JP2020129212A - Information processing system - Google Patents

Abstract

To provide a technique for enhancing delivery efficiency in a system for providing a delivery service that uses a movable body capable of autonomous travel.SOLUTION: An information processing system includes a storage device having a storage part which can detachably store a lockable/unlockable storage, a movable body provided with an attachment/detachment part for attaching/detaching the storage to/from the storage device, and an information processing device provided with a control part for executing the selection of a storage for storing a delivery object, the determination of a storage part for storing the selected storage in the storage device, and the instruction of delivering the selected storage to the storage device to the movable body.SELECTED DRAWING: Figure 7

Description

The present invention relates to an information processing system that provides a delivery service using a mobile body that is capable of autonomous traveling.

Conventionally, in condominiums and other condominiums, a delivery box called a home delivery box is installed in a common area such as an entrance hall, and when the recipient is absent, the delivery box for delivery to the recipient is delivered. It is known to be stored in the etc.

In recent years, research has been conducted to provide a delivery service by using a mobile body capable of autonomous traveling. For example, Patent Document 1 discloses a system in which a moving body carrying a package is automatically driven to a delivery destination box of a delivery destination for delivery.

JP, 2008-177439, A

By the way, in a delivery service to an apartment such as an apartment, for example, it is required to efficiently process a plurality of deliverables delivered to individual recipients who live in the apartment. Further, the delivery service is not limited to the collective housing, and is also applicable to residents living in the neighborhood, cohabitants of a detached house, and a plurality of lessors in an office building. It is an object of the present invention to provide a technique for improving delivery efficiency in a system that provides a delivery service using a moving body that is capable of autonomous traveling.

One of the aspects of the present invention is exemplified as an information processing system. This information processing system selects a storage device having a storage unit capable of detachably storing a lockable/unlockable storage, a moving body having an attachment/detachment unit for attaching/detaching the storage to/from the storage, and a storage for storing a delivery. And a storage unit for storing the selected hangar in the storage device, and instructing the mobile body to deliver the selected hangar to the storage device. And an information processing device.

ADVANTAGE OF THE INVENTION According to this invention, the technology which improves delivery efficiency can be provided in the system which provides the delivery service using the mobile body which can be driven autonomously.

It is a figure which shows an example of the system configuration of the delivery system which concerns on 1st Embodiment. It is a figure explaining a storage device. It is a figure explaining the storage house detachably accommodated in an accommodation part. It is a figure explaining accommodation in the accommodation part of a hangar. It is a figure explaining a delivery vehicle. It is a figure explaining the accommodation operation of a hangar. It is a figure showing an example of functional composition of a center server, a storage, a delivery vehicle, and a transportation vehicle. It is a figure which shows an example of the delivery information stored in delivery information DB. It is a figure showing an example of storage device information stored in storage device DB. It is a sequence diagram which shows an example of the processing procedure which a center server, a storage device, a delivery vehicle, a user terminal, and an external server perform. It is a sequence diagram which shows an example of a processing procedure which a center server, a storage device, a transportation vehicle, and a user terminal perform.

The delivery system according to the present embodiment is a system that provides a delivery service that delivers a delivered item to a storage device such as a delivery box by using a delivery vehicle or a transportation vehicle that is a movable body capable of autonomous traveling. The delivery vehicle and the transportation vehicle autonomously travel on a road or the like based on a given command. The deliverables are stored and delivered in a storage cabinet for delivery that is attachable to and detachable from a plurality of storage compartments of the storage device.

Upon receipt of the delivery request, the center server of the delivery system according to the present embodiment selects a storage box in the storage device for storing the delivered product, and determines a storage section in which the selected storage box is stored. Then, the center server is configured to instruct the delivery vehicle and the transportation vehicle of an operation instruction including a delivery instruction to the accommodation unit for the selected hangar. According to such a configuration, since the work of replacing the hangars with respect to the storage device is the center, it is possible to simultaneously deliver a plurality of deliverables at once.

An embodiment will be described below with reference to the drawings. The configurations of the following embodiments are exemplifications, and modes for carrying out the invention are not limited to the configurations of the embodiments described below.

<First Embodiment>
(System overview)
FIG. 1 is a diagram showing an example of a system configuration of a delivery system 1 according to the first embodiment. The delivery system 1 of FIG. 1 is a system that provides a delivery service that delivers a delivery item to a storage device 20 such as a home delivery box using a delivery vehicle 30 and a transportation vehicle 50 that are mobile bodies capable of autonomous traveling. In the present embodiment, the deliverables are delivered by being stored in a delivery storage that is detachable from the plurality of storage compartments of the storage device 20.

The delivery system 1 according to the present embodiment is a storage device that detachably accommodates a delivery vehicle 30 that autonomously travels on a road or the like based on a given instruction, a center server 10 that issues the instruction, and a storage hangar for delivery. 20 is included in the configuration. The center server 10, the storage device 20, and the delivery vehicle 30 are mutually connected through the network N1. The network N1 is, for example, a public network such as the Internet. However, the network N1 is a wireless communication such as WiFi (registered trademark), a wireless network of a mobile phone network such as LTE, LTE-Advanced, 3G, a dedicated network such as a VPN (Virtual Private Network), and a LAN (Local Area Network). Network may be included. Note that, in FIG. 1, one center server 10, a delivery vehicle 30, and three storage devices 20 are representatively illustrated. A plurality of center servers 10, delivery vehicles 30, and more than three storage devices 20 can be connected to the network N1.

Further, in the network N1, a user terminal 60 of a user (hereinafter, also referred to as a “user”) who is a recipient of the delivery, and an external server 70 operated by a business entity that requests delivery of the delivery to the storage device 20. Are connected. The business operator that operates the external server 70 is, for example, an electronic commerce company that provides online shopping as a business. A plurality of user terminals 60 and an external server 70 can be connected to the network N1. For example, when the business operator accepts a purchase of a product for which the storage device 20 is designated as a delivery destination from a user via, for example, an EC site constructed on the Internet, the business operator requests the delivery of the product to the storage device 20. The center server 10 is notified through the external server 70.

The center server 10 is a device that manages a plurality of delivery vehicles 30 included in the delivery system 1, and issues an operation command to each delivery vehicle. The delivery vehicle 30 is provided with identification information (vehicle ID) that uniquely identifies the vehicle and is stored in the database. The vehicle ID is, for example, a vehicle registration number (a number marked on the license plate). The delivery vehicle 30 receives an operation command from the center server 10 to create an operation plan, and autonomously travels to a destination according to the operation plan. The delivery vehicle 30 includes an acquisition unit that acquires position information (latitude, longitude, etc.) of the own vehicle, and transmits the position information acquired at a predetermined cycle interval to the center server 10. The delivery vehicle 30 does not necessarily have to be unmanned, and may be served by a customer service person, a security person or the like for providing delivery service. Further, the delivery vehicle 30 does not necessarily have to be a vehicle that always autonomously travels. For example, it may be a vehicle in which the above-mentioned personnel drive or assist driving depending on the situation.

The center server 10 also manages a plurality of storage devices 20 that make up the delivery system 1. The storage device 20 is provided with identification information (device ID) that uniquely identifies the device and is stored in the database. Similarly, with respect to a plurality of storage compartments included in the storage device 20, an identification number for identifying the storage compartment is given and stored in the database together with the device ID of the storage device.

The storage device 20 is a locker-type device (delivery box) having a plurality of storage compartments for detachably storing a storage hangar for delivery. FIG. 2 is a diagram illustrating the storage device 20. In FIG. 2, a storage device 20 having twelve accommodating portions 20a arranged in three stages in the vertical direction and four rows in the horizontal direction is illustrated. Each accommodation section forms an accommodation space having a size specified by a height (H) in the vertical direction, a width (W) in the horizontal direction, and a depth (D). In FIG. 2, a plurality of accommodation units 20a having the same accommodation space are illustrated, but the sizes of the accommodation units 20a included in the storage device 20 are not limited to the same accommodation space. The storage device 20 may include a plurality of storage units 20a having different sizes.

In the storage device 20, each accommodation portion 20a has a lockable and unlockable door for accessing the accommodation space. An identification number for identifying each partition position in the storage device 20, for example, is given to each accommodation portion. In FIG. 2, an identification number (11 to 14, 21 to 24, 31 to 34) which is composed of row number information indicating the number of rows in the vertical direction in which each accommodation portion is located and row number information indicating the number of rows in the horizontal direction. ) Is illustrated. In the storage device 20, locking/unlocking of the door of the accommodation unit 20a at the partition position corresponding to the identification number designated via the interface 20b is controlled.

In addition, in FIG. 2, the markers (M1 to M4) for the positioning of the transportation vehicle for attaching and detaching the hangar to and from the accommodation space of the accommodation unit 20a are illustrated. The transport vehicle positions the own vehicle for attaching/detaching the hangar 40 of the housing section 20a based on, for example, a marker detected via a sensor such as a camera. Each marker is provided on the floor surface on the front side (the front surface side of the door of the housing portion 20a) where the storage device 20 is installed. The marker M1 corresponds to, for example, each accommodation section (identification number: 11, 21, 31) located in the first row in the left-right direction, and the marker M2 corresponds to each accommodation section (identification in the second row in the left-right direction). No.: 12, 22, 32). The same applies to the markers M2 to M4.

FIG. 3 is a diagram illustrating a storage house that is detachably accommodated in the accommodation unit 20a. In FIG. 3, a hangar 40 having a box shape is illustrated. The hangar 40 includes a door 40a that is locked and unlocked by the locking and unlocking mechanism 40b. The locked storage 40 forms a storage space for storing the delivery Z1 requested for delivery through the external server 70. The shape of the hangar 40 is not limited to the box shape. It is sufficient that the storage 40 has a space capable of storing the delivery Z1 and is attachable to and detachable from the storage section 20a of the delivery destination.

The hangar 40 has a control device such as a microcomputer. Further, the hangar 40 has a communication function such as short-range wireless communication. The hangar 40 is connected to the storage device 20 that houses the hangar through a communication function. The storage 40 is provided with identification information (storage ID) for uniquely identifying the storage. The hangar ID may be, for example, a MAC address (Media Access Control address) assigned to the communication function of the hangar 40.

FIG. 4 is a diagram illustrating storage of the storage case 40 in the storage section 20a. As will be described later, the hangar 40 is transported to the storage device 20 having the accommodating section by a transportation vehicle having a mounting mechanism (FIG. 7, attaching/detaching section 57) for mounting the hangar in the accommodating section 20a. .. The transport vehicle detects, for example, markers (M1 to M4) provided on the floor based on image data captured by a camera or the like, and with the marker as a target, the accommodation unit 20a that is the accommodation destination of the hangar is The storage device 20 is moved to the front side of the assigned partition position (row position). For example, when the storage device 20 detects a transportation vehicle that is close to the storage device 20, the storage device 20 opens the door 20a1 of the storage portion 20a, which is a storage compartment in which the hangar 40 is stored.

The storage device 20 includes, for example, a camera and a sensor that detects a beacon signal, and is close to the device itself based on sensor information such as a camera image of the transportation vehicle captured through the camera and a beacon signal transmitted by the transportation vehicle. Detects a moving vehicle. The storage device 20, for example, unlocks the door 20a1 of the accommodation portion 20a through the locking/unlocking mechanism 20c when detecting a transportation vehicle moving close to the storage device 20, and opens and closes an opening/closing mechanism including an actuator for opening and closing the door. Activate it to open the door. However, the door 20a1 of the housing portion 20a may be opened/closed by an instruction of the transport vehicle or an action of touching a push button or the like.

As will be described later, the storage portion 20a is provided with a discharge mechanism for discharging the inserted storage case 40 from the inside of the storage portion 20a to the outside. The discharge mechanism has a movable member that comes into contact with the housing surface facing the door 40a of the stored storage 40. The movable member moves, for example, along a pair of guides provided on the side surface inside the housing portion 20a in parallel to the bottom surface of the housing portion 20a.

The transport vehicle inserts the hangar 40 that has been transported into the storage space provided inside the storage portion 20a from the front side of the storage portion 20a with the door 20a1 opened, for example, as indicated by the solid arrow Z2. As will be described later, the transport vehicle has a transport mechanism including an endless belt for loading the loaded storage case 40 into the storage section 20a. The transported storage box 40 is transported to the storage space inside the storage section 20a by the transport mechanism. The transport mechanism inserts the hangar 40 into the housing 20a while pushing the movable member, which is in contact with the housing surface of the hangar 40 facing the door 40a, into the housing space inside the housing 20a along the guide. The movable member that moves along the pair of guides also serves as a positioning mechanism for designating the storage position of the inserted storage case 40 in the storage section 20a. The storage device 20 detects, for example, the position of the movable member that has retreated to a predetermined position in the housing portion 20a, and notifies the transport vehicle of a transport stop instruction.

The transport vehicle stops the transport mechanism based on the transport stop instruction and moves from the front of the storage device 20. When the storage device 20 detects the detachment movement of the transportation vehicle from its own device through sensor information such as a camera or a beacon signal, the storage device 20 operates an actuator or the like that constitutes an opening mechanism to close the door 20a1 of the accommodation portion 20a and perform the solution. The door is locked through the lock mechanism 20c. The locked door 20a1 of the housing portion 20a is unlocked by key information such as an electronic key notified to the user who is the recipient of the delivery Z1 stored in the storage 40, for example.

The storage device 20 communicates with the storage box 40 housed in the storage section 20a via short-distance wireless communication or the like, slip information such as an article code and a delivery code regarding the delivery Z1 stored in the storage box 40, and a code for unlocking the door 40a. Get information (key information). The storage device 20 transmits a notification request for the storage box ID to the storage box 40 via short-range wireless communication, for example. The microcomputer of the hangar 40 reads its own hangar ID stored in the memory and responds. Then, the storage device 20 acquires the slip information and the key information of the door 40a with the notified storage box ID as the destination. The acquired slip information and the key information of the door 40a are stored in the memory or the like of the storage device 20 in association with the storage ID.

The storage device 20 notifies the center server 10 of the slip information acquired from the storage 40 together with the storage ID. The center server 10 determines, based on the notified slip information as will be described later, whether it is the proper delivery destination (the storage device 20, the storage portion 20a) of the storage case 40 that stores the delivery Z1. The center server 10 determines whether the delivery destination is an authorized delivery destination of the hangar 40 by collating the notified slip information with the article code or delivery code of the delivery Z1 scheduled to be delivered to the delivery destination. To do.

When the delivery destination of the storage 40 is a regular delivery destination, the center server 10 records the information indicating the completion of delivery of the delivery Z1 stored in the storage in the database that manages it. On the other hand, when the delivery destination of the hangar 40 is not an authorized delivery destination, the center server 10 instructs the transport vehicle to mount the hangar at the authorized delivery destination. Further, the center server 10 gives an instruction to discharge the storage case 40 stored in the storage section 20a to the outside.

The transport vehicle moves so as to approach the storage device 20 without loading the storage container 40, for example. The storage device 20 opens the door 20a1 of the housing portion 20a when it detects a transporting vehicle that moves to and approaches the storage device 20 through a sensor or the like. In the transport vehicle, for example, the transport mechanism is approached from the front side of the housing portion 20a with the door 20a1 opened. The storage device 20 operates the discharge mechanism to discharge the storage case 40 stored in the storage section 20a to the adjacent transport mechanism. The transport mechanism rotates the endless belt in the opposite direction with respect to the solid arrow Z2 in FIG. 4 to separate the storage case 40 discharged from the storage section 20a.

The transportation vehicle loaded with the hangar 40 that has been detached from the accommodation unit 20a moves to, for example, a place where the delivery vehicle 30 is parked and stopped, and returns the hangar to the delivery vehicle 30. Then, the transport vehicle loads the regular storage box 40 loaded in the delivery vehicle 30 and moves to the installation position where the storage device 20 is installed again. The regular hangar 40 loaded on the transport vehicle is inserted into the accommodation section 20a of the corresponding accommodation section via the transportation mechanism.

The user who is the recipient of the delivery Z1 causes the storage device 20 to read the key information such as the electronic key notified to the user terminal 60, for example. The reading of the key information is performed via the interface 20b of the storage device 20. The storage device 20, for example, reads the key information from the user terminal 60 that is located within a predetermined distance of the interface 20b through the short-range wireless communication or the like. The storage device 20 unlocks, based on the key information, the door 20a1 of the accommodation section 20a of the accommodation section specified from the key information and the door 40a of the storage case 40 accommodated in the accommodation section.

The user collects the delivery Z1 from the storage 40 stored in the storage portion 20a of the storage device 20 and closes the door 40a and the door 20a1. After the door 20a1 is closed, the storage device 20 notifies the center server 10 of the completion of receipt of the delivery Z1 by the user. The center server 10 updates the database that manages the delivery status of the delivery Z1 based on the notification of completion of receipt from the storage device 20.

Next, the delivery vehicle 30 will be described. The delivery vehicle 30 is a mobile body that multipurposely provides mobility services such as user movement, luggage transportation, product sales, and service services according to various needs of any user. An example of such a moving body is a self-propelled electric vehicle called an Electric Vehicle (EV) pallet. However, the moving body may be an internal combustion battery vehicle (FCV: Fuel Cell Vehicle) that operates with power from an internal combustion engine such as a gasoline vehicle or a diesel vehicle and electric power supplied from a fuel cell using hydrogen or the like. The mobile body can change the exterior or interior of its own vehicle and arbitrarily select the vehicle size according to the use or purpose of the provided mobility service.

FIG. 5 is a diagram illustrating the delivery vehicle 30. The delivery vehicle 30 illustrated in FIG. 5 is an example of a moving body having an EV pallet as a configuration form. As shown in FIG. 5, the delivery vehicle 30 using the EV pallet has a box-shaped body and four wheels TR1 to TR4 provided on both sides of the lower portion of the body in front of and behind the traveling direction. The four wheels TR1 to TR4 are connected to a drive shaft and driven by a drive motor that is a component of the drive unit 33 illustrated in FIG. Similarly, the traveling direction of the four wheels TR1 to TR4 during traveling is relatively displaced by the steering motor included in the steering mechanism that is a component of the drive unit 33, and the traveling direction of the vehicle is controlled. .. In FIG. 5, the direction in which the windows W1 and W4 and the door DR1 for getting on and off the vehicle are provided on the left side surface of the body is the vehicle direction that represents the direction of the delivery vehicle 30.

In the delivery vehicle 30, a plurality of (40#1 to 40#n) hangars 40 to be housed in the housing sections 20a of the plurality of storage devices 20 installed in the area where the delivery service is provided are collectively loaded. To be done. Further, the delivery vehicle 30 is equipped with a transport vehicle 50 for transporting and mounting a plurality of loaded storages (40#1 to 40#n) in a designated storage section 20a of the storage device 20. A plurality of transport vehicles 50 may be mounted on the delivery vehicle 30. In the following description, the plurality of storages (40#1 to 40#n) loaded by the delivery vehicle 30 are simply referred to as "storage 40". As described above, each hangar is given an individual hangar ID. In the delivery system 1, the delivered item Z1 stored in the storage 40 is managed by the slip information associated with the storage ID given to the storage.

Like the delivery vehicle 30, the transport vehicle 50 is a moving body such as an EV pallet that can autonomously travel on a road or the like based on a given command. The transport vehicle 50 receives an operation command from the center server 10, creates an operation plan, and autonomously travels to a destination according to the operation plan. The transportation vehicle 50 includes an acquisition unit that acquires position information (latitude, longitude, etc.) of the own vehicle, and transmits the position information acquired at a predetermined cycle interval to the center server 10. However, the transportation vehicle 50 may be a vehicle that autonomously travels to a destination in response to a command from the delivery vehicle 30 that mounts the own vehicle.

The transport vehicle 50 has a transport mechanism for transporting the loaded hangar 40, and four wheels TR5 to TR8 provided on both sides of the lower portion of the transport mechanism in front of and behind the traveling direction. The four wheels TR5 to TR8 are connected to a drive shaft and driven by a drive motor. Similarly, the traveling direction of the four wheels TR5 to TR8 during traveling is relatively displaced by the steering motor included in the steering mechanism that is a component of the drive unit 53, and the traveling direction of the vehicle is controlled. .. In FIG. 5, the direction in which the wheels TR5 and TR8 are provided on the left side surface represents the traveling direction of the transport vehicle 50.

The transport vehicle 50 transports the hangar 40 loaded in the own vehicle from the parking/stopping position of the delivery vehicle 30 to the housing portion 20a of the storage device 20 in which the hangar is housed. In FIG. 5, a transport mechanism that is a component of the transport mechanism, that is, a first transport unit 57a and a second transport unit 57b having an endless belt is illustrated. Each transport unit has an elevating mechanism (movable up and down in the height direction).
It has a first elevating part 57c and a second elevating part 57d). In FIG. 5, a first elevating part 57c for vertically moving the first transport part 57a and a second elevating part 57d for vertically moving the second transport part 57b are illustrated. As will be described later, the storage case 40 loaded on each of the transport units is lifted to the height position where the storage unit 20a is located via the elevating mechanism and inserted into the storage unit. Further, the hangar 40 discharged from the storage section 20a is detached via the respective transport sections that have been lifted to the height position where the storage section is located.

The delivery vehicle 30 has, for example, a transport mechanism (FIG. 7, transport control section 37) for mounting the loaded hangar 40 on the first transport section 57a of the transport vehicle 50. The transportation vehicle 50 on which the hangar 40 is loaded by the transportation mechanism of the delivery vehicle 30 autonomously travels based on a command from the center server 10 or the delivery vehicle 30, and moves to the place where the storage device 20 is installed. Markers (M1 to M4) are provided on the floor surface of the place where the storage device 20 is installed, according to the compartments of each accommodation unit. The transport vehicle 50 moves so that each marker position provided on the floor is used as a reference position, and is close to the partition position where the housing portion 20a to which the hangar 40 is attached is provided.

FIG. 6 is a diagram for explaining the mounting operation of the hangar 40 in the housing portion 20a. FIG. 6 illustrates a side view of the transport vehicle 50 in a state of being positioned on the front surface side of the storage device 20 along the markers (M1 to M4) as viewed from the left side surface. It is assumed that the storage location of the storage case 40 is, for example, the storage section 20a designated by the identification number "34" in FIG.

In FIG. 6, the transportation vehicle 50 close to the storage device 20 rotates, for example, the endless belt of the first transport unit 57a so that the hangar 40 placed on the belt is moved to the endless belt of the second transport unit 57b. Move it up. The hangar 40 placed on the endless belt of the first conveyor 57a moves from the endless belt of the first conveyor 57a to the endless belt of the second conveyor 57b, as indicated by a solid arrow Z3.

Next, the transport vehicle 50 operates the second elevating unit 57d to move the second transport unit 57b on which the hangar 40 is placed to the height position where the accommodation unit 20a to be mounted is provided. The second elevating unit 57d lifts the second transport unit 57b in a state where the storage case 40 is placed along the guide grooves 57d1 provided in the pair of frames that support the second transport unit 57b, for example. The storage box 40 is lifted to a height position where the storage section 20a designated by the identification number "34" is provided, as shown by the solid arrow Z4, while being placed on the endless belt.

Then, the transport vehicle 50 further approaches the storage unit 20a with the door 20a1 opened with the second transport unit 57b being lifted, and rotates the endless belt on which the hangar 40 is placed. The hangar 40 placed on the endless belt moves in accordance with the rotation of the belt and is inserted into the accommodation section 20a which is the compartment of the accommodation destination, as indicated by the solid arrow Z5.

For example, a movable member 20d that constitutes a discharge mechanism for discharging the hangar to the outside of the housing portion 20a is brought into contact with the housing surface facing the door 40a of the hangar 40. The 2nd conveyance part 57b inserts the hangar 40 with which the movable member 20d was contacted in the accommodation part 20a by rotation of an endless belt. The hangar 40 with which the movable member 20d abuts moves along a pair of guides 20e provided on the side surface of the housing portion 20a and is pushed into the housing portion.

The movable member 20d reaches a predetermined position that is positioned in advance, and the insertion movement of the hangar 40 into the housing portion 20a is stopped. The storage device 20 instructs the transport vehicle 50 to stop the rotation of the endless belt, for example, when the storage device 20 is selected to a predetermined position of the movable member 20d. The transport vehicle 50 stops the rotation of the endless belt of the second transport unit 57b and retracts to a position where it does not interfere with the closing door 20a1. After moving backward, the transport vehicle 50 moves the second transport unit 57b downward through the second elevating unit 57d and returns to the parking/stopping position of the delivery vehicle 30. When the storage vehicle 40 to be mounted in the other accommodation portion 20a of the storage device 20 exists in the delivery vehicle 30, the same transportation/insertion processing as described above is performed.

As described above, when the delivery Z1 of the storage case 40 inserted into the storage section 20a is different from the delivery slip information, the storage case 40 attached to the storage section 20a is detached and collected. .. The transport vehicle 50, for example, does not place the hangar 40 on the endless belt, approaches the storage device 20 in the “empty” state, and rotates the belt in the direction opposite to the solid arrow Z5. Then, the transport vehicle 50 receives the storage case 40 discharged by the guide 20e from the storage section 20a and places it on the endless belt of the second transport section 57b. The transport vehicle 50 returns to the delivery vehicle 30 in a state in which the storage case 40 separated from the storage section 20a is placed on the endless belt. The delivery vehicle 30 collects the hangar 40 placed on the second transport unit 57b via the transport mechanism, loads the hangar 40 into the vehicle, and stores the warehousing 40 storing the regular delivery Z1 in the transport vehicle 50. It is loaded on the first transport unit 57a. The transport vehicle 50 executes the above-described transport/insertion processing, and mounts the hangar 40 in which the regular delivery Z1 is stored in the storage portion 20a.

(Function configuration)
Next, the functional configurations of the center server 10, the storage device 20, the delivery vehicle 30, and the transport vehicle 50 of the delivery system 1 according to the present embodiment will be described with reference to FIGS. 7 to 9. FIG. 7 is a diagram showing an example of functional configurations of the center server 10, the storage device 20, the delivery vehicle 30, and the delivery vehicle 50 of the delivery system 1. The center server 10 includes, as functional components, a communication unit 11, a control unit 12, and a storage unit 13. The communication unit 11 is a communication interface with the network N1. The communication unit 11 includes, for example, a LAN interface board and a wireless communication circuit for wireless communication. The center server 10 manages the autonomous traveling of the plurality of delivery vehicles 30 and the transportation vehicle 50 in cooperation with the external server 70, and generates an operation command for each vehicle.

The center server 10 is, for example, a general-purpose computer having a processor, a main storage device, and an auxiliary storage device. The processor includes a CPU (Central Processing Unit) and a DSP.
(Digital Signal Processor), GPU (Graphics Processing Unit), etc. are included. The main storage device includes a flash memory, a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The auxiliary storage device is a non-volatile storage device that stores various programs including an OS (Operating System) and various data in a recording medium in a readable and writable manner. The OS includes a communication interface program for exchanging data with an external device or the like connected via the communication unit 11. The auxiliary storage device includes, for example, a portable recording medium, a flash memory, a hard disk drive (HDD, Hard Disk Drive), and an SSD (Solid
State Drive) etc. are included. The portable recording medium is a disc recording medium such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), a DVD (Digital Versatile Disc), and a Blu-ray (registered trademark) disc. The processor executes a computer program executable in the work area of the main storage device and controls the center server 10 as a whole. The processor controls the peripheral devices through the execution of the computer program to provide a function that matches a predetermined purpose as described later. However, some functions may be provided by hardware circuits such as an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a numerical operation processor, and an image processor. The center server 10 may be composed of a single computer, or may be composed of a plurality of computers that cooperate with each other.

The control unit 12 is an information processing function provided by executing the computer program of the processor. The control unit 12 provides an information processing function of managing the autonomous traveling of the delivery vehicle 30 and the transport vehicle 50 and generating an operation command transmitted to each vehicle. The control unit 12 includes at least a position information management unit 121, an operation command generation unit 122, and a storage device management unit 123. The series of processes executed by the center server 10 can be executed by software, but can also be executed by hardware.

The position information management unit 121 collects and manages position information (for example, latitude and longitude) from the delivery vehicle 30 and the transportation vehicle 50 under the control of the center server 10. The position information management unit 121 receives the current position information transmitted from each vehicle on a regular basis or in response to a request from the center server 10, and stores it in the delivery information DB 131 built in the storage unit 13.

The operation command generation unit 122 cooperates with the external server 70 to generate an operation command related to delivery of the warehousing 40 to the accommodation unit 20a of the designated storage device 20. In the operation command generation unit 122, for example, the operation on the route related to the delivery vehicle 30 and the transportation vehicle 50 in a predetermined area where the delivery service of the delivery Z1 using the hangar 40 is provided, and the accommodation destination specified by the user ( An operation command regarding movement to a destination is generated.

The operation command generation unit 122 acquires the position information of the delivery vehicle 30. Then, the operation command generation unit 122 identifies the movement route (route) to the destination point with the current position as the departure point for the delivery vehicle 30 with reference to the map data stored in the auxiliary storage device or the like, for example. .. Then, the operation command generation unit 122 generates an operation command that travels on the specified movement route and reaches a destination point (for example, a point near the storage device 20 where parking and parking is possible). The operation command includes instructions such as “temporary stop”, “loading the hangar 40 on the transport vehicle 50”, and “loading/unloading the transport vehicle 50”. The same applies to the transport vehicle 50.

The storage device management unit 123 collects and manages the usage status (storage status of the storage case 40) of the storage device 20 provided in a predetermined area. The storage device management unit 123 receives the current usage status transmitted from each storage device on a regular basis or in response to a request from the center server 10, and stores it in the storage device DB 132 built in the storage unit 13.

In addition, when the storage device management unit 123 receives a delivery request for a delivery item through the external server 70, the storage device management unit 123 notifies the delivery center or the like, which is the base of the delivery vehicle 30, of information regarding the received delivery request. The information regarding the delivery request includes, for example, the article code information of the delivery. At the delivery center or the like, the center server 10 is notified of the storage ID of the storage 40 that stores the delivery based on the item code information of the delivery. Then, the storage device management unit 123 refers to, for example, the storage device DB 132, and based on the usage status (storage status) of the storage device 20 designated by the user, a storage unit 20a capable of storing the delivery item requested for delivery. Identify. The storage device management unit 123 specifies the information (the device ID of the storage device 20 and the identification number of the storage unit 20a) regarding the storage unit 20a in which the delivery can be stored, and notifies the delivery center or the like. Similarly, the storage device management unit 123 notifies the external server 70, which has received the delivery request, of information regarding the accommodation unit 20a, which is the delivery destination of the delivered item.

In the delivery center or the like, for example, a delivery code is generated based on the information regarding the designated accommodation section 20a, and voucher information including the delivery code, the item code, the storage ID, and the site ID is generated. The generated slip information is recorded in the memory of a control device such as a microcomputer included in the storage case 40. In the memory of the storage 40, code information (key information) for unlocking the locked door 40a of the storage 40 is recorded in advance. The slip information and the key information recorded in the memory are read by the storage device 20 having the storage portion 20a in which the storage is stored.

The external server 70 receives the notification of the information about the accommodation unit 20a, which is the delivery destination of the delivery, and generates the key information such as the one-time key for unlocking the locked door 20a1 of the accommodation unit. However, the center server 10 may generate the key information. The external server 70 notifies the generated key information to the user terminal 60 of the user who is the recipient of the delivery. In addition, the external server 70 notifies the center server 10 of the decryption key for decrypting the generated key information and the original information when the key information is generated. The decryption key for decrypting the key information and the original information are notified via the center server 10 to the storage device 20 having the accommodation unit 20a of the delivery destination.

The storage device 20 reads the key information notified to the user terminal 60 via the interface 20b, for example. The storage device 20 unlocks the door 20a1 of the accommodation unit 20a corresponding to the key information when the decrypted information decrypted from the key information matches the original information. Further, the storage device 20 controls the locking/unlocking mechanism 40b based on the code information read from the storage box 40 housed in the housing section 20a to unlock the door 40a. The delivery items stored in the hangar are acquired by the user.

The storage unit 13 includes a main storage device and an auxiliary storage device. In the storage unit 13, a delivery information database (DB) 131 that manages delivery information regarding delivery of the delivery vehicle 30 (including a plurality of transport vehicles 50) and a storage device DB 132 that manages the accommodation status of the storage device 20 are constructed. .. The delivery information DB 131 and the storage device DB 132 are relational databases constructed by, for example, a program of a database management system (DBMS) executed by a processor managing data stored in an auxiliary storage device or the like.

FIG. 8 is a diagram showing an example of delivery information stored in the delivery information DB 131. The delivery information is managed as a delivery information table for each area where the delivery service is provided, as illustrated in FIG. The information registered in the delivery information table can have fields added, changed, and deleted as appropriate.

In FIG. 8, the delivery information table has fields of a vehicle ID, a base ID, a current position, a delivery destination, a storage key, an item code, a delivery code, and a delivery status. The vehicle ID stores identification information (vehicle ID) that uniquely identifies the delivery vehicle 30 and the transportation vehicle 50 mounted on the delivery vehicle. The vehicle ID is, for example, a vehicle registration number (a number marked on the license plate). A plurality of vehicle IDs of the transportation vehicle 50 can be stored. In the example of FIG. 8, the vehicle IDs “VC001, VC002” of the two transportation vehicles 50 mounted on the delivery vehicle 30 having the vehicle ID “V000A” are illustrated.

The location ID stores information (address, latitude/longitude, etc.) indicating a location serving as the location of the delivery vehicle 30. The base ID is, for example, a delivery base that stores the delivered item requested for delivery in the storage box 40 and loads the storage box on the delivery vehicle 30. The delivery vehicle 30 starts from the base location specified by the base ID and returns to the base location after the delivery service provision in the area is completed. Position information (latitude, longitude, etc.) indicating the current positions of the delivery vehicle 30 and the transportation vehicle 50 is stored in the current position. The position information is updated when the position information transmitted from each vehicle is received. However, the position information may include identification information (for example, a link number) of a road on which each vehicle is located, identification information (for example, a node number) such as an intersection, an address, and the like.

The storage ID stores identification information (storage ID) that uniquely identifies the storage 40 loaded on the delivery vehicle 30. Information indicating the delivery destination of the storage 40 is stored in the delivery destination. The delivery destination has each subfield of a device ID and an identification number. Identification information (device ID) that uniquely identifies the storage device 20 is stored in the device ID. As the identification number, an identification number for identifying the storage section 20a, which is the storage section of the storage device 20, is stored. The device ID and the identification number specify the delivery destination of the storage case 40 that stores the delivery. Code information (key information) for unlocking the door 40a of the hangar 40 is stored in the hangar key. The item code stores information indicating the item code of the delivery item stored in the storage box 40. The delivery code stores information about delivery of the deliverables stored in the storage box 40. The item code and the delivery code form slip information. The delivery status stores status information indicating the current delivery status. For example, when the delivery vehicle 30 equipped with the hangar 40 and the transportation vehicle 50 is moving, “delivering” is specified, and when the transportation vehicle 50 on which the hangar 40 is mounted is moving, “transporting” is designated. In the case where the storage box 40 has been installed in the storage section 20a, information such as "delivery completed" is stored.

FIG. 9 is a diagram showing an example of storage device information stored in the storage device DB 132. The accommodation status acquired from each storage device is managed as a storage device information table for each storage device, as illustrated in FIG. The information registered in the storage device information table can have fields added, changed, and deleted as appropriate.

In FIG. 9, the storage device information table has fields of an installation location, an identification number, a size, a storage status, a storage box ID, and key information. The information stored in each field of the identification number and the storage ID is the same as that shown in FIG. When the usage status of the accommodation unit 20a designated by the identification number is "empty", information indicating that the corresponding key information does not exist in the storage ID (for example, "---" or blank) Is stored.

Information indicating the location where the storage device 20 is installed is stored in the installation location. The information indicating the place is typically position information such as latitude and longitude. However, the information indicating the location may be an address or the like where the storage device 20 is installed. The size stores information indicating the size of the accommodation unit 20a designated by the identification number (for example, width (W)×height (H)×depth (D)). In the accommodation status, status information indicating the usage status of the accommodation unit 20a designated by the identification number is stored. For example, "in use" when there is a hangar 40 in which the receipt of the delivery has not been completed in the accommodation unit 20a, "empty" when the hangar 40 does not exist and the delivery schedule of the hangar 40 is undecided Information is stored. In addition, information such as “reserved” is stored when there is a delivery schedule for the hangar 40, and “reception of cargo is completed” when there is the hangar 40 that has completed the delivery of the delivery. The key information stores the decryption key for decrypting the key information notified to the user and the original information when the key information is generated. Note that when the accommodation status is "empty" or "receipt completed", the information stored as the key information is deleted, and information indicating that the corresponding key information does not exist (for example, "---" or blank Etc.) are stored.

Returning to FIG. 7, the functional configuration of the storage device 20 will be described. The storage device 20 includes a communication unit A21, a control unit 22, a storage unit 23, a communication unit B24, and an interface 20b as constituent elements. Since the communication unit A21 and the storage unit 23 are the same as the communication unit 11 and the storage unit 13 of the center server 10, the description thereof will be omitted. The storage unit 23 stores the decryption key and the original information for decrypting the key information notified from the center server 10 to the user terminal 60 of the user who is the recipient of the delivery.

The control unit 22 is a computer that manages the storage device 20. The control unit 22 is composed of, for example, a microcomputer including a processor such as a CPU. The control unit 22 provides various processing functions that meet a predetermined purpose by causing the processor to read and execute various programs and various data stored in the storage unit 23.

The control unit 22 acquires the usage status of the plurality of storage units 20a provided in the own device periodically or in response to a request from the center server 10 and notifies the center server 10 of the usage status. The usage status is notified to the center server 10 together with the device ID of the storage device 20, the identification number for identifying each of the storage units 20a, and the storage container ID.

In addition, when the control unit 22 detects the transport vehicle 50 on which the hangar 40 is mounted via a camera or a sensor that detects a beacon signal, the control unit 22 unlocks the door 20a1 of the housing unit 20a that is the housing destination of the hangar, and unlocks the door. The locked door 20a1 is opened. A hangar 40 placed on a transport vehicle 50
The accommodating destination of is notified from the center server 10. The door 20a1 is unlocked by the locking/unlocking mechanism 20c, and the door 20a1 is opened/closed by the opening/closing mechanism.

Note that the control unit 22 uses the short-distance wireless communication with the hangar 40 housed in the housing unit 20a to perform slip information such as the item code and the delivery code related to the items stored in the hangar 40, and to unlock the door 40a. Get code information (key information). Then, the storage device 20 notifies the center server 10 of the slip information acquired from the storage 40 together with the storage ID. When the storage case 40 accommodated in the accommodation section 20a is authorized, the center server 10 records the completion of delivery of the deliveries stored in the storage case in the delivery information DB 131.

Further, the control unit 22 controls a discharge mechanism for discharging the storage case 40 housed in the housing unit 20a to the outside of the housing unit. By the operation of the discharge mechanism, it becomes possible to transfer the hangar 40, which has completed the receipt of the delivery, and the hangar 40, which is housed in the housing sections 20a at different partition positions, to the transport vehicle 50.

Further, the control unit 22 unlocks the door 20a1 of the accommodation unit 20a and the door 40a of the storage case 40 accommodated in the accommodation unit, based on the key information read from the user terminal 60 via the interface 20b. Then, the storage device 20 notifies the center server 10 that the receipt of the delivery Z1 by the user is completed after the door 20a1 is closed. In the center server 10, the storage device information table of the storage device DB 132 that manages the accommodation status of the storage device is updated based on the notification of completion of reception from the storage device 20.

The communication unit B24 is a communication means with the transportation vehicle 50. The communication unit B24 includes, for example, a communication circuit for near field communication. The interface 20b is an interface means with the recipient of the delivered product delivered to the accommodation unit 20a. The interface 20b includes, for example, a wireless communication circuit such as an RFID (radio frequency identifier), an input device such as a touch panel, and a display device such as an LCD.

Next, the functional configuration of the delivery vehicle 30 will be described. The delivery vehicle 30 specifies a traveling route according to the operation command acquired from the center server 10, and autonomously travels on a road or the like by an appropriate method while sensing the periphery of the own vehicle on the traveling route. The delivery vehicle 30 includes a sensor 31, a position information acquisition unit 32, a drive unit 33, a control unit 34, a communication unit 35, a storage unit 36, and a conveyance control unit 37 as constituent elements. Since the communication unit 35 and the storage unit 36 are the same as the communication unit 11 and the storage unit 13 of the center server 10, their description is omitted.

The sensor 31 is a set of sensors mounted on the delivery vehicle 30, and is a means for sensing the state of the delivery vehicle 30 and the environment around the vehicle in order to acquire information necessary for autonomous traveling. Examples of the sensor that senses the state of the delivery vehicle 30 include an acceleration sensor, a speed sensor, a geomagnetic sensor, and a gyro sensor. As a sensor for sensing the surroundings of the delivery vehicle 30, for example, a camera (stereo camera, visible light camera, infrared camera, etc.), laser scanner, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), radar, etc. Is exemplified. The information acquired by the sensor 31 is notified to, for example, the control unit 34, and is used for recognizing obstacles and traveling lanes existing around the delivery vehicle 30. Note that the information detected by the sensor 31 may include, for example, data regarding the degree of congestion in the vicinity of the moving vehicle, the speed of surrounding vehicles, and the like, which are acquired through road-vehicle communication or vehicle-vehicle communication.

The position information acquisition unit 32 is a unit that acquires the current position of the delivery vehicle 30, and is configured to include, for example, a receiver such as a GPS (Global Positioning System) or a GLONASS (Global Navigation Satellite System). The information (for example, latitude and longitude) acquired by the position information acquisition unit 32 is notified to the control unit 34, and is used, for example, for calculation of a route along which the delivery vehicle travels and for guidance processing for reaching a destination. To be done. However, the position information acquisition unit 32 may autonomously obtain the position information of the own vehicle by detecting the traveling direction and the vehicle speed of the own vehicle with a speed sensor, an acceleration sensor, a geomagnetic sensor, a gyro sensor, or the like. The information acquired by the position information acquisition unit 32 is transmitted via the communication unit 35 to the center server 10 connected to the network N1 periodically or in response to a request from the server.

The drive unit 33 is a unit that causes the delivery vehicle 30 to travel based on the control command generated by the travel control unit 343. The drive unit 33 is configured to include, for example, a drive motor for driving wheels, an inverter, a brake, a steering motor, a steering mechanism, and the like. The drive unit 33 causes the delivery vehicle 30 to autonomously travel by appropriately adjusting the control amounts of the motor, the inverter, the brake, the steering, and the like according to the control command.

The control unit 34 is a computer that controls the delivery vehicle 30 based on the information acquired from the sensor 31 and the position information acquisition unit 32. The control unit 34 is composed of, for example, a microcomputer including a processor such as a CPU. The control unit 34 provides various processing functions that match a predetermined purpose by causing the processor to read and execute various programs and various data stored in the storage unit 36. The control unit 34 provides at least the functional modules of the operation plan generation unit 341, the state detection unit 342, the travel control unit 343, and the vehicle information notification unit 344. However, the functional module provided by the control unit 34 may be realized by hardware or may be realized by a plurality of computers that cooperate with each other.

The operation plan generation unit 341 acquires an operation instruction from the center server 10 and generates an operation plan of the own vehicle. The operation instruction includes information about a departure place, a destination, a route passing through the destination, and the like instructed by the delivery vehicle 30. Therefore, the operation plan generation unit 341 generates the above operation plan based on the destination and the route to the destination given from the center server 10 and the position of the own vehicle obtained by the position information acquisition unit 32. To do. The operation plan includes the data on the route traveled by the delivery vehicle 30 generated in this way, and the data defining the processing to be performed by the vehicle on part or all of the route. Examples of data included in the operation plan include, for example, the following (1) and (2).

(1) Data in which the route traveled by the host vehicle is represented by a set of road links For the route traveled by the host vehicle, for example, referring to the map data stored in the storage unit 36, the designated departure point, destination, It may be automatically generated based on the route passing through the destination. However, the route route passing through the destination where the vehicle travels can be specified not through the delivery vehicle 30 but through an external device such as the center server 10. The external device such as the center server 10 may acquire the position information from the delivery vehicle 30, identify the route along which the delivery vehicle should travel, and include the data of the route in the operation command. ..

(2) Data representing the processing to be performed by the own vehicle at a point on the route: For the processing to be performed by the own vehicle, for example, a temporary stop at a place where the storage device 20 is installed, a transportation vehicle 50 at the place. However, the instruction is not limited to these. For example, an instruction such as “recovery of the storage case 40 from the storage section 20a” at the place where the storage device 20 is installed is included. The operation plan generated by the operation plan generation unit 341 is output to the travel control unit 343 described later.

The state detection unit 342 detects a surrounding situation necessary for autonomous traveling based on the data acquired by the sensor 31. Targets of detection include, for example, the number and positions of lanes, the number and positions of vehicles existing around the own vehicle, and obstacles existing around the own vehicle (for example, pedestrians, bicycles, structures, buildings, etc.). The number, position, road structure, road sign, etc. are not limited to these. Any target may be detected as long as it is necessary for autonomous traveling. For example, when the sensor 31 is a camera (stereo camera, visible light camera, infrared camera) or the like, the object around the delivery vehicle 30 is detected by processing the image data captured by the sensor 31.

The state detection unit 342 may not only detect the object around the delivery vehicle 30, but also track the detected object (continue to detect the detected object). For example, the relative velocity of the object can be obtained from the difference between the coordinates of the object detected one step before and the coordinates of the current object. The data regarding the surrounding situation detected by the state detection unit 342 is output to the traveling control unit 343 described later. Note that the azimuth information indicating the azimuth of the own vehicle acquired via the sensor 31 is transmitted to the center server 10 connected to the network N1 via the communication unit 35 periodically or in response to a request from the server. ..

The traveling control unit 343, based on the operation plan generated by the operation plan generation unit 341, the data regarding the surrounding situation detected by the state detection unit 342, and the position information of the own vehicle acquired by the position information acquisition unit 32, A control command for controlling autonomous traveling is generated. For example, the traveling control unit 343 generates a control command to drive the host vehicle so that the host vehicle travels along a predetermined route and an obstacle does not enter a predetermined safety area around the host vehicle. The generated control command for controlling the traveling is output to the drive unit 33. Further, the traveling control unit 343 similarly generates a control command for mounting the hangar 40 loaded on the own vehicle on the transport vehicle 50. The control command for placing the hangar 40 is output to the transport control unit 37. A known method can be adopted as the method of generating the control command.

The vehicle information notifying unit 344 periodically provides the center server 10 connected to the network N1 through the communication unit 35 with the information about the hangar 40 loaded in the own vehicle and the information about the transportation vehicle 50 mounted in the own vehicle, or It is sent according to the request of the server. The vehicle information notification unit 344 adds a vehicle ID that uniquely identifies the own vehicle to the vehicle information and transmits the vehicle information to the center server 10.

The transport control unit 37 is a unit that places the hangar 40, which is a load, on the transport vehicle 50 based on the control command generated by the travel control unit 343. The transport control unit 37 is configured to include a transport mechanism such as a conveyor for moving the hangar 40 loaded in the own vehicle to the first transport unit 57a of the transport vehicle 50, an elevating mechanism, and the like. The transport control unit 37 moves the loaded storage box 40 to the transport vehicle 50 by appropriately adjusting the control amounts to the transport mechanism and the elevating mechanism according to the control command.

Next, the functional configuration of the transport vehicle 50 will be described. Similarly to the delivery vehicle 30, the transportation vehicle 50 specifies a travel route according to the operation command acquired from the center server 10 and autonomously travels on a road or the like by an appropriate method while sensing the surroundings of the own vehicle. .. The transport vehicle 50 includes a sensor 51, a position information acquisition unit 52, a drive unit 53, a control unit 54, a communication unit B55, a storage unit 56, an attachment/detachment unit 57, and a communication unit A58 as constituent elements. Since the communication unit A58 and the storage unit 56 are the same as the communication unit 11 and the storage unit 13 of the center server 10, the description thereof will be omitted. Further, since each of the sensor 51, the position information acquisition unit 52, and the drive unit 53 is the same as the sensor 31, the position information acquisition unit 32, and the drive unit 33 of the delivery vehicle 30, the description thereof will be omitted. The communication unit B55 is the same as the communication unit B24 of the storage device 20, and thus the description is omitted.

The control unit 54 is a computer that controls the transport vehicle 50 based on the information acquired from the sensor 51 and the position information acquisition unit 52. Like the control unit 34, the control unit 54 is configured by a microcomputer including a processor such as a CPU. The control unit 54 provides various processing functions that meet a predetermined purpose by causing the processor to read and execute various programs, various data, and the like stored in the storage unit 56. The control unit 54 provides at least the functional modules of the operation plan generation unit 541, the state detection unit 542, the travel control unit 543, and the accommodation control unit 544. The functional module provided by the control unit 54 may be implemented by hardware or may be implemented by a plurality of computers that cooperate with each other.

The functional modules of the operation plan generation unit 541, the state detection unit 542, and the travel control unit 543 of the control unit 54 are the same as the operation plan generation unit 341, the state detection unit 342, and the travel control unit 343 of the delivery vehicle 30, respectively. Therefore, the description is omitted.

The accommodation control unit 544 includes the vehicle ID of the own vehicle in the beacon signal, and notifies the storage device 20 in the vicinity through the communication unit B55. In addition, when a response to the beacon signal transmitted from the host vehicle is obtained, the accommodation control unit 544 notifies the storage device 20 of information regarding the hangar 40 mounted on the host vehicle. When the storage device 20 acquires the information about the hangar 40 through the communication unit B24, the door 20a1 of the housing unit 20a that houses the hangar is unlocked and opened.

The travel control unit 543 of the transport vehicle 50 uses the data regarding the surrounding situation detected by the state detection unit 542 and the position information of the own vehicle acquired by the position information acquisition unit 52 to determine whether the storage unit 20a with the door 20a1 opened. A control command for moving close to the partition position is generated. The drive unit 53 moves the transportation vehicle 50 according to the control command, and positions the own vehicle along the marker indicating the partition position of the accommodation unit 20a. In the transport vehicle 50, positioning is performed along the marker so that the storage case 40 placed on the first transport unit 57a is mounted in the storage unit 20a.

In addition, the traveling control unit 543 of the transport vehicle 50 moves to the accommodation unit 20a in which the door 20a1 is opened based on the operation plan generated by the operation plan generation unit 541 and the data on the surrounding situation detected by the state detection unit 542. A control command for mounting the storage case 40 is generated. The generated control command is output to the attachment/detachment unit 57.

The attachment/detachment unit 57 is a unit that attaches or detaches the hangar 40 transported by the own vehicle to or from the accommodation space of the accommodation unit 20a, which is the delivery destination, based on the control command generated by the travel control unit 543. As described with reference to FIG. 6, the attachment/detachment unit 57 includes the first transport unit 57a for transporting the hangar 40, the second transport unit 57b, and the first lifting unit that moves the first transport unit 57a up and down in the height direction. 57c and the 2nd raising/lowering part 57d which raises/lowers the 2nd conveyance part 57b in a height direction, and is comprised. The attachment/detachment unit 57 appropriately attaches/detaches the control amount to each of the transport units and each of the lifting/lowering units in accordance with the control command to attach or detach the hangar 40 to/from the accommodation unit 20a.

(Process flow)
Next, processing of the delivery system 1 according to the present embodiment will be described with reference to FIGS. 10 to 11. FIG. 10 is a sequence diagram showing an example of a processing procedure executed by the center server 10, the storage device 20, the delivery vehicle 30, the user terminal 60, and the external server 70. Note that in FIG. 10, the external server 70 will be described as an EC site server that provides an online shopping service to the user.

In FIG. 10, the user purchases a desired product through a product purchasing service such as online shopping provided by the external server 70 through the user terminal 60 (S1). When the external server 70 receives a product purchase from a user who has designated a delivery destination in the storage device 20, the external server 70 notifies the center server 10 of a delivery request for the product to the storage device 20 (S2). The delivery request includes the item code of the product purchased by the user and information about the storage device 20 (for example, the address of the installation place).

When the center server 10 receives the delivery request for the product from the external server 70, the center server 10 notifies the delivery center, which is the base of the delivery vehicle 30, of the information regarding the delivery request including the article code. In the delivery center or the like, the storage 40 that stores the product is specified based on the item code information of the product, and the storage server ID of the specified storage 40 is notified to the center server 10. The center server 10 identifies the storage device 20 designated as the delivery destination of the product and requests the storage device to notify the storage status (S3). The storage device 20 is specified by referring to the storage device DB 132 based on the installation location where the storage device 20 is installed.

When the storage device 20 receives the accommodation status notification request from the center server 10, the storage device 20 acquires the accommodation status of the accommodation unit 20a of its own device and returns the accommodation status to the center server 10 (S4). The center server 10 acquires the accommodation status from the storage device 20. Then, the center server 10 designates the accommodation section 20a of the delivery destination of the warehousing 40 in which the products are accommodated, and provides the external server 70 with information regarding the accommodation section 20a (the apparatus ID of the storage apparatus 20 and the identification number of the accommodation section 20a). (S5). It should be noted that the information about the accommodation unit 20a is notified to the delivery center or the like. The center server 10 updates the corresponding storage device information table of the storage device DB 132 based on the accommodation status acquired from the storage device 20. Status information such as "reserved" is stored in the accommodation status field of the accommodation unit 20a designated as the accommodation destination of the hangar 40.

The external server 70 receives the notification of the information about the accommodation unit 20a, which is the delivery destination of the products accommodated in the hangar 40, and generates key information such as a one-time key for unlocking the door 20a1 of the accommodation unit. .. The key information is notified to the user terminal 60. Further, the center server 10 is notified of the decryption key for decrypting the generated key information and the original information for generating the key information (S6). The center server 10 records the notified decryption key and the original information for generating the key information in the storage device DB 132. Then, the center server 10 notifies the storage device 20, which is the storage destination of the storage case 40 in which the products are stored, of the original information for generating the decryption key and the key information (S7). The storage device 20 stores the information notified from the center server 10 in a predetermined area of the storage unit 23 in association with the identification number of the accommodation unit 20a.

At the delivery center or the like, which is the base of the delivery vehicle 30, the product specified by the article code is stored in the storage 40 as a delivery. Further, in the memory of the control device included in the storage box 40, the article code, the delivery code relating to the delivery of the delivered product, the code information for unlocking the door 40a (storage box key) and the like are recorded together with the storage box ID.

The hangar 40 that stores the products purchased by the user is loaded on the delivery vehicle 30. The delivery vehicle 30 is equipped with a transport vehicle 50 that transports and mounts the hangar 40 in the accommodation unit 20a of the designated storage device 20. A plurality of hangars 40 and a transportation vehicle 50 are mounted on the delivery vehicle 30.

The delivery vehicle 30 in which the hangar 40 and the transportation vehicle 50 are mounted in a delivery center or the like acquires the position information of the own vehicle via the position information acquisition unit 32. In addition, the delivery vehicle 30 acquires vehicle information (vehicle ID of the transport vehicle 50, storage ID of the loaded storage 40, information regarding the storage section 20a of the delivery destination, etc.) recorded in advance in the storage unit 36. Then, the delivery vehicle 30 notifies the center server 10 of the acquired position information and vehicle information of the own vehicle together with the vehicle ID (S8).

The center server 10 generates an operation command based on the position information and vehicle information notified from the delivery vehicle 30 (S9). Then, the center server 10 notifies the delivery vehicle 30 of the generated operation command (S10). The operation command includes, for example, "temporary stop at a place near the storage device 20 where parking and parking is possible", "loading the hangar 40 onto the transport vehicle 50", "getting on and off the transport vehicle 50", etc. Instructions are included.

The delivery vehicle 30 that has received the notification of the operation command generates an operation plan and starts operation by autonomous traveling to provide the delivery service (S11). According to the operation command, the delivery vehicle 30 moves, for example, from the current position as a departure point to a point where parking and stopping are possible near the storage device 20. Then, the delivery vehicle 30 that has moved to a place where parking and stopping is possible near the storage device 20 loads the hangar 40 on the transport vehicle 50 and dismounts the transport vehicle 50 (S12).

Next, FIG. 11 will be described. FIG. 11 is a sequence diagram showing an example of a processing procedure executed by the center server 10, the storage device 20, the transportation vehicle 50, and the user terminal 60. In FIG. 11, the transport vehicle 50, which is alighted from the delivery vehicle 30, acquires the position information of the own vehicle via the position information acquisition unit 52. Then, the transportation vehicle 50 notifies the center server 10 of the acquired position information of the own vehicle together with the vehicle ID (S13).

The center server 10 generates an operation command based on the position information notified from the transportation vehicle 50 (S14). The center server 10 acquires, for example, the storage box ID of the storage box 40 loaded on the transport vehicle 50 from the delivery vehicle 30 and identifies the storage section 20a that is the storage destination of the storage box. Then, the center server 10 generates an operation command for the transport vehicle 50 from the current position as a starting point to reach the point where the accommodation section of the accommodation unit 20a is located. The operation command includes instructions such as “notify the storage case ID” and “mount the storage case 40 in the housing portion 20a”. The generated operation command is notified to the transportation vehicle 50 (S15).

The transportation vehicle 50 that has received the notification of the operation command generates an operation plan and starts autonomous operation for carrying the loaded hangar 40 to the corresponding storage section 20a (S16). The transportation vehicle 50 moves to the vicinity of the installation position of the storage device 20 having the accommodation portion 20a according to the operation command.

The transport vehicle 50 includes the vehicle ID of its own vehicle in the beacon signal and notifies the storage device 20 adjacent thereto through the communication unit B55. Then, the transportation vehicle 50 notifies the information (housing ID) regarding the hangar 40 to the response from the storage device 20 to the beacon signal transmitted by the own vehicle (S17).

When the storage device 20 acquires the information about the hangar 40 through the communication unit B24, the storage device 20 unlocks the door 20a1 of the housing unit 20a that is the housing destination of the hangar to open the door (S18). The unlocking of the door 20a1 is performed using the common key stored in the storage unit 23 in advance. The transport vehicle 50 approaches the partition position of the accommodation unit 20a in which the door 20a1 is opened and positions the storage box 40 for mounting based on the data on the surrounding situation detected by the state detection unit 542. Then, the transport vehicle 50 operates the first transport unit 57a, the second transport unit 57b, the first lift unit 57c, and the second lift unit 57d that form the attachment/detachment unit 57, and the storage unit 20a with the door 20a1 opened. The hangar 40 transported inside is mounted (S19). After mounting the hangar 40 in the accommodation portion 20a, the transport vehicle 50 returns to the parking/stopping position of the delivery vehicle 30.

The storage device 20 closes and locks the door 20a1 of the storage portion 20a in which the storage case 40 is mounted (S20). Then, the storage device 20 acquires the slip information from the storage 40 stored in the storage unit 20a and notifies the center server 10 of the slip information together with the identification number of the storage unit 20a (S21). The center server 10 collates the slip information notified from the storage device 20 with the article code, delivery code, etc. of the delivery reserved in the accommodation unit 20a. When the delivery destination of the storage 40 is authorized, the center server 10 updates the status information stored in the delivery status field of the delivery information table of the delivery information DB 131 to "delivery completed" (S22). In addition, when the delivery destination of the hangar 40 is not authorized, the hangar 40 attached to the transport vehicle 50 is recovered from the accommodation unit 20a, and an operation command to attach the warehousing 40 to the accommodation unit 20a that is the authorized delivery destination is notified. In the transport vehicle 50 and the storage device 20, the processes from S13 to S20 are performed again, and the recovered storage box 40 is stored in the regular delivery destination.

The user who is the recipient of the product presents the key information for unlocking the door 20a1 of the accommodation section 20a of the delivery destination to the interface 20b of the storage device 20 (S23). For example, the user brings the user terminal 60 close to the interface 20b, and causes the terminal to read the key information notified from the external server 70. The storage device 20 unlocks the door 20a1 of the accommodation unit 20a designated by the key information and the door 40a of the storage case 40 accommodated in the accommodation unit based on the key information read via the interface 20b ( S24).

The user collects the products purchased from the hangar 40 housed in the housing unit 20a and closes the door 40a and the door 20a1. After the door 20a1 is closed, the storage device 20 notifies the center server 10 that the user has received the delivery (S25). The center server 10 updates the storage device DB 132 that manages the delivery status to the storage device based on the notification of the completion of receipt from the storage device 20 (S26).

According to the above processing, in the delivery system 1 according to the present embodiment, the delivery item requested for delivery is stored in the lockable/unlockable storage box 40, and the storage section 20a of the storage device 20 capable of detachably storing the storage box 40. Can be accommodated in. The housing 40 is housed in the housing unit 20a by, for example, the transportation vehicle 50 having the attachment/detachment unit 57 including the first transport unit 57a, the second transport unit 57b, the first elevating unit 57c, and the second elevating unit 57d as constituent elements. Done. A plurality of the transportation vehicles 50 and the hangars 40 are mounted on the delivery vehicle 30, and can be moved to a position near the installation position of the storage device 20 where parking and stopping is possible. The delivery vehicle 30 and the transportation vehicle 50 are mobile bodies that are capable of autonomous traveling according to an operation command.

When the center server 10 receives the delivery request, the center server 10 identifies the accommodation unit 20a in which the storage case 40 for accommodating the delivery is accommodated. The partition position of the accommodation unit 20a in the storage device 20 is designated by the identification number of the accommodation unit 20a. Then, the center server 10 can instruct the delivery vehicle 30 and the transportation vehicle 50 to issue an operation instruction including a delivery instruction to the storage unit 20a for the hangar 40 in which the deliverables are stored. In the delivery system 1, since the main work is to replace the storage 40 with respect to the storage device 20, it is possible to simultaneously deliver a plurality of deliverables at once. According to the present embodiment, it is possible to provide a technique for improving delivery efficiency in a system that provides a delivery service using a movable body that is capable of autonomous traveling.

(Modification)
The storage device 20 can also be configured to include a heat exchange mechanism (heating/cooling function) that can be controlled for each accommodation portion 20a. The storage device 20 can perform temperature management according to the attributes (such as refrigeration required) of the delivered items in the storage case 40 accommodated in the accommodation section 20a. In the delivery system of the modification, the quality of delivery service provided to the user can be improved.

Furthermore, the storage device 20 is an automatic vending machine that allows an unspecified number of people to automatically purchase goods (articles) and receive services by inserting a currency or a substitute card and paying the price. It can also be configured. The storage device 20 can provide, for example, sales of a plurality of products loaded in the hangar in response to payment of consideration. In the delivery system of the modified example, it is possible to replenish or replace the sale item using the hangar 40.

(Other)
The above-described embodiment further includes the following additional aspects. The components included in each of the following supplementary notes can be combined with the configurations included in the other supplementary notes.
(Appendix 1)
A storage device having a storage part capable of detachably storing a lockable/unlockable storage, a moving body having an attachment/detachment part for attaching/detaching the storage to/from the storage device, and selecting a storage for storing a delivery, Information including a control unit that determines a storage unit in the storage device in which the selected storage is stored, and instructs the mobile body to deliver the selected storage to the storage device An information processing system including a processing device.

(Appendix 2)
The storage device has a plurality of the accommodating portions, each of the plurality of accommodating portions has an identification mark that can be distinguished from each other, and the moving body has The information processing system according to Appendix 1, wherein the first storage is mounted.

(Appendix 3)
3. The information processing system according to appendix 2, wherein the storage device has a warming/cooling function of individually cooling or heating each of the plurality of storage units.

(Appendix 4)
4. The information processing system according to any one of appendices 1 to 3, wherein the storage device sells the delivered item stored in the hangar to an unspecified number of users in response to payment of consideration.

<Other embodiments>
The above-described embodiment is merely an example, and the disclosure of the present embodiment may be appropriately modified and implemented without departing from the gist thereof. The processes and means described in the present disclosure can be freely combined and implemented as long as no technical contradiction occurs.

Further, the processing described as being performed by one device may be shared and executed by a plurality of devices. Alternatively, the processing described as being performed by different devices may be performed by one device. In the computer system, it is possible to flexibly change the hardware configuration (server configuration) to realize each function.

A program that causes an information processing device or other machine or device (hereinafter, computer or the like) to realize any of the functions described above can be recorded in a recording medium readable by the computer or the like. Then, by causing a computer or the like to read and execute the program of this recording medium, the function can be provided.

Here, a computer-readable recording medium is a recording medium that stores information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action, and can be read by a computer or the like. Say. Among such recording media, removable media such as a flexible disk, a magneto-optical disk, a CD-ROM, a CD-R/W, a DVD, a Blu-ray disk, a DAT, an 8 mm tape, a flash memory, etc. There are cards, etc. Further, there are a hard disk, a ROM and the like as a recording medium fixed to a computer or the like.

1 Delivery System 10 Center Server 11 Communication Unit 12 Control Unit 13 Storage Unit 20 Storage Device 20a Storage Unit 20b Interface 20c Locking/Unlocking Mechanism 21 Communication Unit A
22 control unit 23 storage unit 23
24 Communication unit B
30 delivery vehicle 31 sensor 32 position information acquisition unit 33 drive unit 34 control unit 35 communication unit 36 storage unit 37 transport control unit 40 hangar 40a door 40b locking/unlocking mechanism 50 transport vehicle 51 sensor 52 position information acquisition unit 53 drive unit 54 control unit 55 Communication unit B
56 storage unit 57 attachment/detachment unit 58 communication unit A
131 Delivery information DB
132 storage device DB

Claims (1)

A storage device having a storage unit capable of detachably storing a lockable and unlockable storage cabinet,
A moving body having an attaching/detaching portion for attaching/detaching the storage container to/from the storage device;
Selecting a hangar for storing the delivered item, determining an accommodating portion of the storage device in which the selected hangar is accommodated, and delivering the selected hangar to the storage device to the moving body. An information processing apparatus including a control unit that executes an instruction,
An information processing system including.

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