JP2021051502A - Management system, management device, management method, and program - Google Patents

Abstract

To provide a management system capable of appropriately moving both the following vehicles when automatic driving vehicles and vehicles transported by a transport device are mixed, and to provide a management device, a management method and a program thereof.SOLUTION: A management system comprises a vehicle transport device for transporting a vehicle entering an inside of a management area, and a management device for managing the inside of the management area. The management device comprises a determination unit for determining whether or not transportation of an object vehicle that has entered the inside of the management area is necessary, and a first control unit for transporting the object vehicle to a target transport location point by controlling the vehicle transport device when the determination unit determines that the transportation of the object vehicle is necessary.SELECTED DRAWING: Figure 1

Description

The present invention relates to management systems, management devices, management methods, and programs.

Conventionally, in a parking lot or the like, there is a technique of moving a vehicle to a predetermined position by using a transport device instead of self-propelling the vehicle (see, for example, Patent Document 1). Further, when there is a dedicated road for an autonomous driving vehicle, there is a technique for preventing a vehicle other than the autonomous driving vehicle from entering the dedicated road (see, for example, Patent Document 2). Further, there is a technique for moving an autonomous vehicle to park in a predetermined parking space in a predetermined parking area (see, for example, Patent Document 3).

Japanese Unexamined Patent Publication No. 2016-216936 JP-A-2002-163758 JP-A-2017-182230

In the technique disclosed in Patent Document 1, there is a problem in how to move the vehicle to be transported and the self-driving vehicle when the vehicle transported by the transport device and the self-driving vehicle coexist.

The present invention has been made in consideration of such circumstances, and when a vehicle transported by a transport device and an autonomous driving vehicle coexist, a management system and a management device capable of appropriately moving both of them. , Management methods, and programs.

The management system, management device, management method, and program according to the present invention have adopted the following configurations.
(1): The management system according to one aspect of the present invention includes a transport device for transporting a vehicle that has entered the management area and a management device for managing the management area, and the management device is the management. A determination unit that determines whether or not the target vehicle that has entered the area needs to be transported, and a determination unit that determines that the target vehicle needs to be transported, controls the transfer device to target the target vehicle. It is a management system including a first control unit for transporting to a transport point.

(2): In the aspect of the above (1), when the target vehicle is self-propelled under the control of the management device, the determination unit determines that the transportation of the target vehicle is unnecessary, and the management device determines that the transportation of the target vehicle is unnecessary. The second control unit is further provided to control the target vehicle and move it to the target movement point when the determination unit determines that the transportation of the target vehicle is unnecessary.

(3): In the aspect of (2) above, the first control unit controls the vehicle transport device to move the target vehicle to a target transport point within the range of the first region near the entrance / exit of the management area. The second control unit controls and moves the target vehicle to the target movement point within the range of the second area that is not near the entrance / exit of the management area.

(4): In the embodiment (2) or (3), the first control unit designates the target transport points in order from the position closest to the entrance / exit of the management area, and the second control unit uses the second control unit. The target movement points are designated in order from the position farthest from the entrance / exit of the management area.

(5): In any of the above aspects (2) to (4), the management device limits the travel area in which the vehicle transport device can travel, and the first control unit is in the travel area. The position where the filling density of the vehicle becomes high is designated as the target transport point, and the second control unit designates the position where the warehousing / delivery efficiency of the vehicle becomes high as the target movement point.

(6): The management device according to one aspect of the present invention is a management device that manages the inside of the management area, and includes a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported, and the target. When the determination unit determines that the vehicle needs to be transported, the first control unit that controls the vehicle transport device that transports the vehicle that has entered the management area to transport the target vehicle to the target transport point. It is a management system equipped with.

(7): In the management method according to one aspect of the present invention, the computer of the management device determines whether or not the target vehicle that has entered the management area needs to be transported, and determines that the target vehicle needs to be transported. In this case, it is a management method in which a vehicle transport device for transporting a vehicle that has entered the management area is controlled to transport the target vehicle to a target transport point.

(8): In the program according to one aspect of the present invention, when the computer of the management device is made to determine whether or not the target vehicle that has entered the management area needs to be transported, and it is determined that the target vehicle needs to be transported. Is a program that controls a vehicle transport device that transports a vehicle that has entered the management area to execute a process of transporting the target vehicle to a target transport point.

According to (1) to (8), when the vehicle transported by the transport device and the self-driving vehicle coexist, both can be appropriately moved.
According to (3), the transport time can be shortened.
According to (4), the transport distance can be suppressed.
According to (5), the area can be used efficiently.

It is a block diagram of the vehicle management system S using the vehicle transport device 1. It is a schematic diagram which shows an example of the vehicle transport device 1. It is a figure which shows an example of the operation of the 1st transfer robot 10A and the 2nd transfer robot 10B at the time of transporting a vehicle M. It is a figure which shows an example of the operation of the 1st transfer robot 10A and the 2nd transfer robot 10B at the time of transporting a vehicle M. It is a figure which shows an example of the structure of the 1st transfer robot 10A. It is a figure which shows an example of the structure of the 1st transfer robot 10A. It is a figure which shows an example of the functional structure of the 1st transfer robot 10A. It is a figure which shows the outline of the parking lot PA managed by the vehicle management server 200. It is a block diagram which shows an example of a vehicle management server 200. It is a figure which shows an example of the 1st parking area PE1 of a parking lot PA. It is a figure which shows an example of the 2nd parking area PE2 of a parking lot PA. It is a flowchart which shows an example of the processing in a vehicle management server 200. It is a flowchart which shows an example of the process of the transfer control device 100 in the vehicle transfer device 1. It is a flowchart which shows an example of the processing of the vehicle control part in the vehicle M which is an autonomous driving vehicle. It is a figure which shows another example of the 1st parking area PE1.

Hereinafter, embodiments of the management system, management device, management method, and program of the present invention will be described with reference to the drawings.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle management system S using the vehicle transport device 1. The vehicle management system S (management system) performs the warehousing process by transporting the vehicle M to be transported to the parking position in the parking space (parking space), and moves the vehicle M to be transported from the parking position to the exit position. Delivery processing is performed by transporting. As a result, the vehicle management system S manages the parking of the vehicle. The vehicle M is not limited to a specific vehicle, and the vehicle management system S can target any vehicle to be transported. In the following, the vehicle M will be described assuming that the two front wheels are the steering wheels and the two rear wheels are the non-steering wheels. The vehicle management system S includes, for example, a vehicle transport device 1 and a vehicle management server 200 (management device). The vehicle management server 200 manages the entry of the vehicle into the parking space and the exit of the vehicle from the parking space. Based on the request from the user H (for example, the occupant of the vehicle M) who wants to park the vehicle via the terminal device HD, the vehicle transport device 1 is made to perform the warehousing process and the unloading process of the vehicle M. The terminal device HD, the vehicle transport device 1, and the vehicle management server 200 can communicate with each other via the network NW. The network NW includes the Internet, WAN (Wide Area Network), LAN (Local Area Network), public line, provider device, dedicated line, wireless base station and the like.

[Overview of vehicle carrier]
FIG. 2 is a schematic view showing an example of the vehicle transport device 1. The vehicle transport device 1 transports the vehicle M to a desired target position by moving the vehicle M, which is the target vehicle to be transported, in an arbitrary direction. The vehicle transport device 1 can move the vehicle M in the front direction, the rear direction, the left direction, and the right direction of the vehicle body of the vehicle M. Further, the vehicle transport device 1 can change (rotate) the direction of the vehicle body of the vehicle M without moving the position of the vehicle M.

The vehicle transfer device 1 includes, for example, a set of transfer robots 10 (first transfer robot 10A, second transfer robot 10B) capable of autonomously traveling in a predetermined area. During transportation, the first transfer robot 10A enters under the vehicle M, lifts the front wheels of the vehicle M, and autonomously travels. The second transfer robot 10B enters under the vehicle M, lifts the rear wheels of the vehicle M, and autonomously travels. The structures of the first transfer robot 10A and the second transfer robot 10B may be the same. One of the first transfer robot 10A and the second transfer robot 10B may be a master machine, and the other may be a slave machine.

3 and 4 are diagrams showing an example of the operation of the first transfer robot 10A and the second transfer robot 10B during the transfer of the vehicle M. As shown in FIG. 3, when the vehicle M is transported, the first transport robot 10A enters under the vehicle M from the front of the vehicle M. When transporting the vehicle M, the second transport robot 10B enters under the vehicle M from behind the vehicle M.

As shown in FIG. 4, the first transfer robot 10A that has entered under the vehicle M moves to a position where the right contact portion 11R and the left contact portion 11L, which will be described later, come into contact with the front portion of the front wheel and stops. Next, the first transfer robot 10A moves the right lift arm 12R and the left lift arm 12L stored in the storage portion described later to a position where they come into contact with the rear portion of the front wheel. Then, the first transfer robot 10A lifts the right front wheel by the right contact portion 11R and the right lift arm 12R by further moving the right lift arm 12R toward the right contact portion 11R, and brings the right front wheel to the left contact portion 11L. By further moving the left lift arm 12L toward the left front wheel, the left front wheel is lifted by the left contact portion 11L and the left lift arm 12L.

As shown in FIG. 4, the second transfer robot 10B that has entered under the vehicle M moves to a position where the right contact portion 13R and the left contact portion 13L, which will be described later, come into contact with the rear portion of the rear wheel and stops. Next, the second transfer robot 10B moves the right lift arm 14R and the left lift arm 14L stored in the storage portion described later to a position where they come into contact with the front portion of the rear wheel. Then, the second transfer robot 10B lifts the right rear wheel by the right contact portion 13R and the right lift arm 14R by further moving the right lift arm 14R toward the right contact portion 13R, and the left contact portion 13L. By further moving the left lift arm 14L toward, the left rear wheel is lifted by the left contact portion 13L and the left lift arm 14L. After that, the vehicle M can be moved by the first transfer robot 10A and the second transfer robot 10B collaborating to autonomously travel (self-propell) by the drive mechanism. Instead of lifting the wheels of the vehicle M, the vehicle transport device 1 may lift a part of the vehicle body of the vehicle M (for example, a front cross member, a rear cross member, etc.) of the vehicle M.

[Structure of transfer robot]
Next, the structure of the transfer robot 10 (b) of the transfer robot 10 (first transfer robot 10A and second transfer robot 10B) will be described. Since the structures of the first transfer robot 10A and the second transfer robot 10B are the same, the first transfer robot 10A will be described below, and the description of the second transfer robot 10B will be omitted as appropriate.

5 and 6 are views showing an example of the structure of the first transfer robot 10A. FIG. 5 shows the first transfer robot 10A from which the upper cover covering the upper part of the main body 15 has been removed. In this specification, for convenience of explanation, each direction with respect to the first transfer robot 10A is defined as follows. The direction in which the right contact portion 11R and the left contact portion 11L are arranged with respect to the right lift arm 12R and the left lift arm 12L is the Y direction. Further, the direction in which the right cargo handling mechanism 20R, which will be described later, is arranged with respect to the center position in the width direction of the first transfer robot 10A (hereinafter, referred to as the center line C) is defined as the X direction. Further, the height direction of the first transfer robot 10A, which is orthogonal to the planes formed by the X and Y directions, is the Z direction.

The first transfer robot 10A includes, for example, a main body 15, four drive mechanisms 16 arranged inside the main body 15, and a cargo handling mechanism 20. The cargo handling mechanism 20 includes, for example, a right cargo handling mechanism 20R and a left cargo handling mechanism 20L. The right cargo handling mechanism 20R is arranged on the right side (+ X direction) with respect to the center line C. The left cargo handling mechanism 20L is arranged on the left side (-X direction) with respect to the center line C. The four drive mechanisms 16 are arranged between the right cargo handling mechanism 20R and the left cargo handling mechanism 20L. The main body 15 is a frame that supports each component of the first transfer robot 10A.

Each of the drive mechanisms 16 includes, for example, a traveling motor 17, a drive-side speed reducer 18, and wheels 19. The four drive mechanisms 16 are arranged in two sets on the left and right (−X direction and + X direction) with the center line C as a boundary. The two sets of drive mechanisms 16 on the left side and the two sets of drive mechanisms 16 on the right side are arranged so as to be line-symmetrical with respect to the center line C as an axis. The two sets of drive mechanisms 16 on the front side (+ Y direction) and the two sets of drive mechanisms 16 on the rear side (-Y direction) are line-symmetrical with respect to the parallel line D parallel to the width direction of the first transfer robot 10A. It is arranged so as to be.

The traveling motor 17 is, for example, an electric motor. The output shaft of the traveling motor 17 is connected to the input shaft of the drive-side speed reducer 18. The drive-side speed reducer 18 has an input shaft and an output shaft on the same line, and has, for example, a planetary gear speed reducer. The output shaft of the drive-side reducer 18 is connected to the wheel 19.

The wheel 19 is, for example, a Mecanum wheel. The mecanum wheels provided in each drive mechanism 16 can move the main body 15 in all directions by driving them in cooperation with each other. The drive mechanism 16 may have other wheels capable of moving in all directions. For example, the drive mechanism 16 may be replaced with an omni wheel or a vehicle having a steering function.

The right cargo handling mechanism 20R includes, for example, a right contact portion 11R, a right lift arm 12R, and a right rotational force transmission mechanism 21R. The left cargo handling mechanism 20L includes, for example, a left contact portion 11L, a left lift arm 12L, and a left rotational force transmission mechanism 21L. The right cargo handling mechanism 20R and the left cargo handling mechanism 20L are arranged so as to be line-symmetrical with respect to the center line C as an axis. Since the right cargo handling mechanism 20R and the left cargo handling mechanism 20L have the same structure, the structure of the right cargo handling mechanism 20R will be described below, and the description of the left cargo handling mechanism 20L will be omitted as appropriate.

The right rotational force transmission mechanism 21R includes a drive device for moving the right lift arm 12R between the right storage position P1 and the right deployment position P2. The right rotational force transmission mechanism 21R, for example, rotationally moves the right lift arm 12R between the right storage position P1 and the right deployment position P2 along the XY plane with the axis A1 in the Z direction as a fulcrum. The right rotational force transmission mechanism 21R includes, for example, a motor, a brake, and the like.

The right lift arm 12R is a rotary rod including a shaft member and a cylindrical member that is concentric with the shaft member and is rotatable about the shaft member. The right lift arm 12R is controlled by the right rotational force transmission mechanism 21R so that the right storage position P1 and the tip 22R with the tip 22R facing the center side (−X direction) in the width direction of the main body 15 are outside the width direction (+ X direction) of the main body 15. ) Rotates with the right deployment position P2.

The right storage position P1 and the right deployment position P2 are positions where the shaft member of the right lift arm 12R is parallel to the width direction. In other words, the right storage position P1 is the position of the right lift arm 12R after rotating the right lift arm 12R 180 degrees along the XY plane from the right deployment position P2. On the contrary, the right deployment position P2 is the position of the right lift arm 12R after the right lift arm 12R is rotated 180 degrees along the XY plane from the right storage position P1.

The right contact portion 11R is a rotating rod including a shaft member and a cylindrical member that is concentric with the shaft member and is rotatable around the shaft member. Both ends of the shaft member of the right contact portion 11R are fixed to the main body 15.

[Functional configuration of transfer robot]
Next, the functional configuration of the transfer robot 10 will be described. FIG. 7 is a diagram showing an example of the functional configuration of the first transfer robot 10A. The first transfer robot 10A includes, for example, a drive mechanism 16, a cargo handling mechanism 20, a sensor 30, a communication device 40, and a transfer control device 100.

The sensor 30 includes, for example, a camera 32 and a distance measuring sensor 34. The camera 32 takes an image of the periphery of the first transfer robot 10A. The ranging sensor 34 is, for example, a PSD (Position Sensitive Detector) sensor, a radar, a LiDAR (Light Detection and Ranging), an LRF (Laser Range Finder), a TOF (Time of Flight) sensor, and the like. The distance measuring sensor 34 detects the distance to an object existing around the first transfer robot 10A. The distance measuring sensor 34 detects, for example, the distance from the vehicle M to be transported. A plurality of cameras 32 and distance measuring sensors 34 are provided in order to detect all directions of the first transfer robot 10A. The four sets of cameras 32 and the distance measuring sensor 34 are attached to, for example, the right front part, the left front part, the right rear part, and the left rear part of the upper cover.

The communication device 40 includes, for example, a device and an antenna for wireless communication with an external communication device. The external communication device is, for example, a vehicle management server 200, and is a communication device of the other pair of transfer robots 10 (second transfer robot 10B). The communication device 40 includes a communication module for short-range wireless communication and a communication module for wireless communication via a public line.

The transport control device 100 includes, for example, a communication unit 110, a travel control unit 120, an arm control unit 130, and a storage unit 140. Each of the communication unit 110, the travel control unit 120, and the arm control unit 130 is realized by, for example, a hardware processor such as a CPU (Central Processing Unit) (computer) executing a program (software). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. It may be realized by the part; including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the transfer control device 100, or a removable storage such as a DVD or a CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the transport control device 100 by mounting the storage medium (non-transient storage medium) in the drive device.

The communication unit 110 acquires various instructions transmitted by the vehicle management server 200 via the communication device 40. The instructions transmitted by the vehicle management server 200 include, for example, an instruction to enter the vehicle in the parking space, an instruction to exit the vehicle from the parking space, an instruction to adjust the parking position of the vehicle parked in the parking space, and the like.

The travel control unit 120 controls the drive mechanism 16 so as to move the vehicle transport device 1 to the instructed position based on the instruction acquired by the communication unit 110. For example, the travel control unit 120 controls the drive mechanism 16 so as to move the vehicle transport device 1 to the position of the vehicle M to be transported when the warehousing instruction is obtained by the communication unit 110.

The arm control unit 130 controls the cargo handling mechanism 20 so as to lift the vehicle M to be transported or lower the vehicle M in the lifted state based on the instruction acquired by the communication unit 110. For example, when the warehousing instruction is acquired by the communication unit 110, the arm control unit 130 sets the cargo handling mechanism 20 so as to lift the vehicle after the vehicle transport device 1 moves to the vehicle position under the control of the travel control unit 120. Control.

The storage unit 140 is realized by, for example, an HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 140 stores, for example, information such as map information 142 in the management area (in the parking management section) in which the first transfer robot 10A can travel.

FIG. 8 is a diagram showing an outline of the parking lot PA managed by the vehicle management server 200. In the parking lot PA, which is the management area of the vehicle management server 200, the vehicle management system S is designated by the vehicle management server 200 by causing the vehicle M that has entered the parking lot PA to run by itself or by the vehicle transport device 1. Move the vehicle M to the parking space. As shown in FIG. 8, the parking lot PA is provided with a parking area PE partitioned into a large number of parking spaces PS, and an entrance / exit gate G is provided at the entrance of the parking lot PA. The entrance of the parking lot PA also serves as the exit of the parking lot PA. Between the parking area PE and the entrance / exit gate G, an boarding / alighting area RD on which the occupants of the vehicle M get on / off from the vehicle M is provided. The parking area PE is divided into a first parking area PE1 near the entrance of the parking lot PA and a second parking area PE2 not near the entrance of the parking lot PA. The first parking area PE1 is an example of the first area, and the second parking area PE2 is an example of the second area. The second parking area PE2 may be an area farther from the entrance of the parking lot PA than the first parking area PE1. The distance from the entrance of the parking lot PA to the first parking area PE1 or the second parking area PE2 may be, for example, the shortest distance between the entrance of the parking lot PA and the first parking area PE1 or the second parking area PE2. , The length of the shortest route when the vehicle travels between the entrance of the parking lot PA and the first parking area PE1 or the second parking area PE2 may be set.

The vehicle M parked in the parking lot PA stops at the boarding / alighting area RD after entering from the entrance / exit gate G. When the vehicle M stops in the boarding / alighting area RD, the occupant of the vehicle M gets off. Subsequently, the vehicle management server 200 designates the parking space PS of the vehicle M. The vehicle management server 200 transmits a warehousing instruction to the vehicle M or the vehicle transport device 1 to allow the vehicle M to run by itself or to transport the vehicle M by the vehicle transport device 1 to store the vehicle, and the parking space PS designated by the vehicle management server 200. The vehicle M is moved from the boarding / alighting area RD to (hereinafter, referred to as “designated parking space PSD”). The vehicle management server 200 transmits a delivery instruction to the vehicle M or the vehicle transport device 1 to allow the vehicle M to run by itself or to transport the vehicle M by the vehicle transport device 1 to leave the vehicle, and the vehicle M is transmitted from the parking space PS to the boarding / alighting area RD. Move to. The vehicle management server 200 may cause the vehicle M to be transported by the vehicle transport device 1 from a position other than the boarding / alighting area RD.

A warehouse DE capable of accommodating a plurality of vehicle transport devices 1 is provided in the vicinity of the boarding / alighting area RD, and a plurality of vehicle transport devices 1 are accommodated in the warehouse DE. The vehicle transport device 1 housed in the warehouse DE moves from the warehouse DE to the position of the vehicle M stopped in the boarding / alighting area RD based on the information transmitted by the vehicle management server 200, and mounts the vehicle M. Transport to the designated parking space PSD.

FIG. 9 is a block diagram showing an example of the vehicle management server 200. As shown in FIG. 9, the vehicle management server 200 includes, for example, a communication device 220, a control unit 240, and a storage unit 260. The communication device 220 includes, for example, an external communication device, for example, a device for wirelessly communicating with a vehicle carrier device 1 or a vehicle M, and an antenna. The communication device 220 includes a communication module that performs wireless communication via a public line.

The control unit 240 includes, for example, a communication unit 242, a determination unit 244, a first control unit 246, and a second control unit 248. The communication unit 242, the determination unit 244, the first control unit 246, and the second control unit 248 are realized by, for example, a hardware processor such as a CPU (computer) executing a program (software). In addition, some or all of these components may be realized by hardware such as LSI, ASIC, FPGA, GPU (including circuit section; circuitry), or realized by collaboration between software and hardware. May be done. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the vehicle management server 200, or a removable storage such as a DVD or a CD-ROM. It is stored in a medium, and the storage medium (non-transient storage medium) may be installed in the HDD or flash memory of the vehicle management server 200 by being attached to the drive device. The storage unit 260 is composed of, for example, these storage devices and the like. The storage unit 260 stores map information 261 regarding the map in the parking lot PA and parking information 262 indicating the parking status in the parking space PS.

The communication unit 242 transmits and receives signals to and from the vehicle M located in the boarding / alighting area RD and the parking space PS and the vehicle transport device 1 via the communication device 220. The communication unit 242 receives, for example, vehicle information transmitted by the vehicle M in the boarding / alighting area RD via the communication device 220. The vehicle information includes self-driving vehicle information and vehicle specification information. The automatic driving information is information indicating that the vehicle M has an automatic driving function capable of self-driving, and is transmitted only by the automatic driving vehicle. The vehicle specification information is information on specifications such as weight, wheelbase, and vehicle height for the vehicle M. The communication unit 242 communicates, for example, a warehousing instruction for moving the vehicle M from the boarding / alighting area RD to the designated parking space PSD and a warehousing instruction for moving the vehicle M from the parking space PS to the boarding / alighting area RD to the vehicle M or the vehicle transport device 1. Transmission via device 220.

The determination unit 244 determines whether or not the target vehicle that has entered the parking lot PA needs to be transported. Therefore, the determination unit 244 determines whether or not the vehicle M is an autonomous driving vehicle based on whether or not the vehicle information transmitted by the vehicle M and received by the communication unit 242 includes the autonomous driving vehicle information. .. When the determination unit 244 determines that the vehicle M is an autonomous driving vehicle and does not require transportation, the determination unit 244 determines that the vehicle M is not transported by the vehicle transport device 1, and the vehicle M is not an autonomous driving vehicle. If it is determined, it is determined that the vehicle M is transported by the vehicle transport device 1.

When the determination unit 244 determines that the vehicle M is not an autonomous vehicle and needs to be transported, the first control unit 246 assigns one of the parking space PSs in the first parking area PE1 to the designated parking space PSD. Specify as. After designating the designated parking space PSD in the first parking area PE1, the first control unit 246 sets the designated parking space PSD as the target transport point and causes the vehicle M to be transported to the vehicle transport device 1 toward the designated parking space PSD. .. Therefore, the first control unit 246 determines the vehicle transport device 1 for transporting the vehicle M from among the plurality of vehicle transport devices 1, and the communication unit 242 determines the information of the target transport point by the first control unit 246. It is transmitted to the vehicle transport device 1. The first control unit 246 transmits the vehicle specification information included in the vehicle information to the vehicle transport device 1 together with the information of the target transport point. The vehicle management system S may include only one vehicle transport device 1.

When the first control unit 246 designates the designated parking space PSD from the plurality of parking space PS in the first parking area PE1, for example, the first control unit 246 refers to the map information 261 and the parking information 262 stored in the storage unit 260. Then, among the plurality of parking spaces PS, an empty space in which the vehicle M can be parked is searched. The first control unit 246 designates the designated parking space PSD in order from the position closest to the entrance of the parking lot PA among the plurality of searched parking space PSs.

For example, as shown in FIG. 10, when the parking spaces are the first parking space PS1, the second parking space PS2, ..., In order from the position closest to the entrance of the parking lot PA, the first control unit 246 first. , Determine whether the first parking space PS1 can be designated as the designated parking space PSD. The first control unit 246 is, for example, when the vehicle is parked in the first parking space PS1 or when the first parking space PS1 is already designated as the designated parking space PSD of another vehicle, the first parking is performed. It is determined that the space PS1 cannot be designated as the designated parking space PSD, and in other cases, it is determined that the first parking space PS1 can be designated as the designated parking space PSD.

When the first parking space PS1 cannot be designated as the designated parking space PSD, it is determined whether the second parking space PS2 can be designated as the designated parking space PSD, and when the second parking space PS2 cannot be designated as the designated parking space PSD. Determines whether the third parking space PS3 can be designated as the designated parking space PSD. After that, similarly, it is determined whether the designated parking space PSD can be designated in the order of the fourth parking space PS4, the fifth parking space PS5, ..., And the parking space determined to be designated as the designated parking space PSD is designated as the designated parking space. Specify in PSD. The first control unit 246 determines a parking space PS of a size that can park the vehicle M based on the vehicle specification information transmitted by the vehicle M, and is in the parking space PS of a size that can park the vehicle M. The designated parking space PSD may be specified from.

When the determination unit 244 determines that the vehicle M is an autonomous driving vehicle, the second control unit 248 designates one of the parking space PSs in the second parking area PE2 as the designated parking space PSD. After designating the designated parking space PSD in the second parking area PE2, the second control unit 248 designates the designated parking space PSD as the target movement point, and causes the vehicle M to self-propell toward the designated parking space PSD. Therefore, the communication unit 242 transmits the information of the target movement point to the vehicle M.

The second control unit 248 refers to, for example, the map information 261 and the parking information 262 stored in the storage unit 260 when designating the designated parking space PSD from the plurality of parking space PSs in the second parking area PE2. Then, among the plurality of parking spaces PS, an empty space in which the vehicle M can be parked is searched. The second control unit 248 designates the designated parking space PSD in order from the position farthest from the entrance of the parking lot PA among the plurality of searched parking space PSs. For example, as shown in FIG. 11, when the parking spaces are the first parking space PS21, the second parking space PS22, ..., In order from the position farthest from the entrance of the parking lot PA, the second control unit 248 first. , Determine whether the first parking space PS21 can be designated as the designated parking space PSD. The second control unit 248 is, for example, the first parking when the vehicle is parked in the first parking space PS21 or when the first parking space PS21 is already designated as the designated parking space PSD of another vehicle. It is determined that the space PS21 cannot be designated as the designated parking space PSD, and in other cases, it is determined that the first parking space PS21 can be designated as the designated parking space PSD.

When the first parking space PS21 cannot be designated as the designated parking space PSD, it is determined whether the second parking space PS22 can be designated as the designated parking space PSD, and when the second parking space PS22 cannot be designated as the designated parking space PSD. Determines whether the third parking space PS23 can be designated as the designated parking space PSD. After that, similarly, it is determined whether the designated parking space PSD can be designated in the order of the fourth parking space PS24, the fifth parking space PS25, ..., And the parking space determined to be designated as the designated parking space PSD is designated as the designated parking space. Specify in PSD. The second control unit 248 determines the parking space PS of a size that can park the vehicle M based on the vehicle specification information transmitted by the vehicle M, and is in the parking space PS of a size that can park the vehicle M. The designated parking space PSD may be specified from.

Vehicles that enter the parking lot PA include self-driving vehicles and vehicles other than self-driving vehicles (hereinafter referred to as "non-autonomous driving vehicles"). The autonomous driving vehicle includes, for example, a vehicle control unit including a transmission / reception unit, a self-propelled control unit, a navigation device, and an action plan generation unit. The autonomous driving vehicle stores, for example, vehicle information. The transmission / reception unit transmits the vehicle information of the own vehicle to the vehicle management server 200, and also receives the information transmitted by the vehicle management server 200. The self-propelled control unit controls the self-propelled vehicle. The navigation device determines the route from the departure point (or current location) to the arrival point. The action plan generation unit automatically generates a target track on which the vehicle M will travel in the future (independent of the driver's operation) on the determined route.

The vehicle control unit transmits vehicle information to the vehicle management server 200 when the vehicle M arrives at the boarding / alighting area RD of the parking lot PA in the transmission / reception unit. When the vehicle management server 200 transmits information on the target movement point, the vehicle control unit generates a target track from the boarding / alighting area RD to the designated parking space PSD by the self-propelled control unit, and the vehicle follows the target track. M is self-propelled and moved to the designated parking space PSD. In the embodiment, the control by the second control unit 248 does not determine the route of the vehicle M or generate the target trajectory as the control for self-propelling the vehicle M, but transmits the information of the target movement point to the vehicle M. Although it is transmitted, the second control unit 248 may control to determine the route of the vehicle M and generate a target trajectory.

For example, the travel control unit 120 in the vehicle transport device 1 sets a target trajectory from the boarding / alighting area RD to the designated parking space PSD when the information of the target transport point is transmitted by the vehicle management server 200, as in the case of the automatically driven vehicle. The vehicle transport device 1 is generated and traveled along the target track to move the vehicle M to the designated parking space PSD. In the embodiment, the control by the first control unit 246 does not determine the route of the vehicle transport device 1 or generate the target trajectory as the control for moving the vehicle M by traveling the vehicle transport device 1. Although the information on the target transport point is transmitted to the vehicle transport device 1, the first control unit 246 may control to determine the route of the vehicle transport device 1 and generate the target track.

The non-autonomous driving vehicle includes a transmission / reception unit of the autonomous driving vehicle that transmits the vehicle information of the own vehicle to the vehicle management server 200. The non-autonomous driving vehicle includes, for example, a storage unit that stores vehicle information. The transmission / reception unit of the vehicle M, which is a non-autonomous driving vehicle, transmits the vehicle information stored in the storage unit to the vehicle management server 200.

Next, the processing in the vehicle management server 200 will be described. FIG. 12 is a flowchart showing an example of processing in the vehicle management server 200. As shown in FIG. 12, the vehicle management server 200 receives the vehicle information transmitted by the vehicle M by the communication unit 242 via the communication device 220 (step S101). The vehicle M transmits vehicle information to the vehicle management server 200, for example, while passing through the entrance / exit gate G and stopping at the boarding / alighting area RD. If the vehicle M does not have the function of transmitting the vehicle information to the vehicle management server 200, the terminal device HD of the user of the vehicle M acquires and transmits the vehicle information of the vehicle M, and the vehicle management server 200 , The vehicle information transmitted by the terminal device HD may be received. In this case, the terminal device HD may acquire the vehicle information of the vehicle M from the vehicle M by short-range wireless communication or the like, or may be acquired by the user of the vehicle M or the like inputting to the terminal device HD. Good.

The determination unit 244 in the vehicle management server 200 determines whether or not the vehicle M stopped in the boarding / alighting area RD is an autonomous driving vehicle based on the vehicle information received by the communication unit 242 (step S103). When it is determined that the vehicle parked in the boarding / alighting area RD is not an autonomous driving vehicle (it is a non-autonomous driving vehicle), the first control unit 246 designates a designated parking space PSD in the first parking area PE1. The designated parking space PSD is designated as the target transport point (step S105). The first control unit 246 designates the parking space PS closest to the entrance of the parking lot PA among the parking space PS of the first parking area PE1 as the target transportation point.

Subsequently, the first control unit 246 determines the vehicle transport device 1 for transporting the vehicle M from among the plurality of vehicle transport devices 1, and transmits the information of the target transport point to the determined vehicle transport device 1 ( Step S107). The vehicle transport device 1 for transporting the vehicle M may be determined in any way. For example, the vehicle transport device 1 remaining in the warehouse DE may be determined in order, or may be determined in ascending order of frequency of use. Alternatively, based on the vehicle specification information transmitted by the vehicle M, information such as the vehicle type and the tire type of the vehicle M may be acquired and determined according to the information. At this time, the first control unit 246 transmits the vehicle specification information included in the vehicle information to the vehicle transport device 1 together with the information of the target transport point. In this way, the vehicle management server 200 ends the process shown in FIG.

Further, in step S103, when it is determined that the vehicle stopped in the boarding / alighting area RD is an autonomous driving vehicle, the second control unit 248 designates a designated parking space PSD in the second parking area PE2, and this designation is made. The parking space PSD is designated as the target movement point (step S109). The second control unit 248 designates the parking space PS farthest from the entrance of the parking lot PA among the parking space PS of the second parking area PE2 as the designated parking space PSD.

Subsequently, the second control unit 248 transmits the information of the target movement point to the vehicle M (step S111). In this way, the vehicle management server 200 ends the process shown in FIG.

Next, the processing in the vehicle transport device 1 will be described. FIG. 13 is a flowchart showing an example of processing of the transport control device 100 in the vehicle transport device 1. As shown in FIG. 13, the transport control device 100 in the vehicle transport device 1 determines whether or not the communication unit 110 has received the information of the target transport point transmitted by the vehicle management server 200 (step S201). When it is determined that the information of the target transport point has not been received by the communication unit 110, the vehicle transport device 1 repeats the process of step S201.

When it is determined that the communication unit 110 has received the information on the target transport point, the transport control device 100 controls the drive mechanism 16 by the travel control unit 120 to move the vehicle transport device 1 to the position of the vehicle M in the boarding / alighting area RD. Move (step S203). Subsequently, the transport control device 100 brings the vehicle transport device 1 close to the vehicle M, causes the first transport robot 10A to lift the front wheels of the vehicle M, and causes the second transport robot 10B to lift the rear wheels of the vehicle M (step). S205). Subsequently, the transport control device 100 determines whether or not the vehicle M has been lifted (step S207), and if it determines that the vehicle M has not been lifted, returns to step S205 and continues the process of lifting the vehicle M. ..

When it is determined that the vehicle M has been lifted, the transport control device 100 transports the vehicle M to the designated designated parking space PSD according to the information of the target transport point transmitted by the vehicle management server 200 (step S209). Subsequently, the transfer control device 100 determines whether or not the target transfer point has been reached (step S211). If it is determined that the target transport point has not been reached, the transport control device 100 returns to step S209 and continues the transport of the vehicle M.

When it is determined that the target transport point has been reached, the transport control device 100 lowers the lifted vehicle M (step S213). After lowering the vehicle M, the transport control device 100 moves the vehicle transport device 1 toward the warehouse DE (step S215). When the vehicle transport device 1 newly receives the information of the target transport point before the vehicle transport device 1 arrives at the warehouse DE, the transport control device 100 moves to the boarding / alighting area RD as it is without going to the warehouse DE. In this way, the process shown in FIG. 13 is completed.

Next, the processing of the vehicle control unit in the vehicle M will be described. FIG. 14 is a flowchart showing an example of processing of the vehicle control unit in the vehicle M, which is an autonomous driving vehicle. As shown in FIG. 14, the vehicle control unit in the vehicle M determines whether or not the vehicle has stopped in the boarding / alighting area RD (step S301). When it is determined that the vehicle is not stopped in the boarding / alighting area RD, the vehicle control unit repeats the process of step S301. When it is determined that the vehicle has stopped in the boarding / alighting area RD, the vehicle control unit transmits vehicle information to the vehicle management server 200 (step S303).

Subsequently, the vehicle control unit determines the route to the target movement point transmitted by the vehicle management server 200 using the navigation device, and generates a target trajectory when traveling on the route using the action plan generation unit. To do. Then, the vehicle control unit uses the self-propelled control unit to move the vehicle M toward the target movement point (step S305).

Subsequently, the vehicle control unit determines whether or not the vehicle M has reached the target movement point (step S307). If it is determined that the target movement point has not been reached, the vehicle control unit returns to step S305 until the target movement point is reached, and the vehicle M is continuously self-propelled. When it is determined that the target movement point has been reached, the vehicle control unit ends the process shown in FIG.

When the vehicle M is a non-autonomous driving vehicle, the vehicle control unit performs the processes of steps S301 and S303 shown in FIG. Subsequently, the vehicle control unit ends the process shown in FIG. After that, the transport of the vehicle M is entrusted to the vehicle transport device 1, and the vehicle transport device 1 transports the vehicle M to the target transport point.

The vehicle management system S of the embodiment determines whether the vehicle M that has entered the parking lot PA is an automatic driving vehicle or a non-automatic driving vehicle, and if it is a non-automatic driving vehicle, a vehicle transport device. Use 1 to transport the vehicle M to the designated parking space PSD. Therefore, even when the vehicle M is a non-autonomous driving vehicle, the vehicle M can be moved to the parking space with the same function as the automatic driving function. Therefore, when the vehicle transported by the transport device and the self-driving vehicle coexist, both can be appropriately moved. Moreover, when the vehicle M is an autonomous driving vehicle, the vehicle M is moved to the designated parking space PSD under the control of the vehicle management server 200. Therefore, when the vehicle transported by the transport device and the self-driving vehicle coexist, both can be moved more appropriately.

Further, in the vehicle management system S of the embodiment, for the non-automatically driven vehicle, the vehicle transport device 1 designates the designated parking space PSD within the range of the first parking area PE1 near the entrance of the parking lot PA, and automatically drives the vehicle. For vehicles, the designated parking space PSD is designated within the range of the second parking area PE2, which is not near the entrance of the parking lot PA. The vehicle transport device 1 often does not have high traveling performance as compared with an automatically driven vehicle, and often has a slower moving speed and a shorter movable distance than an automatically driven vehicle. In this regard, in the vehicle management system S of the embodiment, the non-autonomous driving vehicle is transported to the first parking area PE1 where the mileage is short, so that when many vehicles are parked in the parking lot PA, it is comprehensively carried out. The time required can be shortened.

Further, the vehicle management system S of the embodiment designates the designated parking space PSD in order from the position closest to the entrance of the parking lot PA for the non-autonomous driving vehicle. Therefore, the time required for transporting the vehicle M can be shortened as a whole. For self-driving vehicles, the designated parking space PSD is designated in order from the position closest to the entrance of the parking lot PA. Therefore, since the transport distance of the vehicle transport device 1 can be suppressed, it is possible to prevent traffic congestion of the vehicle near the entrance of the parking lot PA.

In the above embodiment, when the non-autonomous driving vehicle is transported by the vehicle transport device 1, the designated parking space PSD is designated in order from the position closest to the entrance of the parking lot PA, but the designated parking space PSD is designated in another embodiment. You may specify it. For example, the traveling area of the vehicle transport device 1 for transporting the vehicle M is limited to, for example, the first parking area PE1, the filling density of the first parking area PE1 after parking the vehicle M is calculated, and the parking becomes high. Space PS may be designated as a designated parking space PSD. The traveling area can be rephrased as a parkingable area. The filling density may be, for example, a numerical value for each subdivided area in which the parkable area is subdivided. For example, as shown in FIG. 15, when the first parking area PE1 is divided into a first space group SC1 and a second space group SC2 having 10 parking space PSs, two parking spaces are in the first space group. In the second space group, when four vehicles are parked, the second space group is parked as a designated parking space PSD for parking a newly parked non-automatic driving vehicle. Space PS may be specified. In this case, since the vehicles parked in the parking lot PA can be concentrated in a narrow range, the parking lot PA can be used efficiently, and the parked vehicles can be easily visually recognized. The crime prevention effect can be enhanced.

Further, in the above embodiment, when the autonomous driving vehicle is moved to the designated parking space PSD, the designated parking space PSD is designated in order from the position farthest from the entrance of the parking lot PA, but the designated parking space PSD is in another embodiment. May be specified. For example, a parking space that increases the efficiency of vehicle entry / exit may be designated as the designated parking space PSD. It should be noted that high warehousing / delivery efficiency means, for example, that it does not take much time and effort to warehousing and unloading a vehicle. Say that. By increasing the warehousing / delivery efficiency, the operation from warehousing to warehousing of the autonomous driving vehicle can be performed more smoothly. If the second parking area PE2 has a first parking space that is moved linearly from the entrance of the parking lot PA and a second parking space that is moved by repeating right and left turns several times, the second parking space is used. May be set as the designated parking space PSD even if is closer to the second parking space. In this case, the efficiency of parking the vehicle in the parking lot PA can be improved.

Further, in the above embodiment, the entrance and the exit in the parking lot PA are provided in common, but the parking lot may be provided in a position where the entrance and the exit are different. In this case, it is preferable that the first parking area PE1 for transporting the non-autonomous driving vehicle by the vehicle transport device 1 is provided in the vicinity of the passage connecting the exit and the entrance of the parking lot PA, and this passage is provided in the vicinity of the passage connecting the exit and the entrance of the parking lot PA. It is preferable that the passage has the shortest distance between the exit and the entrance of. By providing the first parking area in the vicinity of the passage connecting the exit and the entrance of the parking lot PA, the vehicle can be efficiently transported by the vehicle transport device 1.

Further, in the above embodiment, when the vehicle M is an autonomous driving vehicle, the vehicle M is self-propelled, and when the vehicle M is a non-autonomous driving vehicle, the vehicle M is designated by the vehicle transport device 1. It is moved to PSD, but may be in other embodiments. For example, when the vehicle M is an automatically driven vehicle and is a vehicle capable of self-propelling under the control of the vehicle management server 200, the vehicle M is automatically driven and the vehicle cannot be self-propelled under the control of the vehicle management server 200. In this case, for example, when the vehicle M is a non-automatically driven vehicle or is an automatically driven vehicle but cannot be self-propelled by the vehicle management server 200, the vehicle transport device 1 is used to drive the vehicle M. May be moved to the designated parking space PSD.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1 Vehicle transport device 10 Transport robot 10A 1st transport robot 10B 2nd transport robot 100 Transport control device 110 Communication unit 120 Travel control unit 130 Arm control unit 140 Storage unit 200 Vehicle management server 220 Communication device 240 Control unit 242 Communication unit 244 Judgment Unit 246 1st control unit 248 2nd control unit 260 Storage unit G Entrance / exit gate H User M Vehicle PA Parking lot PE Parking area PE1 1st parking area PE2 2nd parking area PS Parking space PSD Designated parking space RD Boarding / alighting area S Vehicle Management system

Claims (8)

A vehicle transport device that transports vehicles that have entered the control area,
A management device for managing the inside of the management area is provided.
The management device is
A determination unit that determines the necessity of transporting the target vehicle that has entered the management area, and
When the determination unit determines that the target vehicle needs to be transported, the first control unit that controls the vehicle transport device to transport the target vehicle to the target transport point.
To prepare
Management system. When the target vehicle is self-propelled under the control of the management device, the determination unit determines that the transportation of the target vehicle is unnecessary.
The management device further includes a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported.
The management system according to claim 1. The first control unit controls the vehicle transport device to transport the target vehicle to a target transport point within the range of the first region near the entrance / exit of the management area.
The second control unit controls and moves the target vehicle to the target movement point within the range of the second area that is not near the entrance / exit of the management area.
The management system according to claim 2. The first control unit designates the target transport points in order from the position closest to the entrance / exit of the control area.
The second control unit designates the target movement point in order from the position farthest from the entrance / exit of the management area.
The management system according to claim 2 or 3. The management device limits the travel area in which the vehicle transport device can travel.
The first control unit designates a position in the traveling region where the filling density of the vehicle becomes high as the target transport point.
The second control unit designates a position where the vehicle entry / exit efficiency is high as the target movement point.
The management system according to any one of claims 2 to 4. A management device that manages the management area
A determination unit that determines the necessity of transporting the target vehicle that has entered the management area, and
When the determination unit determines that the target vehicle needs to be transported, the first control unit controls the vehicle transport device that transports the vehicle that has entered the management area to transport the target vehicle to the target transport point. And with
Management device. The computer of the management device
Determine the necessity of transporting the target vehicle that has entered the control area,
When it is determined that the target vehicle needs to be transported, the vehicle transport device for transporting the vehicle that has entered the management area is controlled to transport the target vehicle to the target transport point.
Management method. On the computer of the management device,
Lets determine the necessity of transporting the target vehicle that has entered the control area,
When it is determined that the target vehicle needs to be transported, the vehicle transport device that transports the vehicle that has entered the management area is controlled to execute the process of transporting the target vehicle to the target transport point.
program.

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