JP7633354B2 - 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 for apartment complexes. After the robot delivers the parcels to each apartment, it is expected that the residents will handle them, and it is desirable to avoid inappropriate handling during this process.

The present invention aims to assist residents in properly handling their packages after they have been delivered to their residence by the delivery device.

A home delivery device according to an embodiment of the present invention has the following configuration.
A home delivery device that autonomously delivers packages to a residence,
A display unit that displays information about the package,
The display unit displays information regarding the weight of the parcel being delivered.

After the delivery device delivers the package to the residence, it can assist the resident in properly handling the package.

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. FIG. 4 is a diagram showing a display example by a display unit.

The embodiments are described in detail below 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 are 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 25 as the main power source. The battery 25 is, for example, a secondary battery such as a lithium-ion battery, and the delivery device 1 is self-propelled by the driving unit 2 using the power supplied from the battery 25. 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 traveling 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.

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 units 5-7 are arranged around the upper periphery of delivery device 1. Display units 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 unit 5 is arranged at the front of delivery device 1. Display units 6 are arranged on the left and right sides of delivery device 1. Display unit 7 is arranged at the rear of delivery device 1.

A manipulator 24 is arranged so that it can be stored on the top of the delivery device 1. The manipulator 24 is provided for operating buttons such as the entrance button at the entrance to the apartment complex, the destination floor button for 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 (travel control of the travel unit 2), the operation of the manipulator 24, the display control of the display units 5 to 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 the communication terminal 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 package 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 package onto the delivery device 1, it is also possible to employ a mode in which the package is loaded at a different location and the delivery device 1 is transported.

The delivery device 1 stores in advance in the storage device 17 the information necessary for autonomous movement within the apartment complex 100. This information includes, 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. Using this information and the detection results of the detection units 8-10 and the GNSS sensor 16, the delivery device 1 autonomously moves to the delivery destination dwelling unit 101a.

The delivery device 1 uses the elevator 103 when moving between floors. The delivery device 1 boards the cage 103a, and the destination floor is specified by operating the manipulator 24 or by communication between the communication terminal on the elevator 103 side and the communication device 30. When the delivery device arrives at the destination floor, it travels along the shared corridor 102 using the traveling unit 2 to head to the destination residence 101. In 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.

When handing over a package, the switching unit 11 corresponding to the storage unit 3 or 4 in which the package to be delivered is stored is driven to open that storage unit. Once the package has been removed, the switching unit 11 is driven to close that storage unit. Whether or not the package has been removed can be determined from the detection result of the storage sensor 12. This completes the delivery of the package.

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

For example, in one embodiment, the display units 5 to 7 of the delivery device 1 display information related to the parcel. Below, an example of information displayed by the display unit 5 is described, but the other display units 6 to 7 may perform similar displays. The display unit 5 can display information related to the parcel when it arrives at the delivery destination. On the other hand, the display unit 5 may refrain from displaying information related to the parcel while it is moving to the delivery destination so that other residents of the apartment complex do not become aware of it.

The information about the package includes information about the weight of the package 201 being delivered. For example, the display unit 5 can display information about the weight of the package 201 being delivered when the package arrives at the delivery destination. With a configuration in which the display unit 5 displays information about the weight of the package 201, for example, it is possible to inform the resident P that the package 201 is heavy, so that the resident P can take out the package 201 carefully so as not to hurt his/her back. Furthermore, when the resident P knows that the package 201 is heavy, he/she can ask another resident living in the same dwelling unit 101 to take out the package 201. Figure 4 shows an example of information about the weight of the package 201 (10 kg) displayed by the display unit 5.

Furthermore, resident P may refuse to receive package 201, taking into consideration information about the package. Resident P can make an input indicating refusal to receive package 201 via operation panel 13, or via resident P's mobile terminal 40 and communication device 30. For example, resident P who knows that package 201 is heavy can refuse to receive package 201. In this case, delivery device 1 can deliver package 201 to dwelling unit 101 again at a later time or at a time specified by resident P. In this way, another resident of dwelling unit 101 who is able to retrieve package 201 can retrieve package 201.

The information displayed by the display unit 5 is not limited to information regarding the weight of the package. For example, the display unit 5 may display information regarding the package itself, such as information regarding the fragility of the package, information regarding how the package will be stored (e.g., at room temperature or refrigerated), or information regarding the contents of the package. Furthermore, the display unit 5 may display information regarding the delivery of the package, such as the sender or recipient of the package. Displaying such information can also assist the resident P in appropriately handling the package 201.

The delivery device 1 can obtain information about these packages through wireless communication between the delivery person's 200 mobile terminal and the communication device 30, through the delivery person's 200 operation on the operation panel 13, or through the presentation of a code to the reader 14.

The method of notifying information related to the parcel is not limited to displaying the information on the display unit 5. As a specific example, the audio output device 18 may output audio information related to the parcel. As another example, the control unit 15 may function as an audio information output section that outputs audio information related to the parcel to the mobile terminal 40 owned by the resident P via the communication device 30. As yet another example, information related to the parcel may be included in the notification of the delivery. For example, information indicating the weight of the delivery may be included in an email sent to the mobile terminal 40 owned by the resident P announcing that the parcel 201 will be delivered.

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

<Providing information on receiving posture>
The home delivery device 1 may provide information regarding the posture of the resident P receiving the package 201. For example, the control unit 15 may function as a warning information output unit that outputs warning information regarding the posture of the person receiving the package based on the image of the person acquired by the detection units 8 to 10, which are imaging devices. For example, when the resident P is trying to lift the package with one hand, the control unit 15 can notify that the receiving posture is incorrect or suggest that the resident P hold the package with both hands. In addition, when lifting a heavy package, it is possible to prevent back pain by bending the knees to grab the package and lifting the package while straightening the knees. For this reason, when the resident P is trying to lift the package with his/her knees straightened, the control unit 15 can notify that the receiving posture is incorrect or suggest that the resident P hold the package after bending the knees. The control unit 15 can detect the posture of the person by posture recognition processing on the image using, for example, deep learning technology or joint point detection technology.

The control unit 15 may further provide information on the receiving posture of the package 201 based on the information on the package. For example, the control unit 15 may output warning information when the receiving posture of the resident P is not appropriate for the weight of the package 201. As a specific example, when the weight of the package 201 is equal to or greater than a threshold and the resident P is trying to lift the package with one hand, the control unit 15 may suggest that the resident P hold the package with both hands. This threshold may be determined according to the resident P. For example, the threshold may be set in advance for each resident P, or the threshold may be determined according to the age or gender of the resident P. With such a configuration, it is expected that the resident P will handle the package 201 more appropriately.

The method of providing information regarding the receiving posture of the parcel 201 is not particularly limited. The control unit 15 may display this information on the display unit 5, may output this information by voice on the audio output device 18, or may output this information to the mobile terminal 40 held by the resident P via the communication device 30.

<Monitoring people who receive packages>
The delivery device 1 may monitor the condition of the person who receives the package. For example, the delivery device 1 can monitor whether there is anything unusual about the condition of the resident P who receives the package 201. With this configuration, even if the resident P hurts his/her back when receiving the heavy package 201, the delivery device 1 can report this.

For example, the control unit 15 can function as a monitoring section that monitors the state of a person who has received a package, based on the image of the person captured by the detection units 8 to 10, which are image capture devices. In this case, the control unit 15 can detect the posture of the resident P by performing posture recognition processing on the image, and determine that there is something wrong with the resident P's state if the resident P falls, if the resident P's posture changes suddenly, or if the resident P stops moving for a certain period of time.

The control unit 15 can also function as a monitoring section that monitors the condition of the person who receives the package based on the sound collected by the voice input device 19. In this case, the control unit 15 can determine that there is something wrong with the resident P's condition if a groan or a loud sound is collected.

To monitor the condition of the resident P's lower back after receiving the package 201, the control unit 15 may monitor the condition of the resident P immediately after the resident P receives the package 201. Furthermore, if it is determined that there is something abnormal with the condition of the resident P, the control unit 15 may report the condition of the resident P via the communication device 30 to a terminal provided in the management room of the apartment complex, a mobile terminal owned by a family member associated with the resident P, or an emergency service.

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

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

For example, when the home delivery device 1 delivers the package 201 to the dwelling unit 101, it is possible that any resident of the dwelling unit 101 will pick up the package 201. On the other hand, it may be desirable to limit the recipient of the package 201. For example, the home delivery device 1 can deliver a package addressed to a specific resident of the dwelling unit 101 to this resident, while delivering another package addressed to this resident to another resident of the dwelling unit 101. In addition, the home delivery device 1 can control whether or not to deliver the package 201 based on information specifying the recipient of the package 201 and the identification result of the person who is about to receive the package. Specifically, when it is identified that there is a recipient specified for the package 201, the home delivery device 1 can deliver the package 201. With this configuration, it is possible to prevent the package 201 from being received by anyone other than the designated recipient. As another example, when it is identified that a person living with the recipient specified for the package 201 is living in the dwelling unit 101, which is the destination, the home delivery device 1 can refrain from delivering the package 201. With this configuration, the designated recipient can secretly receive the package 201. In this case, the delivery device 1 can obtain information designating the recipient of the package 201 through wireless communication between the mobile terminal of the delivery person 200 and the communication device 30, through the delivery person 200's operation on the operation panel 13, or through the presentation of a code to the reader 14.

The control unit 15 may also determine whether to hand over the package 201 by further considering the weight of the package 201. With this configuration, if the package 201 is heavy, the recipient can be limited to a person who can pick up the package 201. For example, an upper limit value for the weight of a package that can be picked up may be registered in advance for each resident. In this case, the control unit 15 can hand over the package 201 when the weight of the package 201 is equal to or less than the upper limit value set for the identified person. On the other hand, the control unit 15 can refrain from handing over the package 201 when the weight of the package 201 exceeds the upper limit value set for the identified person. As another example, the control unit 15 may identify the age or sex of the person who is about to receive the package, and determine whether to hand over the package 201 depending on the identification result and the weight of the package 201. With this configuration, it is possible to prevent the package from being improperly handled, such as dropping, as a result of handing over a heavy package.

If it is determined that delivery of the package 201 should be withheld, the delivery device 1 can deliver the package 201 to the dwelling unit 101 again at a later time or at a time designated by the resident. In this way, another resident of the dwelling unit 101 who is able to retrieve the package 201 can retrieve the package 201.

The above-mentioned configurations for providing information about parcels, presenting information about the receiving posture, monitoring the person receiving the parcel, and delivering the parcel according to the person can be combined in any manner. For example, a home delivery device 1 that displays information about parcels on the display unit 5 may further include a configuration for presenting information about the receiving posture, a configuration for monitoring the person receiving the parcel, and/or a configuration for delivering the parcel according to the person.

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 a package (201) to a dwelling unit (101) in an apartment building (100),
The baggage (201) is provided with a display unit (5-7) for displaying information about the baggage (201).
According to this embodiment, since information about packages can be provided to residents, it is expected that the residents will handle the packages appropriately.

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

3. In the above embodiment,
When the delivery arrives at the delivery destination, the display unit (5-7) displays information regarding the weight of the package (201) being delivered.
According to this embodiment, information about the package can be provided only to the resident of the delivery address.

4. The delivery device (1) of the above embodiment is
The vehicle further includes a voice information output means (15, 18, 40) for outputting voice information relating to the luggage (201).
According to this embodiment, it is possible to increase the likelihood that a resident will check information related to the package.

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

6. The delivery device (1) of the above embodiment is
Imaging means (8 to 10);
a warning information output means (15) for outputting warning information regarding the posture of the person receiving the package (201) based on the image of the person captured by the imaging means (8 to 10);
It further comprises:
According to this embodiment, it is expected that the resident will receive the package in the correct posture.

7. The delivery device (1) of the above embodiment is
Imaging means (8 to 10) or sound collecting means (19);
a monitoring means (15) for monitoring the state of a person who has received a package (201) based on the image of the person captured by the imaging means (8 to 10) or the sound captured by the sound capturing means (19);
It further comprises:
According to this embodiment, any abnormality in the behavior of the resident who receives the package can be detected, and a report can be sent as necessary.

8. The delivery device (1) of the above embodiment is
Identification means (15) for identifying a person;
A determination means (15) for changing the baggage (201) to be delivered depending on the identified person;
Equipped with.
This embodiment ensures that the package is handed over to the right person.

9. The delivery device (1) of the above embodiment is
Identification means (15) for identifying a person;
A determination means (15) for determining whether or not to hand over the package (201) to the identified person at the delivery destination;
Equipped with.
This embodiment ensures that the package is handed over to the right person.

10. In the above embodiment,
The determination means (15) further takes into consideration the weight of the luggage (201) to determine whether or not to hand over the luggage (201).
According to this embodiment, the package can be handed over to a person who is able to retrieve it.

Although the embodiment of the invention has been described above, the invention is not limited to the above embodiment, and various modifications and variations are possible within the scope of the gist of the invention.

1 Delivery device, 5-7 Display unit, 8-10 Detection unit, 15 Control unit, 100 Apartment building, 101 Residence, 201 Package

Claims (8)

A home delivery device that autonomously delivers packages to a residence,
A display unit that displays information about the package,
The display unit displays information regarding the weight of the parcel being delivered. A home delivery device that autonomously delivers packages to a residence,
A display unit that displays information about the package,
The display unit displays information about the package when the package arrives at a delivery destination. The home delivery device according to claim 1 or 2, further comprising a voice information output means for outputting voice information related to the package. A home delivery device that autonomously delivers packages to a residence,
a voice information output means for outputting voice information related to the package,
The delivery device is characterized in that the voice information output means outputs voice information relating to the weight of the package being delivered when the package arrives at the delivery destination. A home delivery device that autonomously delivers packages to a residence,
An imaging means;
a warning information output means for outputting warning information regarding a posture of the person receiving the package based on the image of the person acquired by the imaging means;
A home delivery device comprising: A home delivery device that autonomously delivers packages to a residence,
An imaging means or a sound collecting means;
a monitoring means for monitoring the state of the person receiving the package based on the image of the person captured by the imaging means or the sound captured by the sound collecting means;
A home delivery device comprising: A home delivery device that autonomously delivers packages to a residence,
An identification means for identifying a person;
A determination means for changing the package to be delivered depending on the identified person;
A home delivery device comprising: A home delivery device that autonomously delivers packages to a residence,
An identification means for identifying a person;
A determination means for determining whether or not to hand over the package to the identified person at the delivery destination;
Equipped with
The home delivery device is characterized in that the determination means determines whether or not to hand over the package, further taking into consideration the weight of the package.

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