibility determination unit that determines, for each delivery article, whether to deliver the delivery article to the delivery destination, said determination being made on the basis of the reception possibility information; a route information acquisition unit that acquires self-propulsion-possible route information indicating a route on which the conveyance robot can be self-propelled in the building; a travel route determination unit that determines, on the basis of the self-propulsion-possible route information, a travel route for conveying the delivery article to the delivery destination, it having been determined by the delivery possibility determination unit that the delivery article is to be delivered; and a travel unit for traveling within the building on the basis of the travel route.

Description

Transfer robot, transfer system, transfer method and transfer program

The present invention relates to a transfer robot, a transfer system, a transfer method, and a transfer program.

With the spread and expansion of EC (Electronic Commerce), the number of deliveries by means of home delivery etc. is increasing year by year. In the absence of the recipient of the delivery, the courier may bring the delivery once and then make a redelivery, but as the number of deliveries increases, the opportunity for the redelivery also increases. In order to reduce the chance of redelivery, in particular, large-scale apartment buildings and the like are often equipped with a delivery box (see, for example, Patent Document 1). By providing the delivery box, the delivery company can reduce the operation cost and the like for the redelivery. Also, the recipient can save time and effort for requesting redelivery, and can shorten the waiting time for receiving the delivery.

Patent Document 1: Japanese Patent Application Publication No. 2017-147559

However, since the number of home delivery boxes installed in one collective housing is limited, the home delivery boxes may not be available when needed. In this case, redelivery by the courier company occurs. Also, home delivery boxes are often installed together in one corner of an apartment house. Therefore, especially in large-scale collective housing, there are many dwelling units where the distance from the dwelling unit to the delivery box is long, and it takes time for the recipient living in such a dwelling unit to pick up a delivery. In addition, since there is a cost for installation and maintenance of the delivery box, residents of the collective housing need to jointly bear these costs.

In addition, in a collective housing, a home delivery company calls a package from an intercom or the like installed at the entrance of the collective housing to all the recipients and then sequentially travels the dwelling units of each recipient to deliver a delivery. There are many cases. Therefore, it may take a long time for the delivery company to call the intercom or the like and actually go to the recipient's residence. In this case, for example, a recipient who can not wait until delivery due to the convenience of going out, etc. can not receive a delivery despite being at home when called. Also in this case, redelivery by the home delivery company occurs. As described above, in the existing home delivery box and home delivery system, there is a problem that it is difficult to eliminate the opportunity for redelivery of the delivery, and it takes time and cost for the home delivery company and the receiver.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a transfer robot, a transfer system, a transfer method, and a transfer program which can reduce the time and cost required for delivery and reception of deliverables. Do.

The present invention has been made to solve the above-described problems, and according to one aspect of the present invention, at least one delivery is loaded and the building is self-propelled, and the delivery specified for each delivery is provided. A transport robot that sequentially transports the deliverables to a delivery destination of an object, the receipt / non-permission information acquiring unit acquiring, for each delivery destination of the delivery, receipt / non-acceptance information indicating availability of the delivery. Delivery availability determination unit that determines whether to deliver to the delivery destination for each delivery based on information, and route information acquisition that acquires self-propelled route information indicating a route that can be self-propelled in the building A traveling route determination unit for determining a traveling route for transporting the delivery determined to be delivered by the delivery availability determination unit to the delivery destination based on the self-propelled route information; A traveling unit for traveling in the building based on the route, a transfer robot, characterized in that it comprises a.

Further, according to one aspect of the present invention, in the above-described transport robot, the receipt / non-reception information is information indicating the receipt / non-reception designated by the recipient of the delivery.

Further, according to one aspect of the present invention, in the above-described transfer robot, the receipt / non-acceptance information is information based on information input to a smart speaker by a recipient of the delivery.

Further, according to one aspect of the present invention, in the above-described transport robot, the receipt / non-delivery information is information based on the presence or absence of a recipient of the delivery at the delivery destination.

Further, according to one aspect of the present invention, in the above-described transfer robot, the receipt / non-acceptance information is in a state of using power detected by a sensor provided in a smart meter or a distribution board installed at the delivery destination. It is characterized in that the information is based on the presence or absence determined based on the information.

Further, according to an aspect of the present invention, there is provided the above-described transfer robot, wherein an authentication information storage unit that stores authentication information for allowing a building management device that manages a gate in the building to pass through the gate. And a communication unit which is communicably connected to the building management apparatus and transmits the authentication information stored in the authentication information storage unit to the building management apparatus.

Further, according to one aspect of the present invention, in the above-described transport robot, the delivery availability determination unit determines the delivery order of the plurality of deliveries determined to be delivered based on the position of the delivery destination. The traveling route determination unit may determine the traveling route based on the delivery order.

Further, according to one aspect of the present invention, in the above-described transfer robot, the receipt / non-acceptance information acquisition unit acquires delivery time information indicating a delivery time of the delivery designated by a recipient of the delivery. The delivery availability determination unit determines the delivery order of the plurality of deliveries determined to be delivered based on the delivery time information, and the traveling route determination unit determines the delivery availability determination unit determined by the delivery availability determination unit. The travel route may be determined based on a delivery order.

Further, according to one aspect of the present invention, in the above-described transfer robot, the receipt / non-acceptance information acquisition unit may be a mobile phone network, an internet connection, a smart meter installed at a delivery destination, or a sensor provided in a distribution board. Alternatively, it is characterized in that the reception availability information is acquired via at least one of PLCs via a communication device attached to a power supply in a passage in the building.

Moreover, as one aspect of the present invention, in the above-described transfer robot, the traveling route determination unit is a sensor provided in a smart meter or a distribution board installed at the delivery destination, or in the building It is characterized in that the traveling route is determined using information based on radio waves from a communication device attached to a power supply of the passage.

Further, according to one aspect of the present invention, a communication device installed for each delivery destination of the delivery, and at least one delivery being loaded, self-propelled in the building, and the delivery specified for each delivery A transport system including: a transport robot that transports the deliverables in order to a delivery destination of the article, wherein the communication device transmits receipt propriety information indicating the propriety of receipt of the deliverable to the transport robot The transport robot determines whether the delivery robot is to deliver the delivery availability information to the delivery destination based on the delivery availability information acquiring unit for acquiring the delivery availability information for each delivery destination of the delivery, and A delivery availability determination unit determined for each of the deliverables, a route information acquisition unit for obtaining self-propelled route information indicating a route that can be run by itself in the building, and the delivery availability determination unit A traveling route determination unit which determines a traveling route for transporting the delivery determined to reach to the delivery destination based on the self-propelled route information, and traveling in the building based on the traveling route A transport system comprising: a traveling unit.

Further, according to one aspect of the present invention, a transport robot that loads at least one delivery, travels the building by itself, and sequentially transports the deliverables to the delivery destinations of the deliverables specified for each of the deliverables. The delivery method by the computer, wherein to the delivery destination is based on the receipt availability information acquisition step of acquiring receipt availability information indicating availability of the delivery for each delivery destination of the delivery, and the receipt availability information. A delivery availability determination step of determining whether to deliver for each delivery item, a route information acquisition step of obtaining self-propelled route information indicating a route capable of self-running in the building, and the delivery availability determination step A travel route determination step of determining a travel route for transporting the delivery determined to be delivered to the delivery destination based on the self-propelled route information. When a conveying method characterized by having a running step running in the building on the basis of the travel route.

Further, according to one aspect of the present invention, a transport robot that loads at least one delivery, travels the building by itself, and sequentially transports the deliverables to the delivery destinations of the deliverables specified for each of the deliverables. Whether to deliver to the delivery destination based on the receipt availability information acquiring step of acquiring receipt availability information indicating availability of the delivery for each delivery destination of the delivery on the computer of It is determined to be delivered by the delivery availability determination step of determining each delivery item, the route information acquisition step of obtaining self-propelled route information indicating the self-propelled route in the building, and the delivery availability determination step A travel route determination step of determining a travel route for transporting the delivery to the delivery destination based on the self-travelable route information; A transport program for executing, a travel step of running in the building Zui.

ADVANTAGE OF THE INVENTION According to this invention, the effort and cost concerning delivery and receipt of a delivery can be reduced.

It is a schematic diagram which shows the flow of delivery of the delivery by the conveyance system which concerns on one Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram of the conveyance system which concerns on one Embodiment of this invention. It is a block diagram which shows the function structure of the automatic guided vehicle which concerns on one Embodiment of this invention. It is a flowchart which shows operation | movement of the automatic guided vehicle which concerns on one Embodiment of this invention.

Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic view showing the flow of conveyance of deliverables by a conveyance system according to an embodiment of the present invention.

The transport system described below is a system for efficiently transporting each delivery carried in front of the apartment where the recipient of the delivery lives in the apartment to the dwelling unit as the delivery destination. The deliverables loaded on the delivery vehicle 11 that transports the delivery from the delivery center to the front of the delivery destination apartment are stored in a luggage container 13 capable of storing at least one delivery. The deliverables may be sorted according to the number of floors of the apartment to which the delivery is to be made, and stored in different package containers 13 for each number of floors.

When the delivery vehicle 11 arrives in front of the apartment which is the destination, the luggage container 13 in which the delivery is stored is unloaded from the delivery vehicle 11 outside the apartment near the entrance of the apartment. The unloaded container 13 is loaded on the unmanned transfer vehicle 20 managed by the apartment. The unloading of the luggage container 13 from the delivery vehicle 11 and the loading of the luggage container 13 onto the unmanned transfer vehicle 20 may be performed by a robot or may be performed manually.

FIG. 2 is an overall configuration diagram of a transport system 2 according to an embodiment of the present invention. As shown in FIG. 2, the transport system 2 is configured to include a smart speaker 21 (communication device), an apartment management server 22, an unmanned transport vehicle communication unit 206, and a communication network 30. Hereinafter, it demonstrates using FIG.1 and FIG.2.

The transport system 2 is an unmanned man who loads at least one delivery based on the information acquired from the smart speaker 21 (communication device), installed at each delivery destination of the delivery, and self-propelled in the apartment (building). The delivery vehicle 20 (transport robot) sequentially delivers the deliveries to the delivery destination of the delivery designated for each delivery.

The unmanned transfer vehicle 20 is a robot that loads a delivery, travels the apartment by itself, and sequentially delivers the delivery to a delivery destination designated for each delivery. The unmanned transfer vehicle 20 is provided with an unmanned transfer vehicle communication unit 206. The unmanned transfer vehicle communication unit 206 can perform communication connection with the smart speaker 21 held by the resident of the apartment in the dwelling unit and the apartment management server 22 managed by the apartment via the communication network 30, respectively. The unmanned carrier communication unit 206 can transmit information to the smart speakers 21 held by the residents of the apartment in the dwelling unit, and acquire information transmitted from the smart speakers 21.

As the communication network 30, for example, a general mobile phone or the Internet can be used, but in addition, the communication function of the sensor provided in the smart meter or the distribution board installed in the dwelling unit of the delivery destination It is also possible to use PLC (Power Line Communication) via a communication device attached to the power supply in the passage of the apartment.

For example, from the delivery management server (not shown) managed by the home delivery service provider, the unmanned transport vehicle communication unit 206 receives the delivery destination information (for example, the apartment room number) of each delivery stored in the luggage container 13. get. Further, the unmanned carrier communication unit 206 acquires, from the apartment management server 22, self-propelled route information indicating a route on which the unmanned carrier communication unit 206 can self-propelled in the apartment. The unmanned transfer vehicle 20 determines a traveling route for transporting the delivery stored in the loaded luggage container 13 to each delivery destination from the acquired delivery destination information and the self-propelled route information.

The self-propelled route information need not necessarily be present in the apartment management server 22, and is transmitted to the AGV 20 from the main body of the AGV 20 or another server device that manages the AG 20. May be

In addition, the acquisition of delivery destination information is, for example, an RFID (Radio Frequency Identifier) provided on the automated guided vehicle 20 in which an RF (Radio Frequency) tag storing the delivery destination information is attached to each delivery in advance. ) May be performed by reading delivery destination information stored in the RF tag by a reader (not shown). Alternatively, the input of delivery destination information to the automated guided vehicle 20 may be performed manually.

The unmanned transfer vehicle 20 on which the luggage container 13 is loaded travels the apartment by itself according to the determined travel route to transfer the deliverables. While the unmanned conveyance vehicle 20 is self-propelled from the outside of the apartment near the entrance of the apartment to the delivery destination, which is the delivery destination, the unmanned conveyance vehicle 20 is a delivery item stored in the loaded luggage container 13. For each, it is determined whether or not to deliver.

Although the unmanned transfer vehicle 20 travels along the determined travel route by itself, a smart meter or a minute installed in a dwelling unit of a delivery destination for the purpose of improving the positioning accuracy of the unmanned transfer vehicle 20 itself and specifying the delivery destination. It is also possible to travel using a radio wave from a communication device attached to a sensor provided on the electronic board or a power supply of the passage of the apartment.

Specifically, determination as to whether or not to deliver is performed as follows. First, based on the acquired delivery destination information, the unmanned transfer vehicle communication unit 206 notifies the smart speakers 21 held by the recipients of the respective deliverables via the communication network 30. As a result of this notification, for example, an audio announcement such as "Do you deliver a delivery from now, can you receive it?" In each smart speaker 21 is reproduced. Note that, instead of the announcement by reproducing the audio, for example, an announcement by displaying a character or a video, or an announcement by lighting a notification lamp may be used.

When the receiver recognizes the announcement by the smart speaker 21, the receiver inputs to the smart speaker 21 receipt availability information indicating an indication of the recipient's intention as to whether or not to receive the delivery. For example, the recipient inputs the acceptance / rejection information by uttering “OK” or “NG” toward a microphone (not shown) included in the smart speaker 21. Note that the recipient may input receipt availability information to the smart speaker 21 by performing a predetermined operation (for example, pressing an answer button, etc.) on the smart speaker 21 instead of inputting by speaking. . The smart speaker 21 transmits the received availability information to the unmanned carrier communication unit 206.

In addition, when the recipient is absent, the recipient can not input the acceptance / rejection information to the smart speaker 21. In this case, the smart speaker 21 is absent in the receiver (the delivery is not possible) when the reception availability information is not input within a predetermined time (for example, within 3 minutes) after the notification is performed. It should just be set as judging.

In the present embodiment, the receiver communicates with the unmanned carrier communication unit 206 by the smart speaker 21. However, the present invention is not limited to this. For example, the receiver may be configured to communicate with the automated guided vehicle communication unit 206 by electronic mail or SNS using a smartphone or a PC. Alternatively, for example, the existing intercom in the dwelling unit of the recipient has a communication function (for example, the Internet connection function) with which the unmanned carrier communication unit 206 can communicate, and the recipient unmanned transport by the interphone Communication with the car communication unit 206 may be performed.

The automatic guided vehicle communication unit 206 acquires the reception availability information transmitted from the smart speaker 21 held by the receiver of each delivery. The unmanned transfer vehicle 20 determines whether to deliver each delivery item based on the acquired availability information. The unmanned transfer vehicle 20 updates the travel route based on the determination and the self-propelled route information. The unmanned transfer vehicle 20 on which the luggage container 13 is loaded travels in the apartment by itself according to the updated travel route to transfer a delivery. When there is a large amount of deliverables, the plurality of unmanned transport vehicles 20 cooperate to deliver the deliverables.

Also, the recipient of the delivery can input delivery time information, which is information specifying the delivery time of the delivery, to the smart speaker 21 in addition to the answer as to whether or not to receive the delivery. In this case, the delivery availability information transmitted from the smart speaker 21 held by the recipient of each delivery includes the delivery time information. The unmanned transfer vehicle 20 delivers the delivery order of the plurality of deliveries determined to be delivered, including the location of the delivery destination (for example, the number of floors in the apartment where the dwelling unit of the delivery destination exists), and the delivery availability information. Determine based on time information. The travel route of the AGV 20 is determined and updated based on this delivery order.

In the present embodiment, the unmanned transfer vehicle communication unit 206 is configured to notify the smart speaker 21 and acquire from the smart speaker 21 receipt availability information indicating whether the delivery is designated by the recipient of the delivery. However, it is not limited to this. For example, the unmanned transfer vehicle communication unit 206 may acquire information output from a smart meter installed in a dwelling unit of a delivery destination or a sensor provided in a distribution board.

Specifically, the unmanned transfer vehicle communication unit 206 determines the presence or absence of the delivery recipient at the delivery destination based on the power usage state detected by the smart meter or the distribution board. For example, when the power consumption at the delivery destination dwelling unit is close to the standby power amount of a constantly operating home appliance such as a refrigerator, the unmanned transport vehicle communication unit 206 determines that the receiver is absent and receives the delivery It determines that it can not do. As described above, the unmanned transfer vehicle communication unit 206 may use the determination result based on the presence or absence of the recipient as the reception availability information.

The accuracy of the receipt / acceptance information decreases as the time period from when the recipient inputs the receipt / acceptance information to the smart speaker 21 until the delivery is delivered to the recipient's dwelling unit is longer. The reason is that even if the recipient has indicated that the delivery can be received, the delivery can be made as soon as the recipient is able to do business (for example, the recipient has gone out) It is because it may be changing to the situation which can not receive a thing. Therefore, the unmanned transfer vehicle 20 delivers the series of processes from the announcement to the receiver by the smart speaker 21 to the re-sorting of the delivery based on the determination of delivery availability and the determination and update of the traveling route of the unmanned transfer vehicle 20. It is preferable to be performed as close as possible to the dwelling unit. For example, the time when the unmanned transfer vehicle 20 has moved to the floor of the delivery destination dwelling unit is as close as possible to the delivery destination dwelling unit. Alternatively, the series of processes may be performed multiple times or periodically during transportation, and the travel route may be updated each time.

In particular, in large-scale condominiums, there must be places (hereinafter referred to as “gates”) that can not pass or reach without permission, such as the entrance of a condominium or the elevator in the condominium. There is. The unmanned transfer vehicle 20 stores in advance authentication information for permitting the apartment management server 22 managing the gate in the apartment to pass through the gate. The unmanned transfer vehicle 20 communicates with the apartment management server 22 and transmits authentication information to the apartment management server 22. Thereby, the automatic guided vehicle 20 can pass through the gate.

When the delivery of the delivery stored in the luggage container 13 loaded on the unmanned transfer vehicle 20 is all completed, the unmanned transfer vehicle 20 is installed at a predetermined location (for example, the unmanned transfer vehicle 20 installed near the entrance of the apartment). Move to the waiting space) and wait until it is time to carry the next delivery.

The unmanned transfer vehicle 20 may be configured to have a function of receiving an input of receipt confirmation of the delivery by the receiver. In this case, for example, the ID card managed by the apartment held by the receiver is held over a receipt confirmation input unit (not shown) provided on the unmanned transport vehicle 20, and the receipt confirmation input unit is attached to the ID card. Read stored information. Then, when the identification information of the receiver included in the read information matches the identification information of the receiver included in the delivery destination information stored in the unmanned transfer vehicle 20, the unmanned transfer vehicle communication unit 206 Information is sent to a delivery management server (not shown) managed by the vendor indicating that the receipt confirmation has been made by the recipient.

The confirmation of receipt may be performed through a smart speaker. For example, the configuration may be such that the recipient speaks “Yes” and answers to the “Is it received?” Question issued from the smart speaker 21.

The unmanned transfer vehicle 20 may be configured to have a function of receiving an input of payment by the receiver (for example, payment of a shipping fee upon cash on delivery, payment of a product price by cash on delivery, etc.). In this case, for example, the credit card or cash card held by the receiver is held over a payment information input unit (not shown) provided on the automated guided vehicle 20, and the payment information input unit is stored on the credit card or cash card Read the information Then, the read information is sent from the unmanned carrier communication unit 206 to a server managed by a financial institution or a credit card company (or directly) via a delivery management server (not shown) managed by a delivery company (not shown). It is sent and payment is made.

In addition, the unmanned transfer vehicle 20 is a waiting space in the apartment when there is a delivery that has not been received by the receiver (for example, because the receiver was absent) in the loaded luggage container 13. It may be configured to move to and temporarily wait. In this case, the unmanned transfer vehicle 20 periodically acquires the acceptability information of the recipient who could not receive the delivery, and can deliver the delivery (for example, when the recipient returns home) When it becomes, transport the delivery to the receiver's dwelling unit again. According to the above configuration, since the luggage container 13 substitutes for the delivery box, the delivery box becomes unnecessary.

In addition, the resident who learned that the delivery was not delivered from the communication history of the smart speaker 21 (for example, with the unmanned carrier communicator 206) voluntarily performs redelivery via the smart speaker 21. You may ask for 20.

In addition, when the unmanned transfer vehicle 20 does not transfer a delivery, for example, the unmanned transfer vehicle 20 may move to a charging room in the apartment to charge its own unmanned transfer vehicle 20. The unmanned transfer vehicle 20 may hand over the loaded luggage container 13 to another unmanned transfer vehicle 20 when detecting a decrease in the battery remaining amount during transfer of a delivery. In this case, for example, when the unmanned transfer vehicle 20 detects a decrease in the battery remaining amount, another unmanned transfer vehicle 20 in which the battery remaining amount is not decreased is called via the unmanned transfer vehicle communication unit 206. Then, the unmanned transfer vehicle 20 may deliver the delivery to another called unmanned transfer vehicle 20.

[Functional configuration of unmanned carrier]
Hereinafter, the functional configuration of the automatic guided vehicle 20 will be described with reference to the drawings. FIG. 3 is a block diagram showing the functional configuration of the automatic guided vehicle 20 according to the embodiment of the present invention. The unmanned transport vehicle 20 is a transport robot that loads at least one delivery, travels the apartment (building), and transports the deliverables in order to the delivery destination of the delivery designated for each delivery. As shown in FIG. 3, the unmanned transfer vehicle 20 includes a receipt availability information acquisition unit 201, a delivery availability determination unit 202, a route information acquisition unit 203, a travel route determination unit 204, an authentication information storage unit 205, and unmanned It is comprised including the conveyance vehicle communication part 206 and the traveling part 207.

The reception availability information acquisition unit 201 acquires, for each delivery destination of the delivery, reception availability information indicating whether the delivery is received. Further, the receipt / non-acceptance information acquisition unit 201 acquires delivery time information indicating the delivery time of the delivery designated by the recipient of the delivery.

Note that the reception availability information acquisition unit 201 is attached to, for example, a mobile phone network, an Internet connection, a smart meter installed at a delivery destination, a sensor provided at a distribution board, or a power supply of a passage in a delivery destination building. The reception availability information can be acquired via at least one of the PLCs via the communication device.

Based on the reception availability information acquired by the reception availability information acquisition unit 201, the delivery availability determination unit 202 determines, for each delivery, whether to deliver to the delivery destination. Also, the delivery availability determination unit 202 determines the delivery order of the plurality of deliveries determined to be delivered based on the location of the delivery destination. Further, the delivery availability determination unit 202 determines the delivery order of the plurality of deliveries determined to be delivered based on the delivery time information acquired by the receipt availability information acquisition unit 201.

The route information acquisition unit 203 acquires self-propelled route information indicating a self-propelled route in the apartment (building).

The travel route determination unit 204 determines a travel route for transporting the delivery determined to be delivered by the delivery availability determination unit 202 to the delivery destination based on the self-propelled route information acquired by the route information acquisition unit 203. Do. Further, the traveling route determination unit 204 determines a traveling route based on the delivery order determined by the delivery availability determination unit 202.

In addition, the travel route determination unit 204 further uses information based on radio waves from a communication device attached to a smart meter or a sensor provided on a distribution board or a power supply of a passage of an apartment installed in a dwelling unit of a delivery destination. And the travel route can be determined.

The authentication information storage unit 205 stores authentication information for permitting the apartment management server 22 (building management apparatus) managing the gate in the apartment (building) to pass through the gate.

The unmanned transfer vehicle communication unit 206 communicates with the apartment management server 22 (building management apparatus), and transmits the authentication information stored in the authentication information storage unit 205 to the apartment management server 22 (building management apparatus).

The traveling unit 207 travels the inside of the apartment (building) based on the traveling route determined by the traveling route determination unit 204.

[Operation of unmanned carrier]
Hereinafter, an example of the operation of the automatic guided vehicle 20 will be described with reference to the drawings. FIG. 4 is a flowchart showing the operation of the automatic guided vehicle 20 according to an embodiment of the present invention.

(Step S101) The authentication information storage unit 205 stores authentication information for permitting the apartment management server 22 (building management apparatus) that manages the gate in the apartment (building) to pass through the gate. Thereafter, the process proceeds to step S102.

(Step S102) The route information acquisition unit 203 acquires self-propelled route information indicating a self-propelled route in the apartment (building). Thereafter, the process proceeds to step S103.

(Step S103) The reception availability information acquisition unit 201 acquires, for each delivery destination of the delivery, reception availability information indicating whether the delivery is received. Thereafter, the process proceeds to step S104.

(Step S104) Based on the reception availability information acquired by the reception availability information acquisition unit 201, the delivery availability determination unit 202 determines, for each delivery, whether to deliver to the delivery destination. Thereafter, the process proceeds to step S105.

(Step S105) The travel route determination unit 204 acquires the travel route for transporting the delivery determined to be delivered by the delivery availability determination unit 202 to the delivery destination by the route information acquisition unit 203. Make a decision based on Thereafter, the process proceeds to step S106.

(Step S106) The traveling unit 207 travels the inside of the apartment (building) based on the traveling route determined by the traveling route determination unit 204, and starts conveyance of the delivery. Thereafter, the process proceeds to step S107.

(Step S107) When the delivery of the delivery stored in the luggage container 13 loaded on the automatic guided vehicle 20 is completed, the process proceeds to step S110. If not, that is, if the delivery of the delivery has not been completed, the process proceeds to step S108.

(Step S108) If there is an authentication request from the apartment management server 22 to the unmanned transfer vehicle communication unit 206 at the gate (building) in the apartment, the process proceeds to step S109. If not, that is, if there is no authentication request, the process returns to step S107.

(Step S109) The unmanned transfer vehicle communication unit 206 transmits the authentication information stored in the authentication information storage unit 205 to the apartment management server 22. Thereafter, the process returns to step S107.

(Step S110) The traveling unit 207 travels by itself to a predetermined place (for example, the standby space of the automated guided vehicle 20 installed near the entrance of the apartment) and ends the transportation. Thus, the process illustrated in the flowchart ends.

As described above, the unmanned transfer vehicle 20 of the transfer system 2 according to an embodiment of the present invention acquires the reception availability information indicating whether the delivery is received or not for each delivery destination of the delivery, and the acquired reception availability Based on the information, it is determined for each delivery whether or not to deliver to the delivery destination. Then, a delivery order and a travel route for transporting only the delivery determined to be delivered to the dwelling unit of the delivery destination are determined, and the vehicle is self-propelled and transported according to the determined travel route.

With the above configuration, since the unmanned transfer vehicle 20 transports a delivery in the apartment, it is not necessary for a worker of the home delivery company to transport the delivery. As a result, the transport system 2 can reduce the time and cost of the delivery company in the delivery operation.

Also, with the above configuration, the delivery is not performed for the delivery destination where the recipient can not receive the delivery, and the redelivery is also not performed. Thus, the transport system 2 can reduce the time and cost of the delivery company in the delivery operation, and can reduce the time and effort of the recipient in receiving the delivery.

In addition, as described above, the unmanned transfer vehicle 20 of the transfer system 2 according to the embodiment of the present invention has a case where a delivery which is not received by the receiver remains in the loaded luggage container 13. You can move to the waiting space in the apartment and wait temporarily. In addition, the unmanned transport vehicle 20 periodically acquires the acceptability information of the recipient who could not receive the delivery, and when the delivery becomes ready for delivery, the unmanned transport vehicle 20 returns to the receiving unit of the recipient again. Delivery of goods can be carried out.

With the above configuration, the luggage container 13 replaces the delivery box, and the delivery box becomes unnecessary. Thereby, the conveyance system 2 can reduce the cost concerning installation, management, etc. of the delivery box.

Also, the above configuration eliminates the need for the recipient to retrieve the delivery to the delivery box. Thus, the delivery system 2 can reduce the time and effort of the recipient in receiving the delivery.

In addition, the transport system 2 can solve the following conventional problems regarding a home delivery company.

Conventionally, when delivery work takes time in a delivery destination apartment, it has been necessary for a worker of a delivery company to park the delivery vehicle 11 for a long time on a street near the apartment, a shared parking space of the apartment, or the like. Therefore, the delivery vehicle 11 may interfere with the residents and passersby of the apartment and the passing vehicle, or may pose a danger to the residents and passersby of the apartment and the passing vehicle and the worker of the courier company. There was a problem called.

On the other hand, the transport system 2 according to the embodiment of the present invention transports only deliveries to be delivered by the unmanned transport vehicle 20. Therefore, the transport system 2 can shorten the time required for the delivery operation in the delivery destination apartment. In this way, the transport system 2 can reduce the labor of the courier company worker to pay attention so that the delivery vehicle 11 does not disturb the surrounding people or cause a danger.

Conventionally, particularly in large-scale apartments such as tower-type apartments, security systems are often installed to prevent suspicious persons from entering the apartment and moving floors in the apartment. In this case, when the worker of the delivery company transports the delivery from the delivery vehicle 11 to the delivery destination in the apartment, it is necessary to obtain an entrance permission from the apartment manager at the entrance of the apartment. In addition, to deliver the delivery to the recipient, the worker of the courier company contacts the recipient by the interphone installed near the entrance of the apartment, and after obtaining the recipient's permission, to the elevator hall It was necessary to move to the floor (floor) where the dwelling units of the delivery destination and the delivery destination were located. In particular, when there are many delivery destinations such as large-scale apartments etc., it is necessary for the workers of the delivery company to obtain the above-mentioned permission for each delivery destination, and the task of much labor by the workers of the delivery company is required. was there.

On the other hand, in the transfer system 2 according to the embodiment of the present invention, the unmanned transfer vehicle 20 managed by the apartment stores the authentication information. Then, the unmanned transfer vehicle 20 transmits the authentication information to the apartment management server 22, thereby obtaining admission to the apartment or the floor in the apartment without obtaining permission from the apartment administrator or each recipient. The floor can be moved. Thereby, the conveyance system 2 can reduce the effort by the worker of the home delivery company for obtaining permission from the apartment manager and the respective recipients.

In the past, delivery has also been made to destinations where the recipient can not receive the delivery (e.g., by absence). As a result, there is a problem that the delivery efficiency decreases as the number of delivery destinations that can not receive the delivery item increases.

On the other hand, in the transport system 2 according to the embodiment of the present invention, the delivery is not performed for the delivery destination where the recipient can not receive the delivery, and the redelivery is also not performed. As a result, the delivery efficiency can be improved, and more deliveries can be delivered.

In the past, particularly large-scale condominiums such as tower-type condominiums often have many deliverables. When there are many deliverables, it takes a lot of labor by the courier company worker to transport the carrier loaded with all the deliverables in order to each dwelling unit of the delivery destination. Therefore, in order to reduce the labor required to transport the deliveries, the workers of the delivery company temporarily place the deliveries in elevator halls and the like on each floor of the apartment, take out only a portion of the deliveries from there, and deliver them. Delivery to each dwelling unit of As a result, there is a problem that there is a risk that the temporarily placed delivery may be stolen or lost.

On the other hand, in the transport system 2 according to the embodiment of the present invention, the unmanned transport vehicle 20 carrying only deliverables that can be received by the recipient transports the deliverables to the dwelling units of the delivery destination. Will not be temporarily placed. Thus, the transport system 2 can reduce the risk of theft or loss of the delivery.

In addition, the transport system 2 can solve the following conventional problems related to apartment related persons such as an apartment manager, a concierge, and a night guard.

Conventionally, a plurality of home delivery companies often go in and out of an apartment. Therefore, the apartment manager had to perform management work such as permitting entry of a plurality of home delivery companies and movement within the apartment. There is a problem that it takes time for this management work.

On the other hand, in the transfer system 2 according to the embodiment of the present invention, the unmanned transfer vehicle 20 managed by the apartment stores the authentication information. Then, the unmanned transfer vehicle 20 transmits the authentication information to the apartment management server 22, thereby obtaining admission to the apartment or the floor in the apartment without obtaining permission from the apartment administrator or each recipient. The floor can be moved. As a result, the transport system 2 can reduce the effort by the condominium worker for performing the management work related to the entry and exit of a plurality of home delivery companies.

In the past, transportation was performed for all deliverables including deliveries that can not be received by the recipient (for example, the absence of the recipient), so the number of transport vehicles moving back and forth in the apartment has increased . Along with this, there has been a problem that the wall and elevator in the apartment are often contaminated or damaged.

On the other hand, the transport system 2 according to an embodiment of the present invention transports only the deliverables that can be received by the receiver (for example, the receiver is at home), so the number of times the vehicle travels in the apartment is Will be less. This reduces the chances of the walls and elevators in the apartment being soiled or damaged. Thereby, the conveyance system 2 can reduce the effort by the condominium worker for cleaning and repairing the wall and elevator in the condominium. In addition, the cost for the above-mentioned cleaning and repair is reduced.

Conventionally, deliveries that the recipient could not receive, for example due to the absence of the recipient, may be stored in the home delivery box. In this case, the recipient may not take back the delivery stored in the delivery box for a long time. In this case, the apartment worker must contact the recipient to encourage delivery of the delivery. There was a problem that it took time and effort for this contact work.

On the other hand, since the transport system 2 according to an embodiment of the present invention transports only deliverables that can be received by the receiver (for example, the receiver is at home), the condominium worker delivers the delivery box to the condominium There is no need to install it. As a result, the transport system 2 can eliminate the contact work by the condominium personnel for prompting the recipient to pick up the delivery from the delivery box.

In addition, the transport system 2 can solve the following problems regarding conventional delivery recipients.

In the past, when the recipient could not receive the delivery due to absence or the like, if the delivery company brought back the delivery, the recipient had to contact the delivery company to request redelivery. . Also, when the delivery company stored the delivery in the delivery box, the recipient had to go to the delivery box and pick up the delivery. As described above, when the delivery can not be received, there is a problem that it takes time and effort in receiving the subsequent delivery. In addition, when the size of the delivery stored in the delivery box is large or the weight is heavy, the labor for receiving the recipient is further increased. In addition, for the elderly, there is a problem that it is difficult to operate the delivery box.

On the other hand, according to the transport system 2 according to the embodiment of the present invention, the delivery is not performed for the delivery destination where the recipient can not receive the delivery, and the redelivery is also not performed. Also, there is no need to install a delivery box. Thereby, the transport system 2 can solve the problem of the recipient regarding the above-described redelivery and delivery box.

Traditionally, if the recipient can receive the delivery (e.g., the recipient is at home), the recipient is handed the delivery directly from the courier company worker in front of the door. However, there may be recipients who do not like to meet a courier company worker. In addition, there is a problem that there is a risk that a suspicious person who is spoofed as a worker of the courier company will appear when the worker of the courier company hands the delivery directly to the recipient directly in front of the entrance.

On the other hand, in the transport system 2 according to the embodiment of the present invention, the worker of the home delivery company and the receiver face each other because the unmanned transport vehicle 20 transports the delivery to the dwelling unit of the receiver of the delivery. Absent. As a result, the transport system 2 can solve the above-mentioned problem of the recipient by the worker of the home delivery company and the recipient meeting each other.

In addition, the conveyance system 2 can solve the following problems regarding residents of condominiums other than conventional recipients.

Conventionally, as described above, a plurality of home delivery companies often enter and leave the apartment. Therefore, workers of a plurality of home delivery companies may stagnate at the entrance of an apartment, an elevator hall or the like. As a result, there has been a problem that residents of the apartment may not be able to smoothly move in and out of the apartment or move in the apartment.

On the other hand, the transport system 2 according to an embodiment of the present invention transports only the deliverables that can be received by the receiver (for example, the receiver is at home), so the number of times the vehicle travels in the apartment is Will be reduced. Therefore, the possibility of the unmanned transfer vehicle 20 staying in the entrance of the apartment, the elevator hall or the like is reduced. As a result, the transport system 2 according to the embodiment of the present invention can allow the residents of the apartment to move in and out of the apartment and move in the apartment more smoothly.

The embodiment of the present invention has been described in detail, but the specific configuration is not limited to the above-described one, and various design changes can be made without departing from the scope of the present invention. is there.

Note that part or all of the unmanned transfer vehicle 20 in the above-described embodiment may be realized by a computer. In that case, a program for realizing the control function may be recorded in a computer readable recording medium, and the program recorded in the recording medium may be read and executed by a computer system.

Here, the “computer system” is a computer system built in the automatic guided vehicle 20, and includes an OS and hardware such as peripheral devices. Further, the “computer-readable recording medium” means a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in a computer system.

Furthermore, the “computer-readable recording medium” is one that holds a program dynamically for a short time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case may also include one that holds a program for a certain period of time. The program may be for realizing a part of the functions described above, or may be realized in combination with the program already recorded in the computer system.

In addition, the automated guided vehicle 20 in the above-described embodiment may be realized as an integrated circuit such as an LSI (Large Scale Integration). Each functional block of the automatic guided vehicle 20 may be individually processorized, or part or all may be integrated and processorized. Further, the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible. In the case where an integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology, integrated circuits based on such technology may also be used.

2 ... transport system, 11 ... delivery vehicle, 20 ... unmanned transport vehicle, 21 ... smart speaker, 22 ... apartment management server, 30 ... communication network, 201 ... acceptability Information acquisition unit 202: delivery availability determination unit 203: route information acquisition unit 204: travel route determination unit 205: authentication information storage unit 206: unmanned carrier communication unit, 207 ··· Running unit

Claims

A transport robot that loads at least one delivery, travels in a building, and sequentially transports the delivery to a delivery destination of the delivery designated for each delivery.
A receipt / non-acceptance information acquisition unit that obtains, for each delivery destination of the delivery, receipt / non-delivery information indicating whether or not the delivery can be received;
A delivery availability determination unit that determines, for each delivery, whether to deliver to the delivery destination based on the receipt availability information;
A route information acquisition unit for acquiring self-propelled route information indicating a self-propelled route in the building;
A travel route determination unit that determines a travel route for transporting the deliverable determined to be delivered by the delivery availability determination unit to the delivery destination based on the self-propelled route information;
A traveling unit that travels in the building based on the traveling route;
A transport robot comprising:
The transfer robot according to claim 1, wherein the reception availability information is information indicating the reception availability designated by a recipient of the delivery.
The transfer robot according to claim 2, wherein the receipt / non-acceptance information is information based on information inputted to a smart speaker by a recipient of the delivery.
The transfer robot according to any one of claims 1 to 3, wherein the receipt / non-acceptance information is information based on the presence or absence of a recipient of the delivery at the delivery destination.
The reception availability information is information based on the presence or absence determined based on a power usage state detected by a smart meter installed at the delivery destination or a sensor provided in a distribution board. The transfer robot according to claim 4.
An authentication information storage unit that stores authentication information for allowing a building management apparatus that manages a gate in the building to pass through the gate;
A communication unit that is communicably connected to the building management apparatus and transmits the authentication information stored in the authentication information storage unit to the building management apparatus;
The transfer robot according to any one of claims 1 to 5, comprising:
The delivery availability determination unit determines the delivery order of the plurality of deliveries determined to be delivered based on the location of the delivery destination,
The transfer robot according to any one of claims 1 to 6, wherein the traveling route determination unit determines the traveling route based on the delivery order.
The receipt / non-acceptance information acquisition unit acquires delivery time information indicating a delivery time of the delivery designated by the recipient of the delivery,
The delivery availability determination unit determines the delivery order of the plurality of deliveries determined to be delivered based on the delivery time information,
The travel route determination unit determines the travel route on the basis of the delivery order determined by the delivery availability determination unit. Transport robot.
The receipt / non-acceptance information acquisition unit may be via a mobile phone network, an internet connection, a smart meter installed at a delivery destination, a sensor provided on a distribution board, or a communication device attached to a power supply in the passage in the building. The transfer robot according to any one of claims 1 to 8, wherein the reception availability information is acquired via at least one of the PLCs.
The travel route determination unit uses information based on radio waves from a sensor installed on a smart meter or a distribution board installed at the delivery destination, or a communication device attached to a power supply in a passage in the building. The transport robot according to any one of claims 1 to 9, wherein the travel route is determined.
A communication device installed for each delivery destination of the delivery, at least one delivery loaded, self-propelled in the building, and the delivery to the delivery destination of the delivery designated for each delivery in order A transfer system having a transfer robot for transferring
The communication device is
A receipt / non-delivery information transmission unit that transmits receipt / non-delivery information indicating whether or not to receive the delivery to the transport robot,
Equipped with
The transfer robot is
A receipt / non-delivery information acquisition unit for obtaining the delivery / non-delivery information for each delivery destination of the delivery;
A delivery availability determination unit that determines, for each delivery, whether to deliver to the delivery destination based on the receipt availability information;
A route information acquisition unit for acquiring self-propelled route information indicating a self-propelled route in the building;
A travel route determination unit that determines a travel route for transporting the deliverable determined to be delivered by the delivery availability determination unit to the delivery destination based on the self-propelled route information;
A traveling unit that travels in the building based on the traveling route;
A transport system comprising:
A computer-implemented transport method of a transport robot which loads at least one deliverable and travels in a building and transports the deliverable in order to a delivery destination of the deliverable designated for each deliverable,
A receipt / non-acceptance information acquiring step of acquiring, for each delivery destination of the delivery, receipt / non-delivery information indicating whether or not the delivery can be received;
A delivery availability determination step of determining for each delivery item whether delivery is to be made to the delivery destination based on the receipt availability information;
A route information acquisition step of acquiring self-propelled route information indicating a self-propelled route in the building;
A travel route determination step of determining a travel route for transporting the delivery determined to be delivered by the delivery availability determination step to the delivery destination based on the self-propelled route information;
A traveling step of traveling in the building based on the traveling route;
A transfer method characterized by comprising:
To a computer of a transport robot that loads at least one delivery, travels in a building, and sequentially transports the delivery to the delivery destination of the delivery designated for each delivery;
A receipt / non-acceptance information acquiring step of acquiring, for each delivery destination of the delivery, receipt / non-delivery information indicating whether or not the delivery can be received;
A delivery availability determination step of determining for each delivery item whether delivery is to be made to the delivery destination based on the receipt availability information;
A route information acquisition step of acquiring self-propelled route information indicating a self-propelled route in the building;
A travel route determination step of determining a travel route for transporting the delivery determined to be delivered by the delivery availability determination step to the delivery destination based on the self-propelled route information;
A traveling step of traveling in the building based on the traveling route;
Transport program for running