JP7540967B2 - Delivery device - Google Patents

Description

The present invention relates to an autonomous delivery device.

Robots have been proposed that move autonomously within buildings and provide various services (for example, Patent Document 1).

JP 2017-220123 A

One possible use for such robots is a parcel delivery service in apartment buildings. Elevators can be used to move between floors of an apartment building, but it can be spatially difficult for a robot to turn and change direction inside the elevator car. There can also be cases where there is not enough space to turn around in the shared corridors after getting out of the car. For this reason, after getting out of the car, the robot may have to move to the destination apartment in a posture that is unfavorable to the robot's awareness of its surroundings, which can delay its arrival at the destination apartment.

The objective of the present invention is to provide a delivery device that can move more smoothly to the delivery destination residence after getting off the elevator car.

According to the present invention,
A home delivery device that autonomously delivers parcels to dwelling units in an apartment building where movement between floors is possible by elevator,
A detection means for detecting a target object around the delivery device;
A movement control means for controlling the movement of the delivery device,
When the delivery device gets off the elevator car,
The detection means detects a first identifier provided on a far side of a common corridor as seen from the elevator,
The movement control means moves the delivery device to the back side of the shared corridor based on the first identifier detected by the detection means.
A delivery device characterized by the above features is provided.

The present invention provides a delivery device that can move more smoothly to the delivery destination residence after getting off the elevator car.

1A is a side view of a delivery device according to one embodiment of the present invention, and FIG. 1B is an explanatory diagram of the internal structure of the delivery device of FIG. FIG. 2 is a block diagram of a control system of the delivery device of FIG. FIG. 13 is an explanatory diagram of an example of a delivery service in an apartment building. 6 is a flowchart of an example of processing executed by a control unit. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device. FIG. 11 is an explanatory diagram showing an example of movement of a delivery device.

The following embodiments are described in detail with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined in any desired manner. In addition, the same reference numbers are used for the same or similar configurations, and duplicate descriptions will be omitted.

<Outline of the delivery device>
1(A) is a side view of a delivery device 1 according to an embodiment of the present invention, and (B) is an explanatory diagram of the internal structure of the delivery device 1. In the figure, arrow X indicates the front-rear direction of the delivery device 1, F indicates the front, and R indicates the rear. Arrows Y and Z indicate the width direction (left-right direction) and up-down direction of the delivery device 1.

The delivery device 1 is an electric autonomous vehicle equipped with a driving unit 2 and using a battery BT as the main power source. The battery BT is a secondary battery such as a lithium-ion battery, and the delivery device 1 is self-propelled by the driving unit 2 using power supplied from the battery BT. The driving unit 2 is a four-wheeled vehicle equipped with a pair of left and right front wheels 20 and a pair of left and right rear wheels 21. The driving unit 2 may be in other forms, such as a tricycle.

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

The delivery device 1 is equipped with detection units 8-10 that detect targets around the delivery device 1. The detection units 8-10 are a group of external sensors that monitor the area around the delivery device 1, and in this embodiment, each is an imaging device that captures an image of the area around the delivery device 1, and includes, for example, an optical system such as a lens and an image sensor. However, it is also possible to employ radar or lidar (Light Detection and Ranging) instead of or in addition to the imaging device.

Two detection units 8 are arranged at the front of the delivery device 1, spaced apart in the Y direction, and mainly detect targets in front of the delivery device 1. Detection units 9 are arranged on the left and right sides of the delivery device 1, respectively, and mainly detect targets to the sides of the delivery device 1. Detection unit 10 is arranged at the rear of the delivery device 1, and mainly detects targets behind the delivery device 1. By providing multiple detection units 8 that detect in front of the delivery device 1, the detection performance of targets in front of the delivery device 1 can be improved.

The delivery device 1 is equipped with multiple storage units 3 and 4 (a total of four in this embodiment) for storing packages. Both storage units 3 and 4 have box-shaped storage spaces, with storage unit 4 having a larger volume than storage unit 3. Therefore, it is suitable for storing large packages in storage unit 4 and small packages in storage unit 3.

Two storage units 3 are arranged in front of the delivery device 1. One of the two storage units 3 has a door 3a on the left side of the delivery device 1, and parcels can be loaded and unloaded from the left side of the delivery device 1 by opening the door 3a. The other of the two storage units 3 has a door 3a on the right side of the delivery device 1, and parcels can be loaded and unloaded from the right side of the delivery device 1 by opening the door 3a. Figure 1(A) shows the door 3a in a closed state, and Figure 1(B) shows the door 3a in an open state.

Two storage units 4 are arranged at the rear of the delivery device 1. One of the two storage units 4 has a door 4a on the left side of the delivery device 1, and parcels can be loaded and unloaded from the left side of the delivery device 1 by opening the door 4a. The other of the two storage units 4 has a door 4a on the right side of the delivery device 1, and parcels can be loaded and unloaded from the right side of the delivery device 1 by opening the door 4a. Figure 1 (A) shows the door 4a in a closed state, and Figure 1 (B) shows the door 4a in an open state.

Each storage unit 3 and 4 is provided with a switching unit 11 and a storage sensor 12. In this embodiment, the switching unit 11 is a lock/unlock mechanism for the doors 3a and 4a that uses an actuator such as a solenoid or a motor as a drive source.

When the switching unit 11 is locked, the storage spaces of the storage units 3 and 4 are closed by the doors 3a and 4a, and the storage units 3 and 4 are in a closed state in which it is difficult to take in or take out luggage. When the switching unit 11 is unlocked, the doors 3a and 4a can be opened, and the storage units 3 and 4 are in an open state in which it is possible to take in or take out luggage.

The storage sensor 12 is, for example, an optical sensor or a pressure sensor, and detects whether luggage is stored in the storage space of the storage units 3 and 4.

Display devices 5-7 are arranged around the upper periphery of delivery device 1. Display devices 5-7 are, for example, liquid crystal display panels, and display information to the delivery person, the recipient, and other people in the vicinity. Display device 5 is arranged at the front of delivery device 1. Display device 6 is arranged on the left and right sides of delivery device 1. Display device 7 is arranged at the rear of delivery device 1.

A manipulator MP is arranged to be stored on the top of the delivery device 1. The manipulator MP is provided to operate buttons such as the entry button at the entrance to the apartment complex, the destination floor button on the elevator, and the intercom button at the entrance to the residence.

An operation panel 13 and a reader 14 are also provided on the top of the delivery device 1. The operation panel 13 is, for example, a touch panel, and accepts various requests from the delivery person and the recipient. The reader 14 is, for example, a device that optically reads two-dimensional codes, and reads the code presented by the delivery person or the recipient and performs the corresponding process. The delivery person can input information about the package from the operation panel 13 or the reader 14. The recipient can input information about a package delivery request from the operation panel 13 or the reader 14.

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

The control unit 15 acquires the detection results of the detection units 8 to 10, input information from the operation panel 13 and reader 14, and the detection results from the storage sensor 12, and executes the corresponding processing. The voice input device 19 picks up the voice of the delivery person, recipient, or other person. The control unit 15 can recognize the input voice and execute the corresponding processing. The GNSS (Global Navigation Satellite system) sensor 16 receives GNSS signals and detects the current position of the delivery device 1. The storage device 17 is a large-capacity storage device that stores information on the apartment complex to which the delivery is made, information on the dwelling unit to which the delivery is made, package information, etc.

The control unit 15 controls the motors 22a and 23a (controls the movement of the delivery device 1), the operation of the manipulator MP, the display control of the display units 5-7, and locks and unlocks the switching unit 11. The control unit 15 also outputs audio notifications and information to the delivery person, the recipient, or other people via the audio output device 18. The communication device 30 is a device capable of short-range wireless communication with the mobile terminals of the delivery person or the recipient, and with communication terminals in the apartment complex. The communication device 31 is a device capable of wireless communication with the server 50 that manages the delivery device 1 and the delivery service in general, via a communication network such as the Internet. The delivery device 1 is managed, for example, by the management association of the apartment complex or the delivery company.

<Delivery methods for apartment complexes>
3 is an explanatory diagram of an example of a delivery service using the delivery device 1 in an apartment building 100. The apartment building 100 has multiple floors, and it is possible to move between the floors using an elevator 103. In an apartment building with many units, such as a tower condominium, a delivery service using the delivery device 1 is advantageous, as it can reduce the burden on delivery personnel and deliver packages in a shorter time.

On the ground, the delivery person 200 places the parcel 201 in the delivery device 1, and inputs information such as the delivery destination. The information can be input by wireless communication between the delivery person 200's mobile terminal and the communication device 30, by the delivery person 200 operating the operation panel 13, or by presenting a code to the reader 14. Note that, although the present embodiment illustrates an example of loading the parcel onto the delivery device 1, it is also possible to employ a mode in which the parcel is loaded at a different location and the delivery device 1 is transported.

The delivery device 1 may store in advance in the storage device 17 information necessary for autonomous movement within the apartment complex 100. This information may include, for example, a floor map of the apartment complex 100 provided by the management association of the apartment complex 100, or information obtained by the delivery device 1 from past delivery records or prior learning. By using this information and the detection results of the detection units 8-10 and the GNSS sensor 16, the delivery device 1 can autonomously move with greater accuracy to the delivery destination dwelling unit 101a.

The delivery device 1 uses the elevator 103 when moving between floors. The delivery device 1 rides in the cage 103a, and the destination floor is specified by operating the manipulator MP or by communication between the communication terminal on the elevator 103 side and the communication device 30. When the delivery device 1 arrives at the destination floor, it travels along the shared corridor 102 using the traveling unit 2 to head to the destination residence 101. At the destination residence 101, the package 201 is handed over to the recipient, resident P. If packages for multiple destinations are stored, the device moves between those destinations in sequence to deliver the packages.

<Movement after getting off the elevator>
When the delivery device 1 boards the car 103a of the elevator 103, it usually boards by moving forward. If the interior space of the car 103a is narrow or if there are other passengers, it is difficult to rotate the delivery device 1 inside the car 103a to change its orientation. For this reason, when getting off from the car 103a, the delivery device 1 gets off by moving backward. Depending on the configuration of the apartment building 100, it may be spatially difficult for the delivery device 1 to rotate and change its orientation after getting off from the car 103a.

Then, the delivery device 1 moves backward to the destination residence 101. The delivery device 1 of this embodiment has two detection units 8 for forward detection, but one detection unit 10 for backward detection. Therefore, the delivery device 1 has inferior detection performance for rear targets compared to its detection performance for targets in front of it. The delivery device 1 must move to the destination residence in a posture that is unfavorable for recognizing the destination, which may delay the arrival at the destination residence 101. Therefore, in this embodiment, an identifier that assists the movement of the delivery device 1 is provided in the apartment building 100, and the delivery device 1 moves using this identifier as a landmark. This allows the delivery device 1 to move more smoothly to the destination residence 101, and there is no need to add a sensor for rear detection in order to make the delivery device 1's detection performance for targets equal in the front and rear.

An example of movement control when the delivery device 1 descends from the car 103a of the elevator 103 and moves to the residence 101 of the delivery destination will be described with reference to Figs. 4 to 8. Fig. 4 is a flowchart of an example of processing executed by the processor of the control unit 15, and shows an example of processing related to movement control of the delivery device 1. Figs. 5 to 8 are explanatory diagrams of the operation of the delivery device 1.

The movement control in FIG. 4 illustrates an example of movement control from the stage where the delivery device 1 boards the car 103a. In S1, it is determined whether the car 103a has arrived at the floor where the delivery device 1 is located. The arrival of the car 103a can be determined from an image captured by the detection unit 8. Alternatively, it can be determined by communication with the control system of the elevator 103 by the communication device 30. If it is determined that the car 103a has arrived, proceed to S2.

In S2, the delivery device 1 moves and gets into the cage 103a. Figure 5 shows the state when getting on board. In this embodiment, a shared corridor 102 is extended in the direction in which the cage 103a enters and exits, and a configuration is assumed in which each dwelling unit 101 is arranged along the shared corridor 102. The delivery device 1 moves from the floor from which it moves to the delivery destination dwelling units 101A and 101B. The delivery device 1 moves forward and gets into the cage 103a. The cage 103a moves to the destination floor (rises in the illustrated example).

In the apartment building 100, a corridor direction identifier 104 and a dwelling unit identifier 105 are provided as identifiers to assist the movement of the delivery device 1. The corridor direction identifier 104 is an identifier that allows the delivery device 1 to recognize the extension direction of the shared corridor 102 (in other words, the movement direction of the delivery device 1), and is provided on the far side of the shared corridor 102 as seen from the elevator 103. In this embodiment, the identifier is provided on the wall at the end of the shared corridor 102.

The dwelling unit identifier 105 is an identifier for identifying the distance between adjacent dwelling units, and in this embodiment, is provided on the front door 101a of each dwelling unit 101. In this embodiment, if there are multiple delivery destination dwelling units 101 on the same floor, delivery is made from the dwelling unit 101 at the back. When passing in front of each dwelling unit 101 while reversing, the delivery device 1 detects this dwelling unit identifier 105, and calculates the distance L1, L2 between the dwelling unit identifiers 105 from the traveled distance. Then, when moving from the backmost delivery destination to another delivery destination, by using these distances L1, L2 as a reference, it is possible to move more quickly to the front of the delivery destination dwelling unit 101.

The corridor direction identifier 104 and the dwelling unit identifier 105 are, for example, display boards having at least one of a specific color, outline shape, pattern, or figure. In this embodiment, it is assumed that dedicated identifiers are provided as the corridor direction identifier 104 and the dwelling unit identifier 105, but identifiers that are originally provided in the apartment building 100 may also be used as identifiers. For example, a doorknob may be used as the dwelling unit identifier 105.

Since it is sufficient to know the distance between adjacent dwelling units, the dwelling unit identifier 105 does not necessarily have to be provided for each dwelling unit 101. In particular, in a floor where the distance between all adjacent dwelling units is equal, the dwelling unit identifier 105 only needs to be provided in two places. However, in a configuration in which a dwelling unit identifier 104 is provided for each dwelling unit 101, as in this embodiment, it can also be used as an identifier to recognize the position of each dwelling unit. That is, the delivery device 1 detects this dwelling unit identifier 104 while reversing, and stores the position of the delivery device 1 on the shared corridor 102 at the time of detection. When moving to the delivery destination, by moving based on this position, it is possible to move more quickly to the front of the dwelling unit 101 of the delivery destination.

Returning to the explanation of the process in FIG. 4, in S3, it is determined whether or not the car 103a has arrived at the destination floor where the delivery destination apartments 101A and 101B are located. Arrival at the destination floor can be determined from images captured by the detection units 8 to 10. Alternatively, it can be determined from communication with the control system of the elevator 103 via the communication device 30. If it is determined that the car 103a has arrived at the destination floor, proceed to S4.

In S4, the delivery device 1 is caused to move backwards and the delivery device 1 gets off from the car 103a. In S5, the aisle direction identifier 104 is searched for. FIG. 6 shows the processing state of S4 and S5. The delivery device 1 moves backwards from the car 103a to the shared corridor 102 of the destination floor. Then, the detection units 8 to 10 search for the aisle direction identifier 104. In the illustrated example, the aisle direction identifier 104 is detected by the detection unit 10.

In S6, the delivery device 1 is moved backward using the aisle direction identifier 104 as a reference. For example, while detecting the aisle direction identifier 104, the delivery device 1 is moved toward the aisle direction identifier 104 so as to approach the aisle direction identifier 104. In S7, while the delivery device 1 is moving backward, the detection units 8 to 10 search for the dwelling unit identifier 105. The dwelling unit identifier 105 is detected, for example, by the detection unit 9, and the control unit 15 calculates the distance between the detected points and stores it in the storage device.

In S8, it is determined whether the delivery device 1 has arrived in front of the delivery destination dwelling unit 101. As described above, in this embodiment, when there are multiple delivery destination dwelling units 101 on the same floor, delivery is made starting from the dwelling unit 101 at the back. In the examples of Figures 5 and 6, dwelling unit 101A is the first delivery destination. Figure 7 illustrates the state in which the delivery device 1 has arrived in front of dwelling unit 101A.

When determining whether or not the parcel has arrived, it can be determined that the parcel has reached the dwelling unit 101 if an identification mark for the dwelling unit 101 attached to the delivery destination is detected. For example, this can be determined based on whether or not the room number display board 101b is recognized from the images captured by the detection units 8 to 10. The control unit 15 performs character recognition on the image of the display board 101b, and if the recognition result matches the room number of the delivery destination, it determines that the delivery device 1 has reached the delivery destination dwelling unit 101. If it is determined that the parcel has arrived, proceed to S9.

The conditions for determining arrival may include other conditions, such as detection of the front door 101a, in addition to detection of the identification display of the dwelling unit 101. Furthermore, whether the delivery device 1 has reached the destination dwelling unit 101 may be determined by, for example, confirmation by wireless communication between the communication terminal and the communication device 30, in addition to detection of the identification display of the dwelling unit 101, if a communication terminal is separately provided in the dwelling unit 101.

In S9, the movement of the home delivery device 1 is stopped and delivery processing is performed. In the delivery processing, the recipient is called at the delivery destination dwelling unit 101 to hand over the package. One method of calling is to operate the intercom 101c with the manipulator MP and announce the purpose (delivery of the package) from the audio output device 18. Another calling method is to call the recipient via wireless communication between a communication terminal and the communication device 30 if a communication terminal is separately provided in the dwelling unit 101. Yet another calling method is to call the recipient via wireless communication between the recipient's mobile terminal 40 and the communication device 30.

For the delivery of the parcel, the switching unit 11 corresponding to the storage unit in which the parcel to be delivered is stored, among the storage units 3 and 4, is driven to open the storage unit. At this time, the recipient is requested to identify the storage unit in which the parcel is stored and remove the parcel. As a method of request, a message requesting removal of the parcel may be displayed on the display unit 6. In response to this request, the recipient will remove the stored parcel. Once the parcel has been removed, the switching unit 11 is driven to close the storage unit. Whether or not the parcel has been removed can be determined from the detection result of the storage sensor 12. This completes the delivery of the parcel. A signature may be requested on the operation panel 13 to confirm the delivery of the parcel. The delivery confirmation information may be sent to the server 50 and stored in the server 50 as information on the completion of delivery.

In S10, it is determined whether there is another delivery destination on the same floor, and if there is another delivery destination, the process proceeds to S12, and if not, the process proceeds to S11. In S11, the delivery device 1 is moved forward toward the elevator 103.

In S12, the delivery device 1 is moved forward toward another delivery destination. FIG. 8 shows the state in which the delivery device 1 is moving forward toward another delivery destination, dwelling unit 101B. When moving from dwelling unit 101A to dwelling unit 101B, the distance (L1+L2) between dwelling units 101A and 101B has already been calculated from dwelling unit identifier 105 detected when moving backwards. Therefore, if the control unit 15 moves the delivery device 1 forward by this distance, the delivery device 1 will be positioned approximately in front of dwelling unit 101B. This allows for rapid movement between delivery destinations. After that, the process returns to S8 and the same process is repeated.

As described above, in this embodiment, after the delivery device 1 exits the car 103a of the elevator 103 by moving backwards, the passage direction identifier 104 is detected and used as a reference to move along the shared corridor 102, allowing the delivery device 1 to be moved more smoothly to the residence of the delivery destination.

<Other examples of movement control>
In the examples of Figures 5 to 8, the delivery device 1 is first moved backward to the innermost dwelling unit 101A, but if the delivery destination dwelling units 101 are only the dwelling units at the front, it is not necessary to move it to the innermost dwelling unit 101. Figures 9 and 10 show an example of this. Figure 9 shows the stage where the delivery device 1 gets off the car 103a of the elevator 103 at the destination floor. The only delivery destination at the destination floor is dwelling unit 101C. The control unit 15 detects the aisle direction identifier 104 using the detection units 8 to 10, and uses this as a reference to move the delivery device 1 backward. Then, as shown in Figure 10, the delivery device 1 is stopped in front of the delivery destination dwelling unit 101C, and the delivery process is performed.

Next, in the examples of Figures 5 to 8, an example was described in which the shared corridor 102 extends in the direction in which the car 103a enters and exits, but the shared corridor 102 may also extend in a direction that intersects with the direction in which the car 103a enters and exits. Figures 11 and 12 show an example of this, and are plan views of the destination floor. In the example shown, the shared corridor 102 extends in a direction perpendicular to the direction in which the car 103a enters and exits. The dwelling units 101 are arranged along the shared corridor 102, as in the examples of Figures 5 to 8.

Figure 11 shows the stage where the delivery device 1 has moved backwards and exited the car 103a. The posture of the delivery device 1 is such that its front-to-back direction intersects with the extension direction of the shared corridor 102. The control unit 15 searches for the aisle direction identifier 104 using the detection units 8 to 10. In the example shown, the aisle direction identifier 104 is detected by the detection unit 9. This identifies the direction in which the delivery device 1 should proceed.

Figure 12 shows the state in which the delivery device 1 moves toward the aisle direction identifier 104. The control unit 15 moves the delivery device 1 slightly forward toward the elevator 103, and then reverses and rotates the posture of the delivery device 1 so that its front-to-back direction coincides with the extension direction of the shared corridor 102. After that, while detecting the aisle direction identifier 104 with the detection unit 10, the delivery device 1 reverses toward the aisle direction identifier 104 and moves to the delivery destination.

<Other embodiments>
In the delivery device 1 of the above embodiment, the target detection performance in front and the target detection performance in the rear are different depending on the number of detection units 8 and 10. However, the target detection performance may be different due to the different types of detection units in the front and rear, for example, the detection unit that detects the target in front may be an imaging device and a lidar, and the detection unit that detects the target in the rear may be only an imaging device. Also, for example, the detection units in the front and rear may both be imaging devices and the number is the same (for example, one), but the target detection performance may be different due to differences in the performance of the detection units, such as different image resolutions and different angles of view.

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

1. The delivery device (1) of the above embodiment is
A delivery device that autonomously delivers parcels to a dwelling unit (101) in an apartment building (100) that can move between floors by an elevator (103), comprising:
A detection means (8-10) for detecting a target object around the delivery device;
A movement control means (15) for controlling the movement of the delivery device,
When the delivery device gets off the elevator car,
The detection means detects a first identifier (104) provided on the far side of the common corridor as seen from the elevator,
The movement control means moves the delivery device to the back side of the common corridor based on the first identifier detected by the detection means (FIGS. 7 and 10).
According to this embodiment, the delivery device is moved based on the first identifier, so that a delivery device can be provided that can move more smoothly to the destination residence after getting off the elevator car.

2. In the above embodiment,
The movement control means
When the passenger is to board the car, the delivery device is moved forward.
When a passenger wants to get off the car, the delivery device is moved backward (FIGS. 5 and 6).
According to this embodiment, even if there is no space for the delivery device to turn, the delivery device can be moved more smoothly to the residence of the delivery destination.

3. In the above embodiment,
The detection means has poorer target detection performance at the rear of the delivery device than at the front of the delivery device.
According to this embodiment, even if there is a difference in target detection performance between the front and rear of the delivery device, the delivery device can be moved more smoothly to the delivery destination residence.

4. In the above embodiment,
The detection means is
A forward detection means (8) for detecting a target in front of the delivery device;
and a rear detection means (10) for detecting a target behind the delivery device,
The number of the rear detection means is smaller than the number of the front detection means.
According to this embodiment, even if there is a difference in target detection performance between the front and rear of the delivery device, the delivery device can be moved more smoothly to the delivery destination residence.

5. In the above embodiment,
The movement control means moves the delivery device backward from the elevator to the front of the dwelling unit of the delivery destination.
According to this embodiment, even if there is no space for the delivery device to turn, the delivery device can be moved more smoothly to the residence of the delivery destination.

6. In the above embodiment,
If there are multiple delivery destinations along the common corridor,
The movement control means moves the delivery device backwards from the elevator to the residence of the delivery destination that is located furthest from the elevator, and after that delivery, moves the delivery device forward to the residence of another delivery destination (Figures 7 and 8).
According to this embodiment, delivery operations can be performed continuously without making large changes to the rotating posture of the delivery device.

7. In the above embodiment,
The detection means detects a second identifier arranged along the shared corridor while the delivery device is moving backward along the shared corridor;
The movement control means causes the delivery device to move forward to the front of the dwelling unit of the other delivery destination based on the detection result of the second identifier.
According to this embodiment, delivery to the other delivery destination can be carried out smoothly.

8. In the above embodiment,
The second identifier indicates the distance between adjacent dwelling units.
According to this embodiment, by controlling the movement of the delivery device based on the distance, delivery to the other delivery destination can be performed smoothly.

1 Delivery device, 8-10 Detection unit, 15 Control unit, 100 Apartment building, 101 Residence, 103 Elevator, 104 Passage direction identifier, 105 Residence identifier, 201 Package

Claims (8)

A home delivery device that autonomously delivers parcels to dwelling units in an apartment building where movement between floors is possible by elevator,
A detection means for detecting a target object around the delivery device;
A movement control means for controlling the movement of the delivery device,
When the delivery device gets off the elevator car,
The detection means detects a first identifier provided on a far side of a common corridor as seen from the elevator,
The movement control means moves the delivery device to the back side of the shared corridor based on the first identifier detected by the detection means.
A home delivery device comprising: The home delivery device according to claim 1,
The movement control means
When the passenger is to board the car, the delivery device is moved forward.
When the customer gets off the car, the delivery device is moved backward.
A home delivery device comprising: The home delivery device according to claim 2,
The detection means has poorer target detection performance at the rear of the delivery device than at the front of the delivery device.
A home delivery device comprising: The home delivery device according to claim 1 or 2,
The detection means is
A forward detection means for detecting a target ahead of the delivery device;
A rear detection means for detecting a target behind the delivery device,
the rear detection means are fewer in number than the front detection means;
A home delivery device comprising: The home delivery device according to claim 2,
The movement control means causes the delivery device to move backward from the elevator to the front of the dwelling unit of the delivery destination.
A home delivery device comprising: The home delivery device according to claim 2 or 5,
If there are multiple delivery destinations along the common corridor,
The movement control means moves the delivery device backward to a dwelling unit of a delivery destination located at the innermost side from the elevator, and after the delivery, moves the delivery device forward to a dwelling unit of another delivery destination.
A home delivery device comprising: The home delivery device according to claim 6,
The detection means detects a second identifier arranged along the shared corridor while the delivery device is moving backward along the shared corridor;
The movement control means causes the delivery device to move forward to a residence of the other delivery destination based on a detection result of the second identifier.
A home delivery device comprising: The home delivery device according to claim 7,
the second identifier indicating a distance between adjacent dwelling units;
A home delivery device comprising:

Images