CN116135596A - Distribution system, control method thereof, and storage medium - Google Patents

Abstract

The invention provides a distribution system, a control method thereof and a storage medium. The distribution system is provided with: an autonomous mobile delivery vehicle that delivers an article to a delivery destination; and a transport vehicle that carries the delivery vehicle. A plurality of additional components that can be mounted on the delivery vehicle and that correspond to services other than the delivery of the article are mounted in the delivery vehicle. The delivery vehicle selects and installs an attachment corresponding to the request information from a plurality of attachments based on the request information requesting a service other than delivery of the article.

Description

Distribution system, control method thereof, and storage medium

Technical Field

The present invention relates to a distribution system, a control method thereof, and a control program.

Background

Japanese patent application laid-open publication No. 2019-128801 discloses a delivery system including an autonomous mobile delivery vehicle for delivering an article to a delivery destination, and a transport vehicle for carrying the delivery vehicle. In the delivery system disclosed in japanese patent application laid-open No. 2019-128801, a delivery vehicle goes to a store instead of a user to make a purchase.

Disclosure of Invention

To provide a delivery system capable of coping with various services other than the delivery of articles, in addition to shopping disclosed in japanese patent application laid-open No. 2019-128801.

The present invention has been made in view of such circumstances, and provides a delivery system capable of coping with various services other than the delivery of an article.

A delivery system according to an aspect of the present invention is a delivery system including: an autonomous mobile delivery vehicle that delivers an article to a delivery destination; and a transport vehicle that carries the delivery vehicle, wherein a plurality of attachment devices that can be mounted on the delivery vehicle and that correspond to services other than delivery of the article are mounted in the transport vehicle, and wherein the delivery vehicle selects and mounts an attachment device that corresponds to the request information from the plurality of attachment devices in accordance with the request information that requests the service.

A control method of a distribution system according to an aspect of the present invention is a control method of a distribution system including: an autonomous mobile delivery vehicle that delivers an article to a delivery destination; and a transport vehicle that carries the delivery vehicle, wherein a plurality of attachment devices that can be mounted on the delivery vehicle and that are associated with services other than delivery of the article are mounted in the transport vehicle, and wherein the delivery vehicle selects and mounts an attachment device that is associated with the request information from the plurality of attachment devices in accordance with the request information that requests the service.

A control program according to an aspect of the present invention is a control program for a distribution system including: an autonomous mobile delivery vehicle that delivers an article to a delivery destination; and a transport vehicle that carries the delivery vehicle, wherein a plurality of attachment devices that can be mounted on the delivery vehicle and that correspond to services other than delivery of the article are mounted in the transport vehicle, and wherein the control program causes the delivery vehicle to execute a process in which the delivery vehicle selects and mounts an attachment device corresponding to the request information from the plurality of attachment devices in accordance with the request information that requests the service.

As described above, in one embodiment of the present invention, a plurality of attachment devices that can be mounted on a delivery vehicle and that correspond to services other than delivery of an article are mounted in the delivery vehicle, and the delivery vehicle selects and mounts an attachment device corresponding to the request information from the plurality of attachment devices according to the request information that requests the service. Accordingly, various services other than distribution of the article can be handled.

It may also be provided that an actuating device is included in the plurality of additional components. Here, the delivery vehicle may change and maintain an arm shape of the manipulator in accordance with the request information.

The plurality of additional components may include a toilet bowl, and the delivery vehicle may be attached to the toilet bowl, so that the delivery vehicle may constitute a portable toilet.

A delivery system according to an aspect of the present invention is a delivery system including: an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination; and a transport vehicle that carries the plurality of delivery vehicles by mounting them thereon, and moves the plurality of delivery vehicles to form a predetermined arrangement based on request information for requesting a service other than the transport of the article.

A control method of a distribution system according to an aspect of the present invention is a control method of a distribution system including: an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination; and a transport vehicle that carries the transport vehicles, wherein the transport vehicle is configured to move the plurality of transport vehicles to form a predetermined arrangement based on request information for requesting a service other than the transport of the article.

A control program according to an aspect of the present invention is a control program for a distribution system including: an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination; and a transport vehicle that carries the plurality of transport vehicles, wherein the control program causes the plurality of transport vehicles to perform a process of moving the plurality of transport vehicles to form a predetermined arrangement based on request information for a service other than transport of the article.

As described above, in one embodiment of the present invention, the plurality of delivery vehicles are moved to form a predetermined arrangement based on request information for requesting a service other than the delivery of the article. Accordingly, various services other than distribution of the article can be handled.

According to the present invention, it is possible to provide a distribution system capable of coping with various services other than distribution of an article.

The foregoing and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description given hereinafter and the accompanying drawings given by way of illustration only, and thus should not be taken to be limiting of the present disclosure.

Drawings

Fig. 1 is a block diagram of a distribution system according to a first embodiment.

Fig. 2 is a perspective view showing a case where the delivery vehicle 200 gets off the delivery vehicle 100.

Fig. 3 is a side view showing a case where the delivery vehicle 200 gets off the delivery vehicle 100.

Fig. 4 is a side view showing the delivery vehicle 200 in the interior of the delivery vehicle 100.

Fig. 5 is a side view showing the delivery vehicle 200 in the interior of the delivery vehicle 100.

Fig. 6 is a side view showing the delivery vehicle 200 in the interior of the delivery vehicle 100.

Fig. 7 is a block diagram showing a distribution system according to a second embodiment.

Fig. 8 is a side view showing a plurality of delivery vehicles 200 in the interior of the delivery vehicle 100.

Detailed Description

Hereinafter, specific embodiments will be described in detail while referring to the accompanying drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals, and repetitive description thereof will be omitted as necessary for clarity of illustration.

(first embodiment)

Structure of delivery System

First, a distribution system and a control method thereof according to a first embodiment will be described with reference to fig. 1. Fig. 1 is a block diagram of a distribution system according to a first embodiment. As shown in fig. 1, the delivery system according to the present embodiment includes a delivery vehicle 100, a delivery vehicle 200, a management server 300, and an attachment 400.

In the delivery system according to the present embodiment, after the delivery vehicle 100 on which the delivery vehicle 200 is mounted travels toward the delivery destination of the article, the delivery vehicle 200 gets off the delivery vehicle 100 and delivers the article to the delivery destination. On the other hand, a plurality of attachment devices 400 that can be mounted on the delivery vehicle 200 and that correspond to services other than the delivery of the article are mounted inside the delivery vehicle 100. Then, the delivery vehicle 200 selects and installs an attachment corresponding to the request information from the plurality of attachments 400 based on the request information requesting a service other than delivery of the article. Causing the computer to perform the processing as described above.

First, the transport vehicle 100 will be described.

The transport vehicle 100 carries the delivery vehicle 200. Although the transport vehicle 100 in the present embodiment is an autonomous mobile vehicle (i.e., an autonomous vehicle), it may be a manual vehicle. As shown in fig. 1, the transport vehicle 100 includes a control unit 110, a sensor unit 120, a travel mechanism 130, and a get-off mechanism 140. The delivery vehicle 100 is communicably connected to the delivery vehicle 200 and the management server 300 wirelessly.

In the case where the management server 300 is mounted on the transport vehicle 100, the transport vehicle 100 may be connected to the management server 300 by wire. Although the transport vehicle 100 is mounted on one delivery vehicle 200 in the example of fig. 1, a plurality of delivery vehicles 200 may be mounted as in a delivery system according to a second embodiment described later.

The control unit 110 controls the running mechanism 130 based on various information acquired from the sensor unit 120. Thereby, the transport vehicle 100 travels. The control unit 110 controls the get-off mechanism 140 for getting the delivery vehicle 200 off.

The control unit 110 includes an arithmetic unit such as a CPU (Central Processing Unit: central processing unit), a RAM (Random Access Memory: random access Memory) in which various control programs and data are stored, and a storage unit such as a ROM (Read Only Memory). That is, the control unit 110 has a function as a computer, and controls the travel mechanism 130 and the get-off mechanism 140 based on the various control programs and the like.

In the example shown in fig. 1, the sensor section 120 includes an obstacle sensor 121, an acceleration sensor 122, a speed sensor 123, and a posture sensor 124.

The obstacle sensor 121 detects an obstacle in front of the traveling direction of the transport vehicle 100. Further, the obstacle sensor 121 detects an obstacle when the delivery vehicle 200 gets off the delivery vehicle 100. The obstacle sensor 121 is, for example, a radar sensor, a sonar sensor, an ultrasonic sensor, a lidar sensor, a camera, or the like. The obstacle is not limited to, for example, a falling object on a road, other vehicles, and the like, and includes humans, animals, and the like, such as pedestrians.

The acceleration sensor 122 detects acceleration of the transport vehicle 100. By detecting the acceleration of the transport vehicle 100, the vibration of the transport vehicle 100 due to the irregularities of the road surface or the like can also be detected.

The speed sensor 123 detects the speed of the transport vehicle 100.

The posture sensor 124 detects the posture of the transport vehicle 100. The slope of the road on which the transport vehicle 100 is traveling can be detected by the posture sensor 124.

The traveling mechanism 130 is a mechanism for traveling the transport vehicle 100. For example, the traveling mechanism 130 includes a braking mechanism for stopping the transport vehicle 100 and a steering mechanism for turning the transport vehicle 100 in addition to a driving mechanism such as a motor and an engine for traveling the transport vehicle 100.

The get-off mechanism 140 is a mechanism for getting the delivery vehicle 200 off the delivery vehicle 100. An example of the get-off mechanism 140 will be described with reference to fig. 2 and 3. Fig. 2 is a perspective view showing a case where the delivery vehicle 200 gets off the delivery vehicle 100. Fig. 3 is a side view showing a case where the delivery vehicle 200 gets off the delivery vehicle 100.

As shown in fig. 2 and 3, the get-off mechanism 140 according to the present embodiment is a simple plate-like slope. In the example shown in fig. 2 and 3, the get-off mechanism 140 also has a function as an opening/closing door provided at the rear of the transport vehicle 100. The get-off mechanism 140 is connected to one side of a lower end portion of an opening provided at the rear of the transport vehicle 100. Normally, the get-off mechanism 140 is closed as an opening/closing door. On the other hand, when the delivery vehicle 200 gets off, the get-off mechanism 140 opens as an opening/closing door and functions as a slope extending from the inside of the transport vehicle 100 to the ground.

For example, when the delivery vehicle 200 gets off the delivery vehicle 100 for delivering the article, the control unit 110 of the delivery vehicle 100 instructs the control unit 210 of the delivery vehicle 200 to get off the delivery vehicle 200, as shown in fig. 1. At this time, the control unit 110 of the transport vehicle 100 controls the get-off mechanism 140. Specifically, as shown in fig. 2 and 3, the control unit 110 opens the entry mechanism 140 functioning as an opening/closing door and functions as a slope extending from the interior of the transport vehicle 100 to the ground. Then, as shown in fig. 2 and 3, the delivery vehicle 200 travels on the get-off mechanism 140 and gets off the vehicle onto the lane. Further, for example, articles are distributed from a lane to a distribution destination via a sidewalk.

In addition, if the get-off mechanism 140 shown in fig. 2 and 3 functions as a slope, it may be provided separately from the opening/closing door provided at the rear of the transport vehicle 100. In this case, the get-off mechanism 140 is typically housed under the floor of the transport vehicle 100, for example.

The get-off mechanism 140 shown in fig. 2 and 3 is merely an example, and is not particularly limited as long as it is a mechanism for getting the delivery vehicle 200 off the delivery vehicle 100. The unloading mechanism 140 may be, for example, a conveyor, a crane, or the like.

In addition, in some cases, the delivery vehicle 200 may be moved off the delivery vehicle 100 in order to provide services other than delivery of the articles.

Next, the delivery vehicle 200 will be described.

The delivery vehicle 200 is an autonomous mobile vehicle that gets off the delivery vehicle 100 after being transported by the delivery vehicle 100 and delivers an article to a delivery destination. As shown in fig. 1, the delivery vehicle 200 includes a control unit 210, a sensor unit 220, and a travel mechanism 230. The delivery vehicle 200 is communicably connected to the delivery vehicle 100 and the management server 300 wirelessly. In the case where the management server 300 is mounted on the delivery vehicle 200, the delivery vehicle 200 may be connected to the management server 300 by wire.

The control unit 210 controls the running mechanism 230 based on various information acquired from the sensor unit 220. That is, the control unit 210 controls the traveling mechanism 230 to cause the delivery vehicle 200 to travel. Here, the sensor unit 220 includes various sensors similar to the sensor unit 120 of the transport vehicle 100.

The control unit 210 includes an arithmetic unit such as a CPU and a storage unit such as a RAM and a ROM that store various control programs and data, as in the control unit 110 of the transport vehicle 100. That is, the control unit 210 has a function as a computer, and controls the running mechanism 230 based on the various control programs and the like.

The travel mechanism 230 is a mechanism for traveling the delivery vehicle 200. For example, the traveling mechanism 230 includes a braking mechanism for stopping the delivery vehicle 200 and a steering mechanism for turning the delivery vehicle 200 in addition to a driving mechanism such as a motor and an engine for traveling the delivery vehicle 200.

The details of the control method of the operation of the delivery vehicle 200 will be described later.

Next, the management server 300 will be described.

The management server 300 is a server that communicates with the delivery vehicle 100 and the delivery vehicle 200 and manages the delivery system. The management server 300 is, for example, a cloud server. As shown in fig. 1, the management server 300 includes a route determination unit 310 and a storage unit 320.

The route determining unit 310 is configured by an arithmetic unit such as a CPU, for example. As shown in fig. 1, the route determination unit 310 determines a distribution route from the current location to the distribution destination based on the map information stored in the storage unit 320. Then, the route determining unit 310 transmits the determined distribution route to the control unit 110 of the transport vehicle 100 and the control unit 210 of the distribution vehicle 200. Here, the map information may include road surface information.

The storage unit 320 is configured by, for example, RAM, ROM, or the like, and stores various control programs, data, and the like in addition to map information.

That is, the management server 300 has a function as a computer, and manages the distribution system based on the above-described various control programs and the like.

Further, the management server 300 receives request information requesting a service other than delivery of the article from the user, and transmits the request information to the delivery vehicle 200.

The attachment 400 is a device that can be mounted on the delivery vehicle 200 and corresponds to a service other than the delivery of an article. As shown in fig. 1, the attachment 400 of the dispensing system according to the present embodiment includes an operating device 410 and a toilet seat 420. The additional device 400 shown in fig. 1 is merely an example and is not intended to be limiting.

As will be described in detail later, the attachment 400 is mounted inside the transportation vehicle 100. The delivery vehicle 200 selects and installs an attachment corresponding to the request information from the plurality of attachments 400 (the manipulating device 410 and the toilet bowl 420) based on the request information requesting a service other than delivery of the article.

Details of the manipulating device 410 as the additional device 400 and the toilet bowl 420 will be described later.

< control method of operation of delivery vehicle 200 and attachment 400 >

Next, a method of controlling the operations of the delivery vehicle 200 and the attachment 400 will be described in detail with reference to fig. 4 to 6 in addition to fig. 1. Fig. 4 to 6 are side views showing the delivery vehicle 200 in the interior of the delivery vehicle 100.

First, the structure of the delivery vehicle 200 will be described.

As shown in fig. 4 to 6, the delivery vehicle 200 according to the present embodiment includes a pair of wheels W1, W2, W3, connecting arms A1, A2, and a fixed arm A3. The pair of wheels W1, W2, W3, the connecting arms A1, A2, and the fixed arm A3 are members constituting the running mechanism 230 shown in fig. 1.

The delivery vehicle 200 shown in fig. 4 to 6 is a six-wheel vehicle including six wheels W1, W2, and W3, but may be a four-wheel vehicle, and is not limited to this.

At one end of the coupling arm A1, a wheel W1 is rotatably coupled. The other end of the connecting arm A1 is rotatably connected to the lower end of the fixed arm A3.

At one end of the coupling arm A2, a wheel W2 is rotatably coupled. The other end of the connecting arm A2 is rotatably connected at the lower end of the fixed arm A3.

The upper end of the fixing arm A3 is fixed to the vehicle body of the delivery vehicle 200. At the lower end of the fixed arm A3, a wheel W3 is rotatably coupled.

As shown in fig. 4, the delivery vehicle 200 can travel by four wheels of a pair of wheels W1, W2. On the other hand, as shown in fig. 5 and 6, the delivery vehicle 200 can travel with six wheels of the pair of wheels W1, W2, W3. The posture of fig. 4 and the postures of fig. 5 and 6 can be switched by rotating the connecting arms A1 and A2 about the connecting portions of the connecting arms A1 and A2 and the fixed arm A3.

The four-wheel posture of the wheels W1, W2 shown in fig. 4, which are in contact with the bottom surface of the delivery vehicle 100, can reduce the occupied area of the delivery vehicle 200, as compared with the posture of the wheels W1, W2, W3 shown in fig. 5, 6, which are in contact with the bottom surface of the delivery vehicle 100. On the other hand, the posture of the delivery vehicle 200 shown in fig. 5 and 6 is low in the center of gravity compared to the posture of the delivery vehicle 200 shown in fig. 4, and thus it is difficult to tip over.

As shown in fig. 4, a plurality of attachment 400 (steering device 410 and toilet seat 420) are mounted inside the transport vehicle 100. In the example shown in fig. 4, the steering device 410 is detachably supported by a support portion 151, and the support portion 151 is provided on an inner wall of the transport vehicle 100. Further, the toilet seat 420 is detachably supported by a support portion 152, and the support portion 152 is provided on an inner wall of the transportation vehicle 100.

The delivery vehicle 200 selects and installs an attachment corresponding to the request information from the plurality of attachments 400 (the manipulating device 410 and the toilet bowl 420) based on the request information requesting a service other than delivery of the article.

In the example shown in fig. 5, the delivery vehicle 200 selects and installs the manipulation device 410 as an additional device corresponding to the request information. On the other hand, in the example shown in fig. 6, the delivery vehicle 200 selects and installs the toilet seat 420 as an additional device corresponding to the request information.

The detailed structure of manipulator 410 will be described.

In the example shown in fig. 4 to 6, manipulator 410 includes base 31, link root 32, first link 33, second link 34, and end effector 35.

As shown in fig. 5, when the delivery vehicle 200 is mounted with the manipulating device 410, the base portion 31 is fixed on the upper surface of the delivery vehicle 200.

The link root 32 is rotatably coupled to the base 31 via a rotation shaft 32a around the rotation shaft 32 a. The rotation axis 32a of the link root 32 is an axis perpendicular to the upper surface of the delivery vehicle 200. The link root 32 is driven to rotate by a motor or the like, not shown.

The first link 33 is rotatably coupled to the link root 32 via a first joint portion 33a provided at a rear end of the first link 33. Further, the second link 34 is rotatably coupled to the tip end of the first link 33 via a second joint portion 34a provided at the rear end of the second link 34. An end effector 35 is coupled to the distal end of the second link 34.

Here, the rotation axes of the first joint portion 33a and the second joint portion 34a are axes parallel to the upper surface of the delivery vehicle 200. The first link 33 and the second link 34 are rotated, whereby the height of the end effector 35 can be changed. The first link 33 and the second link 34 are driven to rotate by motors or the like, not shown.

With this configuration, the end effector 35 can hold and transfer the article.

For example, the delivery vehicle 200 to which the manipulator 410 is attached can provide a meal or a drink by using the manipulator 410 according to request information for requesting a service other than delivery of an article.

The delivery vehicle 200 to which the manipulator 410 is attached may change and maintain the arm shape of the manipulator 410 in response to the request information. With such a structure, it is possible to place an article on the manipulating device 410 or hang a hanger on the manipulating device 410 to hang clothes.

In fig. 4, the first link 33 and the second link 34 are folded so as to overlap each other, and the first link 33 and the second link 34 extend so as to be parallel to the rotation axis 32a of the link root 32. In the example shown in fig. 4 to 6, the link mechanism is composed of two links, that is, the first link 33 and the second link 34, but the link mechanism may be composed of three or more links. Moreover, manipulator 410 may also be used in the dispensing of items.

In the example shown in fig. 4 to 6, the toilet seat 420 includes a seat body 421 and a cover 422.

As shown in fig. 6, when the delivery vehicle 200 is mounted with the toilet seat 420, the seat body 421 is fixed on the upper surface of the delivery vehicle 200. Thus, the delivery vehicle 200 may constitute a temporary mobile toilet, for example, at the time of a disaster or at the time of a holding event. The upper surface of the delivery vehicle 200 is provided with, for example, an openable/closable hole (not shown) for allowing excrement to pass therethrough. Further, excrement can be stored in the interior of the delivery vehicle 200. In fig. 6, the cover 422 is shown in a state of being opened by a two-dot chain line.

As described above, in the delivery system according to the present embodiment, a plurality of attachment devices 400 that can be mounted on the delivery vehicle 200 and that correspond to services other than delivery of the article are mounted in the delivery vehicle 100. Then, the delivery vehicle 200 selects and installs an attachment corresponding to the request information from the plurality of attachments 400 based on the request information requesting a service other than delivery of the article. Therefore, the distribution system according to the present embodiment can cope with various services other than distribution of the articles.

(second embodiment)

Next, a distribution system and a control method thereof according to a second embodiment will be described with reference to fig. 7 and 8. Fig. 7 is a block diagram of a delivery system according to a second embodiment. Fig. 8 is a side view showing a plurality of delivery vehicles 200 inside the delivery vehicle 100.

As shown in fig. 7, the dispensing system according to the second embodiment does not include the attachment 400. On the other hand, the delivery system according to the second embodiment includes a plurality of delivery vehicles 200.

In the delivery system according to the present embodiment, the plurality of delivery vehicles 200 move to form a predetermined arrangement inside or outside the delivery vehicle 100 based on request information for requesting services other than the delivery of the articles.

For example, as shown in fig. 8, a plurality of pairs Ji Chenglie of delivery vehicles 200 are provided in the interior of the delivery vehicle 100, thereby forming a seat. In this case, the transport vehicle 100 is a passenger-cargo hybrid vehicle, and passengers can sit on seats formed by a plurality of delivery vehicles 200.

Alternatively, by providing a plurality of delivery vehicles 200 to Ji Chenglie outside the delivery vehicle 100, a temporary mobile bench, a bed, or the like can be constructed at the time of a disaster or at the time of a holding event, for example. When the plurality of delivery vehicles 200 are arranged in a row to form a seat or a bench, the plurality of delivery vehicles 200 may be aligned at predetermined intervals Ji Chenglie in order to prevent virus infection due to the approach of the seated persons to each other.

As described above, in the delivery system according to the present embodiment, the plurality of delivery vehicles 200 are transported by the delivery vehicle 100. The plurality of delivery vehicles 200 are moved so as to form a predetermined arrangement inside or outside the delivery vehicle 100 based on request information for requesting services other than the delivery of the article. Therefore, the distribution system according to the present embodiment can cope with various services other than distribution of the articles.

Other structures are the same as those of the first embodiment, and therefore, description thereof is omitted.

In the above examples, the program, when read by a computer, includes a set of instructions (or software code) for causing the computer to implement one or more of the functions described in the embodiments. The program may also be stored on a non-transitory computer readable medium or a storage medium having a physical entity. By way of non-limiting example, computer-readable media or storage media having a physical structure includes random-access Memory (RAM), read-Only Memory (ROM), flash Memory, solid State Drive (SSD) or other Memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disc (DVD: digital versatile disk), blu-ray (registered trademark) disk or other optical disk Memory, magnetic cassettes, magnetic tape, magnetic disk Memory, or other magnetic storage devices. The program may also be transmitted on a transitory computer readable medium or a communication medium. By way of non-limiting example, a transitory computer readable medium or communication medium includes an electrical, optical, acoustical, or other form of propagated signal.

From the disclosure thus described, it is evident that the disclosed embodiments can be varied in many ways. It will be apparent that such variations are not to be regarded as a departure from the spirit and scope of the present disclosure, and all such modifications as would be obvious to one skilled in the art are intended to be included in the following claims.

Claims (12)

1. A distribution system is provided with:

an autonomous mobile delivery vehicle that delivers an article to a delivery destination;

a transport vehicle for carrying the delivery vehicle and transporting the delivery vehicle,

a plurality of attachment devices which can be mounted on the delivery vehicle and which correspond to services other than delivery of the article are mounted in the delivery vehicle,

the delivery vehicle selects and installs an attachment corresponding to the request information from the plurality of attachments according to the request information requesting the service.

2. The dispensing system of claim 1, wherein,

an operating device is included in the plurality of additional components.

3. The dispensing system of claim 2, wherein,

the delivery vehicle changes and maintains the arm shape of the manipulator according to the request information.

4. The dispensing system of claim 1 to 3, wherein,

among the plurality of additional components is a toilet bowl,

the delivery vehicle is configured to form a portable toilet by attaching the toilet bowl to the delivery vehicle.

5. A distribution system is provided with:

an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination;

a transport vehicle for carrying the plurality of delivery vehicles,

the plurality of delivery vehicles are moved to form a predetermined arrangement based on request information for requesting services other than the transportation of the article.

6. A control method of a distribution system, wherein,

the distribution system is provided with:

an autonomous mobile delivery vehicle that delivers an article to a delivery destination;

a transport vehicle for carrying the delivery vehicle and transporting the delivery vehicle,

in the control method of the dispensing system,

a plurality of attachment devices which can be mounted on the delivery vehicle and which correspond to services other than delivery of the article are mounted in the delivery vehicle,

the delivery vehicle selects and installs an attachment corresponding to the request information from the plurality of attachments according to the request information requesting the service.

7. The method for controlling a dispenser system according to claim 6, wherein,

an operating device is included in the plurality of additional components.

8. The method for controlling a dispenser system according to claim 7, wherein,

the delivery vehicle changes and maintains the arm shape of the manipulator according to the request information.

9. The control method of a dispensing system according to any one of claim 6 to 8, wherein,

among the plurality of additional components is a toilet bowl,

the delivery vehicle is configured to form a portable toilet by attaching the toilet bowl to the delivery vehicle.

10. A control method of a distribution system, wherein,

the distribution system is provided with:

an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination;

a transport vehicle for carrying the plurality of delivery vehicles,

in the control method of the dispensing system,

the plurality of delivery vehicles are moved to form a predetermined arrangement based on request information for requesting a service other than delivery of the article.

11. A storage medium which is a computer-readable storage medium storing a control program for a delivery system, wherein,

the distribution system is provided with:

an autonomous mobile delivery vehicle that delivers an article to a delivery destination;

a transport vehicle for carrying the delivery vehicle and transporting the delivery vehicle,

a plurality of attachment devices which can be mounted on the delivery vehicle and which correspond to services other than delivery of the article are mounted in the delivery vehicle,

the control program causes the delivery vehicle to execute a process of,

and selecting and installing an additional device corresponding to the request information from the plurality of additional devices according to the request information requesting the service.

12. A storage medium which is a computer-readable storage medium storing a control program for a delivery system, wherein,

the distribution system is provided with:

an autonomous mobile multiple delivery vehicle for delivering an article to a delivery destination;

a transport vehicle for carrying the plurality of delivery vehicles,

the control program causes the plurality of delivery vehicles to execute a process of,

the plurality of delivery vehicles are moved to form a predetermined arrangement based on request information for requesting a service other than delivery of the article.

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