JP7706345B2 - Collection and delivery system, collection and delivery center device, and collection and delivery management method - Google Patents

Description

This disclosure relates to technology for enabling the collection and delivery of goods by entering a building.

Patent document 1 discloses technology that enables an item transport robot to transport items to a recipient inside a building.

The item transport system of Patent Document 1 includes a self-propelled pallet capable of transporting items to the addressee's residence, and a guide robot capable of traveling within a building. The guide robot includes a BIM data storage unit, a confirmation unit, a route creation unit (route acquisition unit), and an instruction unit. The BIM data storage unit can store internal structure data of the registered building in which the guide robot is located. The confirmation unit queries the self-propelled pallet waiting at the entrance of the registered building for destination information. If the recipient included in the destination information is included among the users of the registered building, the route creation unit acquires a route from its own position to the addressee's residence based on the internal structure data of the registered building. The instruction unit instructs the self-propelled pallet to perform a follow-up operation with the guide robot leading the way. The guide robot includes a camera and a LiDAR unit, and acquires information about the surrounding environment to use for autonomous driving control.

JP 2021-064241 A

In the technology of Patent Document 1, a guide robot leads a self-propelled pallet waiting at the entrance of a building to the address of the recipient inside the building, so until the self-propelled pallet arrives at the entrance of the building, it is not known whether it will be able to reach the address of the recipient inside the building. Therefore, it is not always possible to reliably deliver an item to the address of the recipient inside the building.

One objective of this disclosure is to provide technology that improves the reliability of item collection and delivery within a building.

A collection and delivery system according to one aspect of the present disclosure includes a plurality of mobile devices that move autonomously to deliver items to a collection and delivery location within a building and/or receive items at the collection and delivery location, a collection and delivery center device that holds specification information representing the specifications of each of the mobile devices and manages the delivery and/or receipt of items by the mobile devices, and an in-building mobility support device that holds building information that is information related to movement within the building and supports the movement of the mobile devices within the building, and the collection and delivery center device and the in-building mobility support device work together to determine a mobile device that will deliver items to a collection and delivery location within the building and/or receive items at the collection and delivery location, the collection and delivery center device instructs the determined mobile device to deliver the items to the collection and delivery location and/or receive the items at the collection and delivery location, and the mobile device delivers the items to the collection and delivery location and/or receives the items at the collection and delivery location in accordance with the instructions from the collection and delivery center device.

According to one aspect of the present disclosure, it is possible to improve the reliability of item collection and delivery.

1 is a block diagram of a collection and delivery system according to a first embodiment. FIG. 2 is a diagram for explaining a process of searching for a route within a building in the intra-building delivery management system shown in FIG. 1 . 3 is a diagram for explaining the results of a simulation of whether or not mobility can travel to a destination collection and delivery location of an article in the simulation result visualization example shown in FIG. 2 . FIG. 4 is a flowchart for explaining an example of processing in a collection and delivery center device of the collection and delivery system shown in FIG. 1 . 2 is a diagram showing an example of mobility specification information stored in an affiliated mobility information storage unit shown in FIG. 1 . 4 is a flowchart for explaining an example of processing in an in-building delivery management system of the collection and delivery system shown in FIG. 1 . FIG. 2 is a diagram showing an example of a destination list shown in FIG. 1 . 4 is a flowchart for explaining an example of a process in the mobility of the collection and delivery system shown in FIG. 1 . 10 is a flowchart for explaining another example of the process in the collection and delivery center device of the collection and delivery system shown in FIG. 1 . 1. FIG. 4 is a diagram showing an example of condition information about mobility notified to the collection and delivery center device shown in FIG. 1 from an in-building delivery management system. 10 is a flowchart for explaining another example of processing in the mobility of the collection and delivery system shown in FIG. 1 . FIG. 13 is a block diagram of a collection and delivery system according to a third embodiment.

Below, an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram of a collection and delivery system according to the first embodiment.

As shown in FIG. 1, the collection and delivery system in this embodiment is configured such that multiple mobility vehicles 102, a collection and delivery center device 103, and an in-building delivery management system 101 can be connected via a network 104.

Mobility 102, an example of a mobile device, travels autonomously from the delivery start point where mobility 102 is currently located to a building that has a collection and delivery location, following instructions from collection and delivery center device 103, and further travels autonomously within the building using building information about the building acquired from in-building delivery management system 101. As a result, mobility 102 moves autonomously according to instructions from collection and delivery center device 103 to deliver items to collection and delivery locations within the building, and to receive items at the collection and delivery location. Mobility 102 is an unmanned mobile body that can move by carrying luggage on roadways, sidewalks, and within buildings, and is, for example, an unmanned vehicle, robot, drone, etc.

Each of the multiple mobilities 102 has a transmission/reception unit 119, a management unit 120, a self-information storage unit 121, a building information storage unit 122, an indoor integration unit 123, an outdoor integration unit 124, a sensor group 125, a wide-area map 129, a GPS (Global Positioning System) 130, an integrated specification switching unit 131, and an autonomous driving program 132.

The transmitter/receiver unit 119 communicates with the collection and distribution center device 103 and the building delivery management system 101 via the network 104.

The management unit 120 receives information transmitted from the collection and delivery center device 103 and the in-building delivery management system 101 via the transmission and reception unit 119, and transmits to the in-building delivery management system 101 information about arrival at a building that has a collection and delivery location for goods and completion of collection and delivery of goods via the transmission and reception unit 119. The management unit 120 also passes specification information representing its own specifications stored in the self-information storage unit 121 and its own position information detected by the GPS 130 to the autonomous driving program 132. The management unit 120 also stores building information about the building received via the transmission and reception unit 119 in the building information storage unit 122.

The sensor group 125 includes a camera 126, a time-of-flight (TOF) 127, and a light detection and ranging (LiDAR) 128, and acquires environmental information around the mobility 102.

The indoor integration unit 123 integrates the building information about the building stored in the building information storage unit 122 with the environmental information acquired by the sensor group 125, and generates movement information within the building that has a collection and delivery location.

The outdoor integration unit 124 integrates the wide-area map 129 with the environmental information acquired by the sensor group 125 to generate travel information to the building that has the collection and delivery location.

Based on the position information of the mobility 102 detected by the GPS 130, the integrated specification switching unit 131 passes either the movement information generated by the indoor integrated unit 123 or the movement information generated by the outdoor integrated unit 124 to the autonomous driving program 132.

The autonomous driving program 132 is a program for allowing the mobility 102 to drive automatically without a driver.

The collection and distribution center device 103 holds specification information that indicates the specifications of each of the multiple mobilities 102, and manages the delivery and receipt of goods by the mobilities 102. It cooperates with the in-building delivery management system 101 to determine which mobility 102 will deliver or receive goods to a collection and distribution location, and instructs the determined mobility 102 to deliver or receive goods at the collection and distribution location.

The collection and distribution center device 103 has a transmission/reception unit 133, a delivery management unit 134, a delivery route search unit 135, a jurisdiction map storage unit 136, and an affiliated mobility information storage unit 137.

The transmitter/receiver unit 133 communicates with the mobility 102 and the in-building delivery management system 101 via the network 104.

In response to a delivery request received via the transmission/reception unit 133, the delivery management unit 134 refers to the specification information of the mobility 102 stored in the belonging mobility information storage unit 137 and selects a candidate mobility 102 that will deliver the item to the collection and delivery location and receive the item at the collection and delivery location. The delivery management unit 134 specifies the selected candidate mobility 102 and the collection and delivery destination that is the destination of the item and the source of the item, and inquires via the transmission/reception unit 133 to the intra-building delivery management system 101 whether the mobility 102 can move to the destination collection and delivery location that is the collection and delivery location of the collection and delivery destination within the building. At that time, the delivery management unit 134 notifies the intra-building delivery management system 101 of the specification information of the selected candidate mobility 102 from the specification information of the mobility 102 stored in the belonging mobility information storage unit 137. If the in-building delivery management system 101 determines in response to this inquiry that the inquired mobility 102 is capable of traveling to the destination collection and delivery location, the delivery management unit 134 instructs the mobility 102 to deliver the item to the collection and delivery location or to receive the item at the collection and delivery location via the transmission and reception unit 133 based on the constraint information obtained from the in-building delivery management system 101, or reviews the delivery plan.

The delivery route search unit 135 refers to the map information stored in the jurisdiction map storage unit 136, and searches for a delivery route to a building that has a destination collection and delivery location in response to a delivery request received via the transmission and reception unit 133.

The intra-building delivery management system 101 is an intra-building movement support device that holds building information, which is information related to movement within a building, and supports the movement of the mobility 102 within the building. The intra-building delivery management system 101 obtains specification information of the mobility 102 notified from the collection and distribution center device 103, and presents information on restrictions on the mobility 102 accordingly.

The in-building delivery management system 101 has a transmission/reception unit 105, a management unit 106, a determination unit 107, a customer list 108, a destination determination unit 109, a destination list 110, a route search simulator 111, a premises map 112, a sensor group 113, an integration unit 116, a constraint extraction unit 117, and a presentation unit 118.

The transmitter/receiver unit 105 communicates with the mobility 102 and the collection and distribution center device 103 via the network 104.

The management unit 106 transfers information about the collection and delivery center device 103 from the information received via the transmission and reception unit 105 to the determination unit 107, and transfers information about the collection and delivery location and the building (building) that contains it, as well as specification information about the mobility 102 notified from the collection and delivery center device 103 to the destination determination unit 109.

The determination unit 107 compares the information about the collection and distribution center device 103 transferred from the management unit 106 with the customer list 108, determines whether the collection and distribution center device 103 is trustworthy, and returns the result to the management unit 106.

If the collection and delivery center device 103 is reliable, the destination determination unit 109 compares the collection and delivery location and the building that contains it with the destination list 110, obtains floor information within the building, and transfers the result and the specification information of the mobility 102 notified by the collection and delivery center device 103 to the route search simulator 111.

The premise map 112 is building information consisting of three-dimensional or two-dimensional building data, and includes building map information showing a map of the inside of a building, such as the rooms that make up the floors and the routes that people and mobility can travel, and route profile information showing the profile of the routes within the building. The route profile information includes the surface shape and steps of the passageways, and manages information on transportation methods including elevators from the building entrance to each room, step information, passageway width information for each height, and access rights.

The sensor group 113 has a camera 114 and a TOF 115 installed inside the building, and observes the state of the path inside the building and obtains the observation results.

The integration unit 116 integrates the premise map 112 with the observation results obtained by the sensor group 113, and transfers the spatial data of the building to the path search simulator 111.

The route search simulator 111 refers to the spatial data transferred from the integration unit 116 and searches for a route from the entrance of a building to the destination collection and delivery location specified by the floor information transferred from the destination determination unit 109. Specifically, the route search simulator 111 searches for a route from the entrance of the building to the destination collection and delivery location based on the building map information included in the spatial data transferred from the integration unit 116, and simulates the movement of the mobility 102 to the destination collection and delivery location for the route obtained by the search based on the specification information of the mobility 102 notified by the destination determination unit 109 and the route profile information included in the spatial data transferred from the integration unit 116. The route search simulator 111 also continuously acquires the observation results obtained by the sensor group 113, and when it receives via the transmission/reception unit 105 that the mobility 102 has arrived at the building entrance, it simulates the movement of the mobility 102 to the destination collection and delivery location based on the specification information of the mobility 102 notified by the destination determination unit 109, the route profile information included in the spatial data transferred from the integration unit 116, and the observation results acquired from the sensor group 113.

The constraint extraction unit 117 extracts and provides the weight capacity, passage width, gate height, and other constraints that the mobility 102 is subject to when moving based on the results of the simulation in the route search simulator 111.

Based on the simulation results in the route search simulator 111, the presentation unit 118 determines whether the mobility 102 can move to the destination collection and delivery location, and responds with the determination result to the collection and delivery center device 103 via the transmission and reception unit 105. Specifically, if the mobility 102 can move to the destination collection and delivery location, the presentation unit 118 notifies the collection and delivery center device 103 of that fact. In addition, if the mobility 102 cannot move to the destination collection and delivery location, the presentation unit 118 also notifies the collection and delivery center device 103, and if necessary, the collection and delivery center device 103 may change the mobility 102 that performs delivery. If the presentation unit 118 determines that the mobility 102 can move to the destination collection and delivery location, it sends route guidance information indicating the route from the building entrance to the destination collection and delivery location to the mobility 102 via the transmission and reception unit 105, allowing entry into the building.

The in-building delivery management system 101 and the collection and distribution center device 103 can also be configured using a computer. The in-building delivery management system 101 or the collection and distribution center device 103 can be realized by describing the processing of each part of the in-building delivery management system 101 or the collection and distribution center device 103 in a software program and having the computer execute the software program.

The operation of the collection and delivery system configured as described above will be described below. Note that in the following description, an example is given in which the mobility 102 delivers an item to a collection and delivery location within a building, but the same can also be applied to a case in which the mobility 102 receives an item at a collection and delivery location within a building.

First, we will explain the process of searching for routes within a building in the building delivery management system 101 shown in Figure 1.

Figure 2 is a diagram for explaining the process of searching for a route within a building in the building delivery management system 101 shown in Figure 1. In the figure, (a) is a diagram showing data integrated by the integration unit 116. (b) is a diagram showing an image of the route searched by the route search simulator 111 as viewed from the mobility perspective.

One example of static data for a building is BIM (Building Information Modeling), which is designed before the building is constructed and registered as a site map 112. Meanwhile, the sensor group 113 uses, for example, cameras 114, TOF 115, LiDAR, etc. installed in various locations within the building to observe changes within the building, such as the presence or absence of static objects, and people entering and moving about, as dynamic data for the building. The integration unit 116 integrates this static data and dynamic data for the building.

As shown in (a) of FIG. 2, BIM data 201 registered as the site map 112 and three-dimensional data of a sensing target 203 sensed by a sensor 202 constituting the sensor group 113 are integrated by the integration unit 116 to generate spatial data 204 of a building in which a sensor 205, a sensing target 206, and an elevator 207 are arranged. Note that in the figure, the sensing target 206 is a flowerpot, but it may be something other than an installed flowerpot, a person, or delivery mobility. In this way, the building information includes at least one of the BIM of the building and the three-dimensional data of the building.

The sensor 202 is a device for detecting objects within the sensing range of the building, such as a camera, LiDAR, or TOF sensor, and observes and detects the sensing target 203, such as a still object like a flower pot or a person.

The integration unit 116 integrates the BIM data 201 and the detection data acquired by sensing using the sensor 202 into one representation space, and generates spatial data 204 that represents a virtual space that reproduces the so-called site.

When the spatial data 204 generated by the integration unit 116 is input, the path search simulator 111 generates a simulation result visualization example 208 by visualizing a virtual space that reproduces the site inside the building for the path that the mobility 102 moves through the building, simulating the movement of people and mobility in the virtual space and the scenery and appearance from the viewpoint of the people and mobility, and visualizing information inside the building. In FIG. 2 (b), an image of the path and the sensing target 210 present therein is shown as the simulation result visualization example 208, seen from inside an elevator 209.

Figure 3 is a diagram for explaining the results of a simulation of whether or not the mobility 102 can travel to the destination collection and delivery location of the goods in the simulation result visualization example 208 shown in Figure 2.

The movement route of the mobility 102 in the simulation result visualization example 208 shown in Figure 2 is calculated using the specification information of the mobility 102, based on the idea that the optimal route varies depending on the width, height, and operating performance of the mobility 102.

As shown in (a) to (e) in FIG. 3, assuming that room A on the xth floor of a building is designated as the destination collection and delivery location for an item, as shown in (a) in FIG. 3, for the first floor of the building, a route 304 is shown from the entrance 301, passing by the side of the reception counter 30, to the elevator 302.

Furthermore, on the xth floor where the destination collection and delivery location of the goods is located, the shortest route 306 from the elevator 302 to the destination collection and delivery location 305 in room A is shown, as shown in (b) of FIG. 3.

Also, as shown in (c) of FIG. 3, an alternative route 307 is shown in case the shortest route 306 from the elevator 302 on the xth floor to the destination delivery location 305 in room A cannot be selected.

Also, as shown in (d) of FIG. 3, a route 309 to an alternative destination collection and delivery location 308 is shown in the case where the mobility 102 cannot move from the elevator 302 on the xth floor to the destination collection and delivery location 305 in room A.

Also, as shown in (e) of FIG. 3, a route 311 from the entrance 301 to an alternative collection and delivery location 310 on the first floor is shown in case the mobility 102 cannot move to the xth floor where the item's destination collection and delivery location is located.

The routes 304, 306, 307, 309, and 311 shown in (a) to (e) in FIG. 3 may be presented as a visualization screen to instruct a worker or a delivery robot, which is a mobility 102 equipped with a camera, to search for a route, or may be transmitted as data to the delivery robot.

Next, we will explain the processing in the collection and delivery center device 103, the in-building delivery management system 101, and the mobility 102 of the collection and delivery system shown in Figure 1.

Figure 4 is a flowchart for explaining an example of processing in the collection and delivery center device 103 of the collection and delivery system shown in Figure 1.

The collection and delivery center device 103 checks whether there is a delivery request from a customer or a delivery core center, and when it receives a delivery request (step S401), first, in the delivery management unit 134, it tallies the contents of a certain number of packages that will be the items to be delivered (step S402), and then, referring to the mobility information storage unit 137, selects a candidate mobility to deliver the packages to the collection and delivery location based on the tallied contents (step S403).

Figure 5 is a diagram showing an example of specification information of the mobility 102 stored in the belonging mobility information storage unit 137 shown in Figure 1.

As shown in FIG. 5, the mobility information storage unit 137 stores specification information on the shape and driving performance of the mobility required for the route search simulation using the premises model. Specifically, for the mobility 102, the name, model number, left and right width, height, front and rear length, weight, driving speed, drivable gradient, drivable step, turning curvature radius, water resistance, presence or absence of on-board sensors, autonomous driving level, etc. are stored, but it is sufficient to include one or more of these. In addition, the type/characteristics of the on-board sensor group for realizing more advanced autonomous driving and the autonomous driving level may also be managed. Furthermore, if the mobility 102 is a ready-made product, it may be managed by the product model number. In addition, if the mobility 102 is a drone, there are items that are not required in FIG. 5, such as the maximum drivable gradient and maximum step, but it is important that items that contribute to determining whether or not it can move are listed, and are not limited to these.

The delivery management unit 134 manages the current location of each of the multiple mobilities 102, and uses this information to select a candidate mobility to deliver the package to the collection and delivery location.

The delivery route search unit 135 also refers to the jurisdiction map storage unit 136 to search for a delivery route from the current location of the mobility 102 selected as a candidate in step S403 to the building that has the collection and delivery location for the goods (step S404).

Next, the delivery management unit 134 determines whether the mobility 102 selected as a candidate in step S403 can travel the travel route searched in step S404 to reach the building that has the item collection and delivery location without any restrictions, or whether it can reach the building within the time limit (step S405).

If it is determined that the mobility 102 selected as a candidate in step S403 can travel the travel route searched in step S404 and reach the building (building) having the collection and delivery location of the item without any problems, the delivery management unit 134 notifies the intra-building delivery management system 101 that there is a delivery item, which is an item, and the specification information of the mobility 102 that will deliver the delivery item via the transmission and reception unit 133 (step S406). At that time, the intra-building delivery management system 101 is also notified of information that can identify the collection and delivery center device 103. Note that, since the specification information of the mobility 102 is registered in the belonging mobility information storage unit 137 as described above, the delivery management unit 134 can extract the specification information of the relevant mobility from the belonging mobility information storage unit 137 and notify the intra-building delivery management system 101.

Then, as described below, the intra-building delivery management system 101 determines whether the notified mobility can move within the building, and responds with the determination result to the collection and distribution center device 103, which receives this response via the transmission/reception unit 133 (step S407).

If the response received from the intra-building delivery management system 101 indicates that the mobility 102 is capable of moving within the building, the delivery management unit 134 determines the mobility notified to the intra-building delivery management system 101 in step S406 as the mobility that will deliver the delivery item (step S408), and instructs the determined mobility 102 to deliver the delivery item (step S409). This instruction includes information necessary for delivery, such as the collection and delivery location of the item and route information from the current waiting location of the mobility 102 to the building that has the collection and delivery location.

On the other hand, if the response received from the intra-building delivery management system 101 indicates that the mobility 102 cannot move within the building, the process returns to step S403, where a candidate mobility to deliver the package to the collection and delivery location is selected again, and subsequent delivery route searches, etc. are performed again in the same manner as described above, and the process loops until a notification is received in step S407 that the mobility 102 can move within the building.

In this way, the in-building delivery management system 101, which has information about the building, determines whether movement is possible within the building, so it can make detailed calculations to determine whether movement is possible.

Figure 6 is a flowchart for explaining an example of processing in the in-building delivery management system 101 of the collection and delivery system shown in Figure 1.

The in-building delivery management system 101 checks whether there is a delivery notification from the collection and distribution center device 103 (step S501), and when it receives the information about the presence of a delivery item and the specification information of the mobility 102 that will deliver the delivery item sent from the collection and distribution center device 103 in step S406 of FIG. 4 via the transmission and reception unit 105 (step S502), the determination unit 107 first compares the information about the collection and distribution center device 103 received from the collection and distribution center device 103 with the customer list 108 to determine whether the collection and distribution center device 103 is trustworthy and returns the result to the management unit 106.

If the collection and delivery center device 103 is reliable, the destination determination unit 109 then compares the collection and delivery location and the building that contains it with the destination list 110, obtains floor information within the building, and identifies the room or area within the building that will be the collection and delivery location (step S503).

Figure 7 shows an example of the destination list 110 shown in Figure 1.

As shown in FIG. 7, the destination list 110 stores information about customers who reside in buildings managed by the in-building delivery management system 101. Therefore, the destination determination unit 109 can refer to the destination list 110 to identify the room or area within the building that will be the collection and delivery location.

Next, in the route search simulator 111, the room or area that will be the collection and delivery location identified in step S503 is set, and the movement of the mobility 102 to the destination collection and delivery location is simulated for the mobility route from the building entrance to the collection and delivery location based on the specification information of the mobility 102 notified by the destination determination unit 109 and the route profile information included in the spatial data transferred from the integration unit 116 (step S504). The route search simulator 111 also has a model of the passageways within the building, and performs a route search based on the specification information of the mobility received from the collection and delivery center device 103 in step S502.

Then, the presentation unit 118 determines whether the mobility 102 can move to the destination or area that is the destination collection and delivery location based on the result of the intra-building route simulation in step S504 (step S505), and if movement is possible, transmits a message to that effect to the collection and delivery center device 103 via the transmission and reception unit 105 (step S506). At this time, the intra-building delivery management system 101 also provides the weight capacity, passage width, gate height, etc. that are restricted when the mobility 102 moves, extracted by the constraint extraction unit 117. The collection and delivery location may be determined by referring to a schedule management system such as the building's entrance and exit management system, or the presence or absence information of the delivery target person may be used to determine whether or not to allow movement within the building. As a result, when an absence is notified, the intra-building delivery management system 101 can set the destination to an alternative location, for example, a delivery location such as the reception side on the first floor.

If movement is not possible, a message to that effect is sent to the collection and distribution center device 103 via the transceiver unit 105 (step S507).

In this way, whether or not mobility 102 can move to the collection and delivery location within the building is determined by simulation, making it possible to make a highly accurate determination.

Then, when the intra-building delivery management system 101 receives from the mobility 102 a notice that it has arrived at the building (building) having the collection and delivery location (step S508), the route search simulator 111 simulates the movement of the mobility 102 to the destination collection and delivery location based on the specification information of the mobility 102 notified by the destination determination unit 109, the route profile information included in the spatial data transferred from the integration unit 116, and the observation results obtained from the sensor group 113 (step S509). In this way, step S509 is performed based on the latest information within the building, that is, the observation results obtained from the sensor group 113.

Then, the presentation unit 118 determines whether the mobility 102 can move to the destination or area that is the destination collection and delivery location based on the result of the in-building route simulation in step S509 (step S510), and if movement is possible, transmits a message to that effect to the mobility 102 via the transmission and reception unit 105 (step S511). At that time, information necessary for the mobility 102 to move within the building, such as a map and route information, is provided to the mobility 102.

After that, when the transmission/reception unit 105 receives a delivery completion report sent from the mobility 102 (step S512), the management unit 106 recognizes the end of collection and delivery, notifies the mobility 102 of permission to leave the building, and the series of processes ends (step S513).

If movement is not possible, instructions are given to leave the parcel at the side of the building entrance, rather than to enter the building (step S514). If movement of the mobility 102 is not possible in step S505, the collection and delivery center device 103 is notified of this in step S507, but if leaving the parcel at the door is assumed or permitted, the processing of steps S504 and S505 may be skipped.

In this way, when mobility 102 arrives at a building, the route simulation within the building is performed again using the sensor observation results, making it possible to further improve the reliability of item collection and delivery.

Figure 8 is a flowchart illustrating an example of processing in the mobility 102 of the collection and delivery system shown in Figure 1.

The mobility 102 waits for delivery instructions from the collection and distribution center device 103, and when the transmission and reception unit 119 receives the instructions sent from the collection and distribution center device 103 in step S409 of FIG. 4 (step S601), the management unit 120 sets the collection and delivery location included in the received instructions and loads the luggage to be actually transported (step S602).

Then, the management unit 120 passes the set collection and delivery information and the vehicle's own location information detected by the GPS 130 to the autonomous driving program 132, and the mobility 102 moves to the entrance of the building that has the set collection and delivery location using travel information to the building generated by the autonomous driving program 132 by integrating the wide-area map 129 and the environmental information acquired by the sensor group 125 in the outdoor integration unit 124 (step S603).

When the mobility 102 arrives at the building that has the collection and delivery location, the management unit 120 notifies the in-building delivery management system 101 that the mobility 102 has arrived at the building that has the collection and delivery location, and requests permission to enter the building (step S604).

When the mobility 102 receives permission to enter from the intra-building delivery management system 101 (step S605), it requests permission to move to the room that will be the collection and delivery location from the intra-building delivery management system 101, and receives the response via the transmission/reception unit 119 (step S606).

On the other hand, if permission to enter the building is not granted, the normal delivery service of leaving the parcel at the door or taking it back to the delivery center will be carried out (step S607).

In response to an application for permission to move to a room that is the collection and delivery location, the intra-building delivery management system 101 performs the processing in steps S508 to S511 shown in FIG. 6, and obtains information necessary for the mobility 102 to move within the building, such as a map and route information for the collection and delivery location, sent from the intra-building delivery management system 101 in step S511, as well as a movement permit indicating that movement within the building is permitted (step S608). The movement permit is used when a security gate is installed on the route within the building.

Then, the mobility 102 stores information necessary for the mobility 102 to move within the building, such as maps and route information for collection and delivery locations, in the building information storage unit 122, and the mobility 102 moves within the building using movement information generated by the indoor integration unit 123 by integrating the building information about the building stored in the building information storage unit 122 and the environmental information acquired by the sensor group 125, and unloads the cargo when it arrives at the collection and delivery location (step S609).

On the other hand, if permission to move to the room that is the collection and delivery location is not obtained, the designated location in the building and route information to the designated location are obtained from the in-building delivery management system 101 (step S610), and the indoor integration unit 123 uses the movement information generated by integrating the route information obtained from the in-building delivery management system 101 and the environmental information obtained by the sensor group 125 to move within the building, and when the vehicle arrives at the designated location, unloading is performed (step S611).

After completing unloading, the mobility 102 sends a delivery completion report to the in-building delivery management system 101 (step S612), and returns to the entrance of the building using the autonomous driving program 132, and prepares to leave (step S613).

Mobility 102 also erases data such as movement information acquired from the intra-building delivery management system 101 and stored in the building information storage unit 122 from a security standpoint (step S614).

Then, after receiving permission to leave sent from the in-building delivery management system 101 in step S513 shown in FIG. 6 (step S615), the vehicle moves to the base in the collection and delivery center device 103 (step S616).

On the other hand, if the in-building delivery management system 101 notifies the customer that he/she cannot leave, the delivery center device 103 is notified and inquires about the next steps to be taken (step S617).

In this embodiment, in the field of delivery and the like, the premise is that the mobility is of a type and shape that allows movement inside and outside buildings, and the aim is to achieve efficient and rapid movement by linking with the building where the goods are to be collected and delivered, rather than relying only on the vehicle's own sensors and information. In this case, the processing in steps S606, S608, S614, and S615 described above is considered to be important.

This embodiment allows for safe delivery of goods.

Second Embodiment
In the above-mentioned first embodiment, an example was described in which the mobility 102 arrives at a building having a collection and delivery location, and then moves to the collection and delivery location using information such as route information within the building transmitted from the intra-building delivery management system 101. However, it is also possible that the intra-building delivery management system 101 transmits condition information required for the mobility 102 to be able to move within the building as building information to the collection and delivery center device 103, and the collection and delivery center device 103 determines whether the mobility 102 can move to the collection and delivery location of the item based on the specification information of the mobility 102 and this building information. This simplifies the work process of the mobility 102 and avoids reviewing the delivery plan such as redelivery at the site, and the collection and delivery center device 103 can easily determine whether the mobility 102 can move within the building. The embodiment will be described below.

Figure 9 is a flowchart for explaining an example of processing in the collection and delivery center device 103 of the collection and delivery system shown in Figure 1, and shows processing in the collection and delivery center device 103 when the collection and delivery center device 103 and the in-building delivery management system 101 cooperate with each other before the mobility 102 delivers the item.

The collection and delivery center device 103 checks whether there are any delivery requests from customers or the delivery main center, and when it receives a delivery request (step S901), it first tallys up the contents of a certain number of packages that will be the items to be delivered (step S902), and notifies the in-building delivery management system 101 in advance that there is a delivery item for the building it manages, and the collection and delivery location (step S903).

Then, condition information regarding the mobility 102 for delivering the delivery item to the collection and delivery location is obtained from the in-building delivery management system 101 (step S904).

Figure 10 is a diagram showing an example of condition information about mobility 102 that is notified to the collection and distribution center device 103 shown in Figure 1 from the in-building delivery management system 101.

As shown in FIG. 10, the condition information about the mobility 102 notified to the collection and distribution center device 103 shown in FIG. 1 from the intra-building delivery management system 101 includes the mobility's width and height, length in the front-rear direction, maximum weight including luggage, speed, maximum slope at which it can be driven, maximum step, maximum gap, and minimum radius of curvature, which are items that contribute to whether it can be driven inside the building. Note that the gap is, for example, information related to the elevator, and can be imagined as the length of the space between the floor and the so-called cart carrying the delivery item. Note that in this embodiment, it is important that the mobility 102 is determined by sharing information that contributes to whether it can be driven inside the building between the collection and distribution center device 103 and the intra-building delivery management system 101, and as long as this purpose can be achieved, the items are not limited to those listed here.

The collection and delivery center device 103 selects a candidate mobility to deliver the package to the collection and delivery location based on the condition information about the mobility 102 notified by the in-building delivery management system 101, the specification information about the mobility 102 stored in the mobility information storage unit 137, and the summary information compiled in step S902 (step S905).

The collection and delivery center device 103 also refers to the jurisdiction map storage unit 136 and searches for a delivery route from the current position of the mobility 102 selected as a candidate in step S905 to the building that has the collection and delivery location for the goods (step S906). In this embodiment, the movement route of the mobility 102 within the building is also searched for using the condition information about the mobility 102 notified from the intra-building delivery management system 101.

Next, the collection and distribution center device 103 determines whether the mobility 102 selected as a candidate in step S905 can travel the travel route searched in step S906 to reach the building (building) that has the item collection and distribution location without any restrictions, and can move within the building without any restrictions (step S907).

If it is determined that the mobility 102 selected as a candidate in step S905 can travel the travel route searched in step S906 to the building (building) having the collection and delivery location of the item without any problems and can reach the collection and delivery location within the building, the collection and delivery center device 103 finally determines the mobility selected as a candidate in step S905 as the mobility that will deliver the delivery item (step S908), and instructs the determined mobility 102 to deliver the delivery item (step S909). This instruction includes information necessary for delivery, such as the collection and delivery location of the item, route information from the current waiting location of the mobility 102 to the building having the collection and delivery location, and a permit to enter the building having the collection and delivery location and a permit to exit the building. Note that these entry permits and exit permits are obtained by the collection and distribution center device 103 from the in-building delivery management system 101, but they may also be obtained from the in-building delivery management system together with the condition information of the mobility 102 in step S904, or may be obtained separately after the mobility 102 is determined in step S908.

On the other hand, if it is determined that the mobility 102 selected as a candidate in step S905 cannot travel the travel route searched in step S906 to reach the building (building) having the item collection and delivery location without any problems, or cannot reach the collection and delivery location within the building, the process returns to step S905, a candidate mobility to deliver the package to the collection and delivery location is selected again, and subsequent delivery route searches, etc. are performed again in the same manner as described above, and the process loops until it is determined in step S907 that the mobility 102 can move within the building.

Figure 11 is a flowchart illustrating another example of processing in the mobility 102 of the collection and delivery system shown in Figure 1.

The mobility 102 waits for delivery instructions from the collection and distribution center device 103, and when it receives the delivery instructions sent from the collection and distribution center device 103 in step S909 of FIG. 9, a permit to enter the building in which the collection and distribution location is located, and a permit to exit the building (step S1001), it sets the collection and distribution location included in the received delivery instructions and loads the luggage to be actually transported (step S1002).

Then, using the set collection and delivery information and its own location information detected by GPS 130, mobility 102 moves to the entrance of the building where the set collection and delivery location is located by autonomous driving program 132 (step S1003).

The entry permit received from the collection and delivery center device 103 in step S1001 permits entry into the building in which the collection and delivery location is located, so no complicated communications occur, and the mobility 102 enters the building in a manner similar to passing through a security gate by presenting the entry permit (step S1004).

Then, the mobility 102 moves to the collection and delivery location and unloads the cargo (step S1005), and then returns to the entrance of the building using the autonomous driving program 132 and prepares to leave (step S1006).

The exit permit received from the collection and distribution center device 103 in step S1001 permits exit from the building in which the collection and distribution location is located, so no complicated communications occur, and the mobility 102 exits the building in a manner similar to passing through a security gate by presenting the exit permit (step S1007), and then moves to the base at the collection and distribution center device 103 (step S1008).

Note that this embodiment is characterized in that the entry permission in step S1001 and the exit permission in step S1002 are granted in advance through cooperation between the collection and distribution center device 103 and the in-building delivery management system 101. As long as this is not deviated from, some kind of judgment may be made in the processing of the entry permission in step S1001 and the exit permission in step S1002. For example, it may be possible to judge whether the permit is genuine or to judge the end of delivery from a change in mobility weight.

Third Embodiment
As shown in the first and second embodiments described above, when mobility that can move within a building becomes common, it may be inefficient for all mobility to start moving from a distribution center having a collection and delivery center device 103. For example, when mobility is battery-powered, operation must always take into consideration the remaining battery level, but departing and arriving at a distribution center increases the constraints. Therefore, it is conceivable to make the collection and delivery center device mobile while retaining the functions of the collection and delivery center device, and to configure it like a large truck that can transport mobility. A large truck can be equipped with a larger battery than a small mobility, and there is a possibility that energy usage can be made more efficient than operation departing and arriving at a distribution center.

Figure 12 is a block diagram of the collection and delivery system in the third embodiment.

As shown in FIG. 12, the collection and delivery system in this embodiment is configured by adding a mobile collection and delivery center device 1201 to the system shown in FIG. 1.

A distribution center having a collection and distribution center device 103 usually has a predetermined area of responsibility. The mobile collection and distribution center device 1201 in this embodiment has a further subdivided area of responsibility set, within which it realizes the same functions as the collection and distribution center device 103. Note that the mobile collection and distribution center device 1201 will also be equipped with multiple mobilities with different specifications, just like the collection and distribution center device 103 that has mobility.

In this way, by using a mobile collection and distribution center device 1201 that is equipped with mobility 102 and can move around, it is possible to achieve more efficient energy usage than operations that depart and arrive at a distribution center.

The above-described embodiments of the present invention are illustrative examples of the present invention, and are not intended to limit the scope of the present invention to these embodiments. Those skilled in the art may implement the present invention in various other forms without departing from the scope of the present invention.

101...In-building delivery management system, 102...Mobility, 103...Collection and distribution center device, 104...Network, 105, 119...Transmitter/receiver, 106, 120...Management unit, 107...Determination unit, 108...Customer list, 109...Destination determination unit, 110...Destination list, 111...Route search simulator, 112...Premises map, 113, 125...Sensor group, 114, 126...Camera, 115, 127...TOF, 116...Integration unit, 117...Constraint extraction unit, 118...Presentation unit, 121...Self-information storage unit, 122...Building information storage unit, 123...Indoor integration unit, 124...Outdoor integration unit, 128...LiDAR, 129...Wide area map, 130...GPS, 131...Integration specification switching unit, 132...Autonomous driving program, 1201...Mobile delivery center device

Claims (5)

A plurality of mobile devices that move autonomously to deliver items to a collection/delivery location within a building and/or receive items at the collection/delivery location;
a collection and delivery center device that holds specification information that indicates the specifications of each of the mobile devices and manages delivery and/or receipt of items by the mobile devices;
an in-building movement support device that holds building information including in-building map information indicating a map inside the building and route profile information indicating a profile of a route inside the building, and supports movement of the mobile device inside the building;
the collection and delivery center device inquires of the intra-building mobility support device whether the mobile device can move to a destination collection and delivery location that is a collection and delivery location of the collection and delivery destination within the building, by specifying candidates for mobile devices that will deliver and/or receive the items and a destination collection and delivery location that is a destination for the items to be delivered and/or received,
the intra-building movement support device searches for a route from an entrance of the building to the destination collection and delivery location based on the intra-building map information, simulates movement of the mobile device to the destination collection and delivery location for the route obtained by the search based on the specification information and the route profile information, determines whether or not the mobile device can move to the destination collection and delivery location based on a result of the simulation, and responds with a result of the determination to the collection and delivery center device;
If the determination result indicates that the mobile device is capable of moving to the destination collection and delivery location, the collection and delivery center device instructs the mobile device to deliver the item to the collection and delivery location and/or receive the item at the collection and delivery location;
the mobile device delivers the item to the collection and delivery location and/or receives the item at the collection and delivery location in accordance with an instruction from the collection and delivery center device ;
The indoor mobility support device includes:
Observation results are continuously acquired from a sensor installed in the building and observing the state of a route within the building;
When the mobile device arrives at an entrance of the building, a movement of the mobile device to the destination delivery location is simulated based on the specification information, the route profile information, and the observation results, and based on the simulation result, it is determined whether the mobile device can move to the destination delivery location;
when it is determined that the mobile device is capable of moving to the destination collection and delivery location, route guidance information indicating a route from the entrance to the destination collection and delivery location is sent to the mobile device, thereby permitting the mobile device to enter the building;
Collection and delivery system. The collection and delivery center device is a device that can move by mounting the mobile device thereon.
The collection and delivery system according to claim 1 . the mobile device is an unmanned mobile body capable of moving on roadways and/or sidewalks and inside buildings;
The specification information includes one or more of the left and right width, height, front and rear length, weight, running speed, drivable slope, drivable step, turning curvature radius, water resistance, presence or absence of on-board sensors, and autonomous running level of the unmanned mobile body.
The collection and delivery system according to claim 1 . The building information includes at least one of building information modeling information of the building and three-dimensional data of the building.
The collection and delivery system according to claim 1 . A plurality of mobile devices that move autonomously to deliver items to a collection/delivery location within a building and/or receive items at the collection/delivery location;
a collection and delivery center device that holds specification information that indicates the specifications of each of the mobile devices and manages delivery and/or receipt of items by the mobile devices;
an in-building movement support device that holds building information including in-building map information indicating a map inside the building and route profile information indicating a profile of a route inside the building and supports movement of the mobile device inside the building, comprising:
the collection and delivery center device inquires of the intra-building mobility support device whether the mobile device can move to a destination collection and delivery location that is a collection and delivery location of the collection and delivery destination within the building, by specifying candidates for mobile devices that will deliver and/or receive the items and a destination collection and delivery location that is a destination for the items to be delivered and/or received,
the intra-building movement support device searches for a route from an entrance of the building to the destination collection and delivery location based on the intra-building map information, simulates movement of the mobile device to the destination collection and delivery location for the route obtained by the search based on the specification information and the route profile information, determines whether or not the mobile device can move to the destination collection and delivery location based on a result of the simulation, and responds with a result of the determination to the collection and delivery center device;
If the determination result indicates that the mobile device is capable of moving to the destination collection and delivery location, the collection and delivery center device instructs the mobile device to deliver the item to the collection and delivery location and/or receive the item at the collection and delivery location;
the mobile device delivers the item to the collection and delivery location and/or receives the item at the collection and delivery location in accordance with an instruction from the collection and delivery center device;
The indoor mobility support device includes:
Observation results are continuously acquired from a sensor installed in the building and observing the state of a route within the building;
When the mobile device arrives at an entrance of the building, a movement of the mobile device to the destination delivery location is simulated based on the specification information, the route profile information, and the observation results, and based on the simulation result, it is determined whether the mobile device can move to the destination delivery location;
when it is determined that the mobile device is capable of moving to the destination collection and delivery location, route guidance information indicating a route from the entrance to the destination collection and delivery location is sent to the mobile device, thereby permitting the mobile device to enter the building;
Collection and delivery method.

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