JP2020128287A - vehicle - Google Patents

Abstract

To provide a vehicle which can achieve efficient delivery by setting a destination considering the movement of a mobile body for delivering cargoes.SOLUTION: A vehicle 12 includes: a cargo chamber 22 for storing cargoes P to be delivered to a plurality of delivery places; a vehicle storage chamber 32 for storing a travel robot 40 for delivering the cargoes P from the destinations to the delivery places; a travel planning part for setting one or a plurality of destinations based on the spreading degree of the plurality of delivery places; and an automatic operation control part for travelling from the present position sequentially toward the one or the plurality of destinations set by the travel planning part.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle for delivering parcels.

Patent Document 1 discloses a vehicle capable of delivering luggage by automatic driving. The vehicle of the document requires the recipient to pick up the luggage to the vehicle. On the other hand, Patent Document 2 discloses a vehicle in which a plurality of delivery robots, which are moving bodies, are stored in a cargo space. In addition, the document describes that the delivery robot receives the parcel from the vehicle, autonomously travels, and delivers the parcel to the delivery place.

JP, 2018-162162, A German Patent Application Publication No. 102106099573

When the delivery robot of Patent Document 2 is mounted as a moving body on the vehicle of Patent Document 1, depending on the setting of the destination of the vehicle that is the starting point of the delivery robot, the delivery robot can deliver to a plurality of delivery points. Delivery may take time.

It is an object of the present invention to obtain a vehicle capable of realizing efficient delivery by setting a destination in consideration of movement of a moving body that delivers packages.

The vehicle according to claim 1, wherein a storage unit that stores a package to be delivered to each of a plurality of delivery locations, a storage unit that stores a moving body that delivers the package from a destination to the delivery location, and a plurality of the delivery A setting unit that sets one or more destinations based on the extent of spread of the ground, and a travel control unit that sequentially travels from the current position toward the one or more destinations set by the setting unit. , Are provided.

A vehicle according to a first aspect of the present invention accommodates a plurality of packages and stores a moving body that delivers the packages. In the vehicle, one or a plurality of destinations are set based on the degree of spread of the delivery place corresponding to each package. For example, if the distribution area is narrower than a predetermined range, one destination is set. On the other hand, when the spread of the delivery place is wider than the predetermined range, a plurality of destinations are set. According to the vehicle, the destination can be set in consideration of the movement of the moving body that delivers the parcel. As a result, efficient delivery can be realized.

According to the present invention, efficient delivery can be realized by setting a destination in consideration of movement of a moving body that delivers a package.

It is a figure which shows schematic structure of the delivery system which concerns on embodiment. It is a figure explaining the flow in which parcels in an embodiment are delivered. It is a sectional side view explaining the structure of a vehicle. It is a block diagram which shows the hardware constitutions of the control apparatus of a vehicle. It is a block diagram showing an example of functional composition of CPU in a control device of vehicles. It is a side view explaining the structure of a traveling robot. It is a side view explaining the structure of a drone. It is a flow chart which shows an example of a flow of destination setting processing performed with a control device of vehicles. It is a figure explaining the image of destination setting processing. It is a flow chart which shows an example of the flow of the individual delivery processing performed with the control device of vehicles.

Hereinafter, a vehicle and a delivery system according to an embodiment of the present invention will be described with reference to the drawings. 3 and 6, arrow FR indicates the front of the vehicle and arrow UP indicates the upper side of the vehicle. Further, in FIG. 7, the arrow UP indicates the upper side of the machine body, and the arrow W indicates the machine body width direction.
FIG. 1 is a block diagram showing a schematic configuration of a delivery system 10 according to the embodiment.

(Overview)
As shown in FIG. 1, a delivery system 10 according to the present embodiment includes a vehicle 12 that is an autonomous driving vehicle, a traveling robot 40 that is a moving body, a drone 50 that is a moving body, a processing server 14, and a terminal. And the smartphone 16 as described above. The vehicle 12 of the present embodiment is capable of accommodating a luggage P of a specific user and mounting a traveling robot 40 and a drone 50 for delivering the luggage P, respectively.

In the present embodiment, the vehicle 12 includes the control device 200, the traveling robot 40 includes the control device 400, and the drone 50 includes the control device 500. In the delivery system 10, the control device 200 of the vehicle 12, the control device 400 of the traveling robot 40, the control device 500 of the drone 50, the processing server 14, and the smartphone 16 are connected to each other via the network N1. Further, the control device 200 and the control device 400, and the control device 200 and the control device 500 are configured to be communicable without passing through the network N1.

Further, in the present embodiment, among the luggage P, the luggage PA having the communication function is provided. In this case, the luggage PA and the control device 400, and the luggage PA and the control device 500 are configured to be able to communicate with each other without going through the network N1.

Note that, in FIG. 1, the delivery system 10 is provided with only one vehicle 12, the traveling robot 40, the drone 50, and the smartphone 16 for each processing server 14, but this is not a limitation. In reality, a plurality of vehicles 12, traveling robots 40, drones 50, and smartphones 16 are provided for each processing server 14.

2A to 2F show the flow of delivering the parcel P by the delivery system 10 of this embodiment. The delivery system 10 of this embodiment delivers a product purchased by a specific user C via the Internet or the like to the user C's residence. Specifically, the product purchased by the user C is accommodated in the vehicle 12 from the collection/delivery center A as the luggage P (see FIG. 2A), and the vehicle 12 travels toward the delivery place D where the user C is. (See FIG. 2B). In the vehicle 12 that has reached the vicinity of the delivery point D, the luggage P is moved to the traveling robot 40 or the drone 50. When the vehicle 12 arrives at the destination B set near the delivery point D, the traveling robot 40 travels to the delivery point D when the luggage P is accommodated in the traveling robot 40 (FIG. 2C). Then, the parcel P is stored in the delivery box 60 (see FIG. 2D). On the other hand, when the luggage P is accommodated in the drone 50, the drone 50 flies to the delivery point D (see FIG. 2E) and drops the luggage P into the delivery box 60 to accommodate it (FIG. 2(F). )reference). Alternatively, the package P may be placed flat in a predetermined place without being stored in the delivery box 60, or the package P may be delivered directly to the user C.

(vehicle)
FIG. 3 is a side sectional view showing the structure of the vehicle 12 of this embodiment. As shown in FIG. 3, the vehicle 12 is provided with a substantially box-shaped vehicle body 20 having a cabin 21 having three layers in the vehicle vertical direction. At the upper stage of the cabin 21, a luggage compartment 22 is provided as a housing portion for housing a plurality of luggage P. The luggage compartment 22 has a refrigerating function or a warming function. Further, a sorting room 24 for sorting the luggage P is provided on the front side of the vehicle in the middle of the cabin 21, and a drone storage room 34 as a storage section for storing one drone 50 is provided on the rear side of the vehicle. .. The sorting chamber 24 is provided in a range of about 3/4 of the total length of the vehicle 12, and the drone storage chamber 34 is provided in a range of about ¼ of the total length. An area adjacent to the drone storage room 34 on the vehicle rear side of the sorting room 24 is configured as a sorting work part 24A for sorting the luggage P into either the traveling robot 40 or the drone 50.

Further, a vehicle storage chamber 32 as a storage unit for storing a plurality of traveling robots 40 is provided on the vehicle front side of the lower stage of the cabin 21, and a unit chamber 25 is provided on the vehicle rear side. The vehicle storage room 32 is provided on the vehicle lower side of the sorting room 24. The unit room 25 is provided below the vehicle in the drone storage room 34. The unit room 25 accommodates a drive unit for the vehicle 12, a control unit for automatic driving, and a control unit 200 for delivering the parcel P. A GPS device 210 is provided above the vehicle body 20, and a plurality of environment sensors 220 are provided in front of and behind the vehicle.

A slide door 20A that is supported by a door opening 32A on the vehicle front side of the vehicle storage chamber 32 so as to be opened and closed by sliding in the vehicle width direction is provided. Further, the slope 23 is provided on which the traveling robot 40 can travel from the vehicle front end portion of the floor 33 of the vehicle storage room 32 toward the road surface. The slope 23 can be stored under the floor 33. In the present embodiment, when the sliding door 20A is opened, the traveling robot 40 can pass through the door opening 32A and go down on the traveling path while descending the slope 23. The slide door 20A is automatically opened/closed by a movable mechanism (not shown), and the slope 23 is moved by the movable mechanism in accordance with the opening/closing operation of the slide door 20A. Instead of the sliding door 20A, a door supporting a vehicle lower end so that the vehicle upper side can rotate with respect to the door opening 32A is provided, and the upper end side of the door is opened until it comes into contact with the road surface. , The inside surface of the door may be used as a slope.

A hinge door 20B that supports an upper end portion of the vehicle so that the lower side of the vehicle can rotate is provided in a door opening portion 34A of the drone storage chamber 34 on the rear side of the vehicle. In this embodiment, when the hinge door 20B is opened, the drone 50 can fly out of the vehicle through the door opening 34A. When the hinge door 20B is open, the hinge door 20B projects rearward from the upper edge of the door opening 34A to form an eaves-shaped roof. The hinge door 20B is automatically opened/closed by an opening/closing mechanism (not shown). Instead of the hinge door 20B, a slide door supported by the door opening 34A so as to be opened and closed by sliding may be provided. Further, a window portion 20C is formed in the center portion of the hinge door 20B in the vehicle width direction and the vehicle vertical direction.

A passage (not shown) extending in the vehicle front-rear direction and the vehicle up-down direction is provided in the center of the luggage compartment 22 in the vehicle width direction, and racks 22A for loading luggage P are provided on both sides of the passage in the vehicle width direction. .. In addition, a stacker crane 26 is provided in the passage for moving the luggage P in the luggage compartment 22 up and down and forward and backward and moving the luggage P to the sorting compartment 24. Further, a conveyor 28 for moving the luggage P back and forth is provided on the floor from the sorting room 24 including the sorting work section 24A to the drone storage room 34. Further, a robot arm 27 is provided from the sorting work section 24A to the vehicle storage room 32.

In the case of delivering a specific parcel P in the present embodiment, first, in the cargo compartment 22, the stacker crane 26 places the parcel P from the rack 22A on the conveyor 28 of the sorting chamber 24. In the sorting room 24, one load P from the plurality of loads P is moved to the sorting work unit 24A by the conveyor 28. Then, in the sorting work unit 24A, the luggage P is moved to the drone storage room 34 or the vehicle storage room 32.

When the luggage P is moved to the drone storage room 34, the luggage P is accommodated in the accommodation room 54 of the drone 50 described later by the conveyor 28. On the other hand, when the luggage P is moved to the vehicle storage room 32, the luggage P is accommodated in the accommodation room 44 of the traveling robot 40 described later by the robot arm 27.

FIG. 4 is a block diagram showing a hardware configuration of equipment mounted on the vehicle 12 of the present embodiment. In addition to the control device 200 described above, the vehicle 12 includes a GPS (Global Positioning System) device 210 that obtains the current position of the vehicle 12, an environment sensor 220 that recognizes the environment around the vehicle 12, an acceleration/deceleration of the vehicle 12, and An actuator 230 for steering is provided. Here, the environment sensor 220 is configured to include a camera that images a predetermined range, a millimeter wave radar that transmits an exploration wave to the predetermined range, and a lidar (Light Detection and Ranging/Laser Imaging Detection and Ranging) that scans the predetermined range. ing.

The control device 200 includes a CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a communication I/F (Inter Face) 205, and an input/output I/F 206. There is. The CPU 201, the ROM 202, the RAM 203, the communication I/F 205, and the input/output I/F 206 are connected to each other via a bus 208 so that they can communicate with each other.

The CPU 201 is a central processing unit and executes various programs and controls each unit. That is, the CPU 201 reads the program from the ROM 202 and executes the program using the RAM 203 as a work area. In the present embodiment, the execution program is stored in the ROM 202. The CPU 201 executes the execution program so that the communication unit 250, the position acquisition unit 251, the environment recognition unit 252, the travel plan planning unit 254, the automatic driving control unit 256, the luggage detection unit 258, and the luggage control unit 260 shown in FIG. Function as.

The ROM 202 stores various programs and various data. The RAM 203 temporarily stores a program or data as a work area.

The communication I/F 205 is an interface for communicating with the control devices 400 and 500, the processing server 14, and the like, and standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark) are used, for example.

The input/output I/F 206 is an interface for communicating with each device mounted on the vehicle 12. The GPS device 210, the environment sensor 220, and the actuator 230 are connected to the control device 200 of the present embodiment via the input/output I/F 206. The GPS device 210, the environment sensor 220, and the actuator 230 may be directly connected to the bus 208.

FIG. 5 is a block diagram showing an example of the functional configuration of the CPU 201. As shown in FIG. 5, the CPU 201 includes a communication unit 250, a position acquisition unit 251, an environment recognition unit 252, a travel plan planning unit 254, an automatic driving control unit 256, a luggage detection unit 258, and a luggage control unit 260. There is. Each functional configuration is realized by the CPU 201 reading out the execution program stored in the ROM 202 and executing it.

The communication unit 250 has a function of transmitting and receiving various kinds of information via the communication I/F 205.

The position acquisition unit 251 has a function of acquiring the current position of the vehicle 12. The position acquisition unit 251 acquires position information from the GPS device 210 via the input/output I/F 206.

The environment recognition unit 252 has a function of recognizing a traveling environment around the vehicle 12. The environment recognition unit 252 acquires the traveling environment of the vehicle 12 as traveling environment information from the environment sensor 220 via the input/output I/F 206. The “driving environment information” includes the weather around the vehicle 12, the brightness, the width of the traveling path, obstacles, and the like.

The travel plan planning unit 254 as a setting unit has a function of planning a travel plan of the vehicle 12 from the collection/delivery center A through one or more destinations B to the collection/delivery center A again. Further, the travel plan planning unit 254 sets the destination B in consideration of the movement range of the traveling robot 40 or the drone 50 based on the extent of spread of the plurality of delivery points D by the destination setting process described later.

The automatic driving control unit 256 as a traveling control unit has a function of causing the vehicle 12 to travel by operating the actuator 230 in accordance with the planned traveling plan while considering the position information and the traveling environment information. .. In the present embodiment, the automatic driving control unit 256 causes the vehicle 12 to travel while passing through the one or more destinations B set by the travel planning unit 254.

The luggage detection unit 258 has a function of detecting the delivery point D of the luggage P and the delivered article of the luggage P housed in the luggage compartment 22 of the vehicle 12. In the present embodiment, for example, the camera provided in the luggage compartment 22 images the barcode or QR code (registered trademark) attached to the exterior of the luggage P, and the luggage detection unit 258 causes the imaged barcode or QR to be captured. The information on the delivery point D and the delivery item is acquired from the code. In the present embodiment, the information of the delivery point D and the delivery item is acquired by making an inquiry to the processing server 14, but the present invention is not limited to this, and information stored in advance in a storage medium such as the ROM 202 is searched. May be acquired.

The luggage control unit 260 has a function of selecting a moving body that accommodates the luggage P, moving the luggage P to the selected moving body, and starting the moving body. First, the luggage control unit 260 selects one of the traveling robot 40 and the drone 50 as a moving body defined for each luggage P or a moving body specified by the user C. Further, the luggage control unit 260 moves the luggage P to the drone 50 in the drone storage room 34 or the traveling robot 40 in the vehicle storage room 32 in the sorting work unit 24A. The traveling robot 40 in which the luggage P is stored in advance may be stored in the vehicle 12. Further, the drone 50 in which the luggage P is stored in advance may be stored in the vehicle 12.

Then, when the traveling robot 40 accommodating the luggage P is started, the luggage control unit 260 opens the slide door 20A and pulls out the slope 23 to the road surface side. In addition, the luggage control unit 260 opens the hinge door 20B when the drone 50 accommodating the luggage P is started.

(Running robot)
In this embodiment, an unmanned traveling robot is applied as the moving body. FIG. 6 is a side view showing the structure of the traveling robot 40 of this embodiment. As shown in FIG. 6, the traveling robot 40 includes a substantially box-shaped vehicle body 42, a storage chamber 44 in which the luggage P is stored inside the vehicle body 42, and a lid 46 that closes an opening 45 at an upper portion of the storage chamber 44. And are included.

The lid 46 is supported by rails (not shown) provided on both sides of the opening 45 in the vehicle width direction so as to be movable in the vehicle front-rear direction. The lid 45 moves from the upper part of the opening 45 toward the rear of the vehicle, so that the opening 45 is opened. The traveling robot 40 also includes a robot arm 48 for moving the luggage P from the accommodation chamber 44 to the outside of the vehicle.

A GPS device 410 is provided on an upper portion 42A of the vehicle body 42, and an environment sensor 420 is provided on at least a side portion 42B in front of the vehicle. Further, a control device 400 is provided inside the vehicle body 42. Here, the environment sensor 420 includes a camera, a millimeter wave radar, and a lidar, like the environment sensor 220 included in the vehicle 12.

In addition to the control device 400 described above, the traveling robot 40 includes a GPS device 410 that acquires the current position of the traveling robot 40, an environment sensor 420 that recognizes the environment around the traveling robot 40, and acceleration/deceleration of the traveling robot 40. And a traveling device for steering.

The control device 400 includes a CPU, a ROM, a RAM, a communication I/F, and an input/output I/F. In the control device 400, the CPU reads the program from the ROM and executes the program using the RAM as a work area, thereby enabling the delivery of the parcel P from the destination B to the delivery point D. Further, when the traveling robot 40 arrives at the delivery point D, the control device 400 operates the robot arm 48 to take out the luggage P from the accommodation chamber 44 and deliver it to the user C.

(Drone)
In this embodiment, a drone, which is an unmanned multi-copter, is applied as the moving body. FIG. 7 is a side view showing the structure of the drone 50 of this embodiment. As shown in FIG. 7, the drone 50 includes a drone body 52 having a plurality of propellers 53, and a shipping box 56 fixed to the lower end of the drone body 52.

The drone main body 52 is substantially box-shaped, and a GPS device 510 is provided on the upper portion 52B, and an environment sensor 520 that recognizes the environment around the drone 50 is provided at least on a side portion 52C in front of the aircraft. A control device 500 is provided inside the drone body 52.

The transport box 56 is a rectangular parallelepiped box, and the inside thereof is a storage chamber 54 in which the luggage P is stored. Further, one side wall portion 54A of the transport box 56 is configured as an opening/closing door 57 that rotates upward in the machine body. Further, the bottom portion 54B of the shipping box 56 is a double-opening door, and is configured as an open door 58 that rotates downward in the machine body.

In addition to the control device 500 described above, the drone 50 includes a GPS device 510 that acquires the current position of the drone 50, and an environment sensor 520 that recognizes the environment around the drone 50. Here, the environment sensor 520 includes an ultrasonic sensor, a gyro sensor, an atmospheric pressure sensor, a compass, and the like.

The control device 500 includes a CPU, a ROM, a RAM, a communication I/F, and an input/output I/F. In the control device 500, the CPU reads the program from the ROM and executes the program using the RAM as the work area, thereby enabling the delivery of the parcel P from the destination B to the delivery point D. Further, when the drone 50 arrives at the delivery point D, the control device 500 opens the open door 58 and drops the package P, thereby delivering the package P to the user C.

(Processing server)
The processing server 14 of the present embodiment has a function of providing the control device 200 of the vehicle 12 with the information of the delivery point D of the parcel P and the delivery item. Further, the processing server 14 has a function of performing a reception process related to selection of a moving body (the traveling robot 40 or the drone 50) and designation of delivery date and time via the smartphone 16 of the user C.

(smartphone)
The smartphone 16 of this embodiment has a function of notifying the user C of the arrival of the parcel P when the parcel P arrives from the delivery point D to the nearest destination B. In addition, the smartphone 16 has a function of giving an instruction to collect the luggage PA.

(Process flow)
Next, the flow of processing in the delivery system 10 of this embodiment will be described with reference to the flowcharts of FIGS. 8 and 10. As an example, an example in which the traveling robot 40 delivers a delivery is shown.

First, the destination setting process for setting one or a plurality of destinations B will be described.
In step S100 of FIG. 8, the CPU 201 identifies a delivery point D and a delivery item for a plurality of packages P to be delivered. For example, the CPU 201 identifies the delivery point D and the delivered item from the QR code on the exterior of the package P captured by the camera. The step may be executed when the luggage P is stored in the vehicle 12, or may be executed while the vehicle 12 is moving. Then, the process proceeds to step S101.

In step S101, the CPU 201 identifies the distribution of each delivery point D. Specifically, the CPU 201 calculates the average and variance of position information such as latitude and longitude of the delivery point D. For example, the CPU 201 specifies the distribution of the delivery point D based on the position information of the delivery point D of the parcel P. The identified distributions are considered to determine where to stop the vehicle 12 and take over delivery to the traveling robot 40. Then, the process proceeds to step S102.

In step S102, the CPU 201 determines whether or not the distribution of the delivery points D is wide. Specifically, the CPU 201 determines whether or not the spread of the delivery point D is wider than a predetermined range (for example, a radius of 3 km). When the CPU 201 determines that the distribution of the delivery point D has a spread, the process proceeds to step S103. On the other hand, when the CPU 201 determines that the distribution of the delivery points D does not spread, that is, the distribution of the delivery points D is narrow, the process proceeds to step S104.

In step S103, the CPU 201 sets a plurality of destinations B. Specifically, the CPU 201 sets one or a plurality of destinations B that are transit points of the vehicle 12 and a destination B that is an arrival point. For example, as shown in FIG. 9, the delivery point D farthest from the current position of the vehicle 12 and the closest delivery point D are specified, and the intermediate position is used as a boundary to classify the zones into two zones. Then, the destination B can be set by obtaining the average of the latitude and longitude of the delivery point D in each zone. Then, the destination setting process ends.

In step S104 of FIG. 8, the CPU 201 sets one destination B. Specifically, the CPU 201 sets the destination B which is the destination of the vehicle 12. For example, when the delivery points D are concentrated within a radius of 1 km, it is efficient in terms of transportation efficiency to stop the vehicle 12 at one destination and to deliver to the delivery points D by the traveling robot 40. .. Then, the destination setting process ends.

Next, an individual delivery process in which the traveling robot 40 delivers the vehicle 12 to the delivery point D from the vehicle 12 that has arrived at the destination will be described.

In step S200 of FIG. 10, the CPU 201 detects that the vehicle 12 has stopped at the destination B which is a waypoint or a destination. Then, the process proceeds to step S201.

In step S<b>201, the CPU 201 stores the farthest parcel P delivered by the traveling robot 40 in the traveling robot 40. That is, in this embodiment, the parcels P are sorted in the sorting room 24 in the order of delivery. Then, the process proceeds to step S202.

In step S202, the CPU 201 starts the traveling robot 40 toward the delivery point D of the luggage P stored in the traveling robot 40. Note that the traveling robot 40 of the present embodiment travels to the delivery point D where the user C is, but the traveling robot 40 is not limited to this, and may travel to a location specified by the user C through the smartphone 16. That is, the user C can receive not only the package P at the delivery point D but also the package P at the place specified by the user C. Then, the process proceeds to step S203.

In step S203, the CPU 201 determines whether or not the number of deliveries i by the traveling robot 40 has reached the planned delivery number N at the destination B. When the number of deliveries i is equal to the planned number of deliveries N, that is, when the number of deliveries i reaches the planned number of deliveries N, the CPU 201 ends the individual delivery process. On the other hand, if the number of deliveries i is not equal to the planned delivery number N, that is, if the delivery number i has not reached the planned delivery number N, the CPU 201 proceeds to step S204.

In step S204, the CPU 201 substitutes 1 for the number of deliveries i. That is, the delivery count i is added. Then, the process returns to step S201.

When a plurality of traveling robots 40 are stored in the vehicle storage room 32, the luggage P can be housed in each of the plurality of traveling robots 40 and can be sequentially started from the vehicle 12. As a result, a plurality of traveling robots 40 can simultaneously deliver at one destination B, so that the staying time at the destination B can be shortened. That is, when there are a plurality of destinations B, the time to reach the destination can be shortened and the total delivery time can be shortened.

(Summary of embodiment)
When the package P is delivered halfway using the vehicle 12 and finally the package P is delivered by a moving body such as the traveling robot 40 or the drone 50 stored in the vehicle 12, it is required to shorten the delivery time from the customer's point of view. To be Also, from the perspective of a business operator, it is required to improve delivery efficiency. Therefore, in the present embodiment, one or a plurality of destinations B are set based on the degree of spread of the delivery point D.

In the example of FIG. 9, assuming that the radius of 3 km is “predetermined range” in the determination of step S102 (see FIG. 8), if the delivery points D are concentrated within the radius of 5 km, the transit point and the arrival point are Two destinations B are set. As a result, after the vehicle 12 stops at the transit point and the traveling robot 40 delivers to each delivery point D, the vehicle 12 moves to the destination point and the traveling robot 40 delivers to the remaining delivery points D. I do. When it takes time for the traveling robot 40 to travel between the vehicle 12 and each delivery point D, a destination D, which is a transit point, is provided between the final destination D and the destination. The vehicle 12 is moved between Ds. That is, according to the present embodiment, the long-distance movement is achieved by moving the vehicle 12 at a speed higher than that of the traveling robot 40, so that the parcel P can be efficiently delivered.

In particular, when a food item such as pizza is delivered to the customer as a delivery item to be accommodated in the parcel P, the delivery time is shortened, so that the delivery item can be delivered in a warm state. According to the present embodiment, it is possible to improve the convenience in delivering the parcel P, realize efficient delivery, and reduce the transportation cost.

Further, when delivering pizza in the package PA which is a container having a communication function, the package C can be collected from the user C. For example, when the user C finishes eating pizza and puts the pizza package on the package PA, the package PA detects the package and outputs a recovery instruction signal to the traveling robot 40. On the other hand, the traveling robot 40 for collection traveling near the delivery point D receives the collection instruction signal, so that the traveling robot 40 can collect the package PA containing the package.

When a plurality of traveling robots 40 can be stored in the vehicle storage room 32 of the vehicle 12, by setting the traveling robot 40 that has completed the delivery or the traveling robot 40 dedicated to collection, the collection of packaging, food containers, etc. can be efficiently performed. It can be carried out. According to this embodiment, an additional service such as collection can be provided at low cost by the mobile body. Further, if the collection fee is collected from the user C, the profit can be increased.

For the above delivery, the case where the traveling robot 40 is used is illustrated, but in the case of the delivery by the drone 50 as well, it is possible to realize the efficient delivery by setting the destination B in consideration of the flight range of the drone 50. You can

The processing flow described in the above embodiment is an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed without departing from the spirit of the invention.

In addition, the configurations of the control devices, the processing servers, and the smartphones described in the above embodiments are merely examples, and may be changed according to circumstances without departing from the spirit of the invention.

12 vehicle 22 luggage compartment (accommodation section)
32 Vehicle storage room (storage section)
34 Drone storage room (storage section)
40 Running robot (moving body)
50 drone (mobile)
254 Travel Planning Department (Setting Department)
256 Automatic operation control unit (travel control unit)
B Destination D Delivery destination P Luggage

Claims (1)

A storage unit for storing parcels to be delivered to a plurality of delivery points,
A storage unit for storing a moving body that delivers the parcel from the destination to the delivery place;
A setting unit that sets one or a plurality of destinations based on the degree of spread of the plurality of delivery destinations;
To one or more of the destinations set by the setting unit, a traveling control unit that sequentially travels from the current position,
Vehicle equipped with.