JP2022012304A - Transport system, transport method, and management device - Google Patents

Abstract

To provide a transport system, a transport method, and a management device, which can reduce movable body's labor for transporting a load again even when there is no vacant storage locker.SOLUTION: A management server 3 receives a reservation request of a storage locker at a transportation destination of a load transported by a UGV2, confirms a use state of the storage locker according to the reservation request, and searches an available temporary storage place in a neighboring range of the storage locker when a confirmation result of the use state shows that the storage locker is not available. The management server 3 transmits a temporary storage command for temporarily storing the load in the temporary storage place identified by the search to the UGV2.SELECTED DRAWING: Figure 8

Description

Regarding the technical field of a system that uses a storage for storing luggage.

Conventionally, there is known a system that uses a storage (for example, a delivery locker) for storing packages such as parcels when a resident is absent. For example, in the system disclosed in Patent Document 1, the approved customer information read from the information medium attached to the parcel delivery and the approved customer information taken in from the business center server and stored are collated, and both match. It is configured so that the box door of the locker device can be opened and the delivery can be stored in the box only in the case. According to such a system, it is possible to reduce the labor cost for delivery of the parcel delivery and improve the efficiency of delivery.

Japanese Unexamined Patent Publication No. 2005-144034

However, when there is no vacancy in the storage, the delivery person has to take the baggage home once and carry the baggage again, which is troublesome.

Therefore, it is an object of the present invention to provide a transportation system, a transportation method, and a management device capable of reducing the time and effort for a moving body to re-transport a load even when there is no vacancy in the storage. Make it one.

In order to solve the above problems, the invention according to claim 1 is a confirmation of confirming the usage status of the storage in response to the reservation request and the reception unit that accepts the reservation request of the storage at the destination of the cargo. A search unit, a first search unit for searching for a temporary storage location that can be used within the vicinity of the storage when the storage is not available based on the confirmation result of the usage status, and a search for the first search unit. The first command for temporarily storing the cargo in the temporary storage location specified by the above is transmitted to the autonomous mobile body which is an unmanned and autonomously movable autonomous body and can carry the cargo. It is characterized by including a transmitting unit and the autonomous moving body that transports the luggage to the temporary storage location in response to the first command. As a result, even when there is no vacancy in the storage, it is possible to reduce the trouble of the moving body to carry the luggage again.

The invention according to claim 2 is characterized in that the transportation system according to claim 1 further includes a notification unit for notifying the recipient of the package of the temporary storage location specified by the search of the first search unit. And. As a result, even if the storage is full, the recipient can quickly receive the package at the temporary storage location.

According to the third aspect of the present invention, in the transportation system according to the first or second aspect, the reception unit receives the reservation request at the timing when the autonomous mobile body carrying the luggage approaches the transportation destination. It is characterized by. As a result, even if the storage is not available at the time of shipment, if the luggage can be used by being taken out of the storage during transportation by the autonomous mobile body, the luggage can be stored in the storage. Therefore, it is possible to improve the efficiency of transportation.

The invention according to claim 4 is characterized in that, in the transportation system according to any one of claims 1 to 3, the reception unit receives the reservation request from the autonomous mobile body.

The invention according to claim 5 transports the luggage in the transport system according to any one of claims 1 to 4 when the storage becomes available after the transmission of the first command. A second search unit for searching for possible mobile objects and a second command for collecting the baggage temporarily stored in the temporary storage location and storing it in the storage are specified by the search of the second search unit. A second transmitting unit for transmitting to the moving body is further provided, and the moving body identified by the search of the second search unit collects the baggage at the temporary storage place and transports the baggage in accordance with the second command. It is characterized by being transported first. As a result, it is possible to collect the luggage temporarily stored in the temporary storage location and store it in the storage at the transportation destination, while reducing the time and effort for the moving body to carry the luggage again.

The invention according to claim 6 is characterized in that, in the transport system according to claim 5, the second search unit searches for a mobile body capable of transporting the luggage within a range in the vicinity of the temporary storage location. do. As a result, the moving body can more quickly collect the luggage temporarily stored in the temporary storage place and transport it to the transportation destination.

The invention according to claim 7 is the transport system according to claim 5, wherein the second search unit uses an autonomous mobile body that can move unmanned and autonomously as a mobile body that can carry the luggage. It is characterized by searching.

The invention according to claim 8 becomes available when the storage becomes available after the transmission of the first command in the transportation system according to any one of claims 5 to 7. The second transmitting unit further includes a reservation processing unit that executes a reservation process for reserving the storage, and the second transmission unit collects the baggage temporarily stored in the temporary storage location and reserves the package by the reservation process. It is characterized in that the second command for storing in the storage is transmitted to the moving body specified by the search of the second search unit. As a result, the luggage temporarily stored in the temporary storage location can be collected and reliably stored in the storage.

The invention according to claim 9 is the transportation system according to claim 8, wherein the reservation processing unit performs the reservation processing at the timing when the moving body specified by the search of the second search unit approaches the transportation destination. It is characterized by executing. This makes it possible to improve the efficiency of transportation.

The invention according to claim 10 is the transportation system according to any one of claims 5 to 9, wherein the plurality of packages to be transported to the same destination are dispersed and stored in different temporary storage locations. In this case, at least an appropriate transportation route for having the mobile body identified by the search of the second search unit collect the baggage at each of the plurality of temporary storage locations and transport it to the transportation destination. The second transmission unit further comprises a determination unit that determines based on the respective position information of the temporary storage location, and the second transmission unit issues the second command including information indicating the transportation route determined by the determination unit. It is characterized in that it is transmitted to the moving body specified by the search of the second search unit. As a result, when storage at multiple destinations of luggage becomes available, the luggage temporarily stored in each of the multiple temporary storage locations can be transported to the destination more quickly for storage. be able to.

The invention according to claim 11 is a transport method that is an autonomous mobile body that is unmanned and autonomously movable and is executed by the autonomous mobile body that transports a load and a management device that manages the autonomous mobile body. The management device receives a reservation request for the storage at the destination of the luggage, the management device confirms the usage status of the storage in response to the reservation request, and the management device performs the above. When the storage is not available from the confirmation result of the usage status, the step of searching for a temporary storage location that can be used within the vicinity of the storage and the temporary storage location specified by the management device by the search are described. Includes a step of transmitting a first command for temporarily storing the luggage to the autonomous mobile body, and a step of the autonomous mobile body transporting the luggage to the temporary storage location in response to the first command. It is characterized by.

The invention according to claim 12 has a reception unit that accepts a reservation request for a storage at a cargo destination, a confirmation unit that confirms the usage status of the storage in response to the reservation request, and confirmation of the usage status. From the result, when the storage is not available, the first search unit for searching the available temporary storage location within the vicinity of the storage and the temporary storage location specified by the search of the first search unit. It is characterized by including a first transmission unit that transmits a first command for temporarily storing the cargo to an autonomous mobile body that is unmanned and autonomously movable and that can carry the cargo. And.

According to the present invention, even when there is no vacancy in the storage, it is possible to reduce the trouble of transporting the luggage again.

It is a figure which shows the outline structure example of the transportation system S which carries a load. It is a figure which shows an example of the appearance of a storage locker device 1. It is a figure which shows the outline structure example of the storage locker apparatus 1. It is a figure which shows an example of the appearance of the port PO for an unmanned aerial vehicle. It is a figure which shows the outline structure example of UGV2. It is a figure which shows the outline configuration example of management server 3. It is a figure which shows the example of the functional block in the control unit 33. It is a sequence diagram which shows an example of the operation until the baggage carried by UGV2a is stored in a temporary storage place. It is a conceptual diagram showing the state until the baggage carried by UGV2a is stored in the temporary storage place on the map. It is a sequence diagram which shows an example of the operation until the baggage is taken out from a temporary storage place by UGV2b, and is stored in a transport destination. It is a conceptual diagram showing a state on a map from a state where a baggage is taken out from a temporary storage place by UGV2b and is stored in a transportation destination.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[ 1. Outline of configuration and function of transportation system S ]
First, with reference to FIG. 1, the configuration and functional outline of the transportation system S according to the embodiment of the present invention will be described. FIG. 1 is a diagram showing a schematic configuration example of a transportation system S for transporting cargo. As shown in FIG. 1, the transportation system S includes storage locker devices 1a to 1c, UGV (Unmanned Ground Vehicle) 2a to 2c, a management server 3 (an example of a management device), and the like. In the example of FIG. 1, three storage locker devices 1a to 1c and three UGV2a to 2c are shown, but the number is not limited to this. In the following description, the storage locker devices 1a to 1c are collectively referred to as the storage locker device 1, and the UGV2a to 2c are collectively referred to as the UGV2. Luggage can also be goods or cargo.

A unique device ID (identification information) is assigned to each storage locker device 1. Further, a unique mobile ID is assigned to each UGV2. The storage locker device 1 and the UGV2 can communicate with each other by, for example, a short-range wireless communication technology (for example, Bluetooth (registered trademark)). Further, the storage locker device 1 and the UGV2 can each be connected to the communication network NW, and can communicate with the management server 3 via the communication network NW. The communication network NW is composed of, for example, the Internet, a mobile communication network, a radio base station thereof, and the like. The UGV2 shown in FIG. 1 shows an unmanned ground vehicle having a plurality of wheels for moving on the ground, but the UGV2 may be a robot having no wheels (for example, a bipedal walking robot). ..

[ 1-1. Configuration and function of storage locker device 1 etc. ]
The storage locker device 1 is located at the destination of the cargo and corresponds to a storage place for storing the cargo (hereinafter referred to as "final storage place"). The final storage place is the baggage receiving place (that is, the recipient is the baggage). The destination of the cargo is also referred to as the delivery destination (delivery destination) of the cargo. The storage locker device 1 is installed in, for example, a house, a station, a public facility, or the like.

FIG. 2 is a diagram showing an example of the appearance of the storage locker device 1. In the example of FIG. 2, eight storages Ba to Bh for storing luggage are shown, but the number is not limited to this, and may be one. In the following description, storage Ba to Bh will be collectively referred to as storage B as appropriate. A unique storage ID is assigned to each storage B. The sizes (length ycm x width x cm x depth dcm) of the plurality of storage B provided in one storage locker device 1 may differ as shown in FIG. 2 (for example, storage Ba and storage Bd). The storage B may have a refrigerating function or a freezing function. In this embodiment, a shared delivery locker is assumed as a storage, but a personal mailbox may be used.

FIG. 3 is a diagram showing a schematic configuration example of the storage locker device 1. As shown in FIG. 3, the storage locker device 1 includes a storage B, an operation / display unit 11, a communication unit 12, a storage unit 13, a control unit 14, and the like. Although not shown, the storage B is composed of a storage body for storing luggage, a lockable and unlockable door, a drive mechanism for the door, a luggage detection sensor, and the like. The locking / unlocking of the door of the storage B is controlled by the control unit 14. When the door of the storage B is locked (that is, the door opening is locked), the door cannot be opened (opened). On the other hand, when the door of the storage B is unlocked, the door can be manually opened by a user, for example.

The door of the storage B is unlocked (unlocked by the drive mechanism of the door) in response to the unlock command from the control unit 14. After that, when the luggage is stored in the storage B with the door opened, the storage of the luggage is detected by the luggage detection sensor. Then, when the door of the storage B is closed (closed) after the storage of the luggage is detected, the door of the storage B is locked (locked by the drive mechanism of the door). The opening and closing of the door of the storage B may be controlled by the control unit 14. In this case, for example, the door of the storage B is opened (opened by the drive mechanism of the door) (that is, automatically opened) in response to the opening command from the control unit 14, and is opened in response to the closing command from the control unit 14. It is closed (closed by the drive mechanism of the door) (that is, closed automatically).

The operation / display unit 11 is composed of an operation / display panel P and the like. The operation / display panel P can input the password (that is, the password for unlocking the door) required for the recipient of the cargo to take out the cargo stored (stored) in the storage B from the storage B. It has become. When the storage B is specified on the operation panel P and the password is input, the input password is output to the control unit 14.

The communication unit 12 is responsible for controlling the short-range wireless communication performed with the UGV2 and controlling the communication performed via the communication network NW. The storage unit 13 is composed of a non-volatile memory or the like, and stores various programs and data. For example, the storage unit 13 stores the device ID of the storage locker device 1 and the storage ID of the storage B. Further, in the storage unit 13, for example, the "usage status of the storage B" provided by the management server 3 may be stored in association with the storage ID.

Here, the usage status indicates "in use", "reservation", or "vacant". "In use" indicates that the luggage is stored in the storage B (that is, "no space"). "Reserved" means that the luggage is not stored in the storage B, but the storage B is reserved (storage reservation) by UGV2 (that is, "no space"). "Vacant" means that the luggage is not stored in the storage B and is not reserved (that is, "vacant"). When the usage status is "reserved", the mobile ID of the UGV2 that has reserved the storage B is provided from the management server 3 and stored in the storage unit 13 in association with the storage ID. When a password for unlocking the door of the storage B is set, the storage unit 13 stores the password in association with the storage ID of the storage B.

The control unit 14 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and executes various processes according to a program stored in the ROM (or a non-volatile memory). do. For example, when the control unit 14 acquires the mobile ID of the UGV2 from the UGV2 approaching the storage locker device 1 by short-range wireless communication, the control unit 14 performs an authentication process using the mobile ID. When the authentication is successful by this authentication process (for example, when the mobile ID acquired from the UGV2 matches the mobile ID stored in the storage unit 13), the control unit 14 is associated with the mobile ID. An opening command is output to the storage B specified by the storage ID. As a result, the door of the reserved storage B is automatically opened, so that the UGV2 can carry out the luggage into the storage B. In addition, the control unit 14 transmits the baggage ID of the baggage loaded by the UGV2 and the information of the recipient of the baggage (for example, the name and e-mail address of the recipient) together with the mobile ID of the UGV2 by short-range wireless communication. You should get it from.

Then, when the luggage is stored in the storage B from the UGV2 (detects the storage of the luggage), the control unit 14 outputs a closing command to the storage B. As a result, the door of the storage B is automatically closed and the door is locked. When the door is locked (when the door is locked), the control unit 14 sets a password for unlocking the door (that is, sets it in the storage B), and the storage ID of the storage B. Is stored in the storage unit 13 in association with. Further, the control unit 14 has a storage ID of the storage B in which the luggage is stored and the door is locked, a password set in the storage B, a luggage ID of the luggage, information on the recipient of the luggage, and the like. The lock information including the above is transmitted to the management server 3 via the communication unit 12. The lock information may include the device ID of the storage locker device 1 that sends out the lock information, in addition to the storage ID of the storage B in which the door is locked.

On the other hand, when the control unit 14 inputs the password from the operation / display panel P, the control unit 14 performs the authentication process using the password input to the storage B designated in the operation / display panel P. If the authentication is successful by this authentication process (for example, if the password entered for the designated vault B matches the password set for the designated vault B), the control unit 14 is designated as described above. The unlock command is output to the storage B. As a result, the door of the storage B is unlocked, and the recipient can open the door of the storage B and take out the luggage. Further, when the door of the storage B is unlocked (detects the unlocking of the door), the control unit 14 manages the unlock information including the storage ID of the storage B via the communication unit 12. Send to server 3. The unlocking information may include the device ID of the storage locker device 1 that sends out the unlocking information, in addition to the storage ID of the storage B in which the door is unlocked.

The control unit 14 may input a password from the UGV2 by short-range wireless communication (when the storage locker device 1 is used as a temporary storage place as described later). In this case, the control unit 14 performs the authentication process using the password input to the target storage B, and when the authentication is successful (for example, in addition to the password matching as described above, the input is input from the UGV2. (When the mobile ID obtained from the management server 3 matches the mobile ID), the unlock command and the release command are output to the storage B. As a result, the door of the storage B is unlocked and opened, so that the UGV2 can carry in (take out) the cargo.

By the way, the storage locker device 1 can also be used as a temporary storage place for temporarily storing luggage. For example, when the storage lockers Ba to Bh of the storage locker device 1a at the destination of the load are not available, the nearby storage locker device 1b where the storage locker B can be used can be used as a temporary storage place. However, such a temporary storage place is not limited to the storage locker device 1, and may be, for example, an unmanned aerial vehicle port (for example, a drone port) installed at each point. An unmanned aerial vehicle port is, for example, a port on which an unmanned aerial vehicle (for example, a drone) carrying luggage can take off and land.

FIG. 4 is a diagram showing an example of the appearance of the port PO for an unmanned aerial vehicle. Although not shown, the port PO for an unmanned aerial vehicle includes a storage, an operation / display unit, a communication unit, a storage unit, a control unit, and the like, as in the storage locker device 1. As shown in FIG. 4, in the port PO for unmanned aerial vehicles, a storage Bx is provided directly under the portion where the unmanned aerial vehicle lands. Regarding the configurations and functions of the storage, operation / display unit, communication unit, storage unit, and control unit of the port PO for unmanned aerial vehicles, the storage B, operation / display unit 11, communication unit 12, and storage unit 13, And may be the same as the control unit 14.

[ 1-2. Configuration and function of UGV2 ]
The UGV2 is an autonomous mobile body that can move autonomously and unmanned, and transports the loaded load to the destination. FIG. 5 is a diagram showing a schematic configuration example of UGV2. As shown in FIG. 5, the UGV2 includes a drive unit 21, a positioning unit 22, a communication unit 23, an image pickup unit 24, a storage unit 25, a control unit 26, and the like. Although not shown, the UGV2 includes wheels, a luggage loading / unloading mechanism, a battery for supplying electric power to each part of the UGV2, and the like. A plurality of luggage can be loaded in the UGV2.

The drive unit 21 includes a motor, a rotating shaft, and the like. The drive unit 21 rotates a plurality of wheels by a motor driven according to a control signal output from the control unit 26, a rotating shaft, and the like. The positioning unit 22 includes a radio wave receiver and the like. The positioning unit 22 receives, for example, a radio wave transmitted from a satellite of a GNSS (Global Navigation Satellite System) by a radio wave receiver, and detects the current position (latitude and longitude) of the UGV2 based on the radio wave. The current position of the UGV2 may be specified by SLAM (Simultaneous Localization and Mapping) processing in addition to the radio waves transmitted from the GNSS satellite. Further, the current position of the UGV2 may be corrected based on the image captured by the image pickup unit 24. The position information indicating the current position detected by the positioning unit 22 is output to the control unit 26.

The communication unit 23 is responsible for controlling the communication performed via the communication network NW and controlling the short-range wireless communication performed with the storage locker device 1 (or the port PO for the unmanned aerial vehicle). The image pickup unit 24 includes an optical sensor (for example, a camera) and the like. The optical sensor is used to control the movement of the UGV2. The image pickup unit 24 continuously captures, for example, a real space within a range within the angle of view of the camera. The image information captured by the image pickup unit 24 is output to the control unit 26. The storage unit 25 is composed of a non-volatile memory or the like, and stores various programs and data. For example, the storage unit 25 stores the mobile ID of the UGV2.

The control unit 26 includes a CPU, a ROM, a RAM, and the like, and executes various processes according to a program stored in the ROM (or a non-volatile memory). For example, the control unit 26 performs movement control for moving the UGV2 to the destination of the package (for example, from the delivery base of the package to the destination, or from the temporary storage location to the destination). In this movement control, the position information acquired from the positioning unit 22, the image information acquired from the image pickup unit 24, the transportation destination information, and the like are used to control the rotation speed of the wheels, and to control the position and traveling direction of the UGV2. Control is done. As a result, the UGV2 can autonomously move to the destination.

Here, the transportation destination information may be set in the UGV2 at, for example, the cargo shipping base (in other words, the cargo loading base), or may be transmitted from the management server 3. The destination information includes the location information of the destination. The location information of the transportation destination may be the address of the transportation destination or the location information (latitude and longitude) of the transportation destination. Further, the destination information may include baggage size information indicating the size of the baggage (length: ycm x width: xcm x depth: dcm) and baggage type information indicating the type of the baggage (for example, fresh food). good. Further, the transportation destination information acquired from the management server 3 may include route information indicating a transportation route to the transportation destination of the cargo.

Further, the transportation destination information acquired from the management server 3 may include the storage ID of the storage reserved by UGV2. Here, the storage reservation may be made by the management server 3 in response to a reservation request for reserving the storage at the destination of the cargo. The reservation request may be transmitted from the UGV2 to the management server 3, but a reservation request may be transmitted from a device other than the UGV2 (for example, a control device that remotely controls the UGV) to the management server 3. The reservation request includes, for example, the mobile ID of the UGV2 that reserves the storage, the location information of the destination of the package, the package ID of the package, and the information of the recipient of the package (for example, the name and email address of the recipient). ) Etc. should be included. Further, the reservation request may include baggage size information and baggage type information.

For example, the control unit 26 transmits the reservation request to the management server 3 via the communication network NW while the vehicle is stopped at the cargo shipping base or is being transported after departing from the cargo shipping base. Here, the reservation request may be transmitted at the timing when the UGV2 approaches the destination of the cargo. The parcel may be reserved in advance when the package is shipped, but even if the package is not available at the time of shipment (that is, the reservation is filled), the package is taken out of the storage during transportation and is "vacant". May appear. Therefore, it is more efficient to secure the storage after the UGV2 arrives at the transportation destination or at a timing when the UGV2 approaches to some extent.

Here, the approaching timing is, for example, the timing when the distance from the current position of the UGV2 to the destination of the load becomes a predetermined distance (for example, 100 m). In this case, the control unit 26 continuously calculates the distance from the current position of the UGV2 to the destination of the load. Alternatively, the approaching timing is the timing when the required time from the current position of the UGV2 to the destination of the load reaches a predetermined time (for example, 1 minute). In this case, the control unit 26 continuously calculates the required time from the current position of the UGV2 to the destination of the load.

Further, the control unit 26 performs movement control for moving the UGV2 to the temporary storage place of the cargo in response to the temporary storage command (the first command for temporarily storing the cargo in the temporary storage place) from the management server 3. In this movement control, the position information acquired from the positioning unit 22, the image information acquired from the image pickup unit 24, the temporary storage location information, and the like are used to control the rotation speed of the wheels, the position and the traveling direction of the UGV2. Is controlled. As a result, the UGV2 can autonomously move to the temporary storage location.

Here, the temporary storage location information is acquired from the management server 3 together with the temporary storage command. The temporary storage location information includes the location information of the temporary storage location and the storage ID of the storage of the temporary storage location. The location information of the temporary storage location may be the address of the temporary storage location or the location information (latitude and longitude) of the temporary storage location. Further, the temporary storage location information may include route information indicating a transportation route to the temporary storage location of the cargo.

In addition, the control unit 26 performs carry-out control for carrying out the luggage into the storage at the destination of the luggage or the storage at the temporary storage location. For example, when the door of the storage is opened after the authentication process by the storage locker device 1 or the like during short-range wireless communication with the UGV2, the control unit 26 receives, for example, the UGV2 based on the image information acquired from the image pickup unit 24. After adjusting the position between the and the storage, the luggage is carried out into the storage by the luggage loading / unloading mechanism.

In addition, the control unit 26 controls the carry-in of the load from the storage of the temporary storage place. For example, when the door of the storage is unlocked and opened through the authentication process by the storage locker device 1 or the like during short-range wireless communication with the UGV 2, the control unit 26 is based on, for example, image information acquired from the image pickup unit 24. After adjusting the positions of the UGV2 and the storage, the luggage loading / unloading mechanism is used to carry the luggage into the storage.

The control unit 26 transmits the position information indicating the current position of the UGV2 and the loadability information of the load to the management server 3 in chronological order via the communication network NW. Here, the loadability information of the load indicates whether or not the load can be loaded at the present time. "Sending in chronological order" means transmitting a plurality of times continuously with the passage of time. The time interval (that is, the transmission interval) in which the position information and the loadability information are transmitted may be a constant interval or an indefinite interval.

[ 1-3. Configuration and functions of management server 3 ]
The management server 3 is a server that manages information about the vault and the mobile body. FIG. 6 is a diagram showing a schematic configuration example of the management server 3. As shown in FIG. 6, the management server 3 includes a communication unit 31, a storage unit 32, a control unit 33, and the like. The communication unit 11 is responsible for controlling communication performed via the communication network NW. The storage unit 32 is composed of, for example, a hard disk drive or the like, and stores various programs and data. For example, a storage location database (DB) 321 and a mobile database (DB) 322 are constructed in the storage unit 32.

The storage location database 321 contains the storage ID, device ID, location information, storage size, storage type (for example, whether or not there is a refrigerating function or freezing function), the usage status of the storage, and whether or not temporary storage is possible. It is stored in association with each vault. Here, the device ID may not be stored in the storage database 321. The storage ID of the storage whose usage status is "in use" includes the password for unlocking the door of the storage (that is, the password set in the storage) and the luggage ID of the stored luggage. , And the information of the recipient of the package (for example, the name and email address of the recipient) are stored in association with each other.

Further, the storage ID of the storage whose usage status is "reserved" is stored in association with the mobile ID of the UGV2 that reserved the storage, the luggage ID of the luggage carried by the UGV2, and the like. Has been done. Temporary storage availability indicates whether or not the storage is available as a temporary storage location. A storage that is not permitted to be used as a temporary storage location by the manager of the storage is rejected for temporary storage. The storage location database 321 may be separated into a final storage location database and a temporary storage location database.

In the mobile database 322, the mobile ID, the position information indicating the current position of the UGV2, the loadability information of the cargo, the address information for accessing the UGV2, and the like are stored in association with each UGV2. Here, the position information and the loadability information of the luggage are updated every time the communication unit 31 receives from the UGV2.

The control unit 33 includes a CPU, ROM, RAM, and the like, and executes various processes according to a program stored in the ROM (or may be a non-volatile memory). FIG. 7 is a diagram showing an example of a functional block in the control unit 33. By executing the above program, the control unit 33 has a storage management unit 331, a reservation request reception unit 332 (an example of a reception unit), a usage status confirmation unit 333 (an example of a confirmation unit), and a temporary storage unit, as shown in FIG. Location search unit 334 (an example of the first search unit), temporary storage command transmission unit 335 (an example of the first transmission unit), reservation processing unit 336, mobile search unit 337 (an example of the second search unit), and baggage collection. It functions as a storage command transmission unit 338 (an example of a second transmission unit) and the like.

The storage management unit 331 manages the usage status of the storage using the storage location database 321. For example, when the lock information is received from the storage locker device 1 by the communication unit 31, the storage management unit 331 executes an update process for updating the usage status of the storage based on the lock information. In this update process, in the storage location database 321, the usage status associated with the storage ID included in the locking information is updated to "in use", and the password included in the locking information, the luggage ID of the luggage, and the relevant luggage ID are updated. Information and the like of the recipient of the package are stored in association with the storage ID.

Further, when the unlocking information is received from the storage locker device 1 by the communication unit 31, the storage management unit 331 executes an update process for updating the usage status of the storage based on the unlocking information. do. In this update process, the usage status associated with the storage ID included in the unlocking information is updated to "vacant" in the storage location database 321.

When the reservation request for the storage B at the destination of the luggage is received by the communication unit 31, the reservation request receiving unit 332 receives the reservation request, for example, from the UGV2. For example, the reservation request receiving unit 332 receives the reservation request at the timing when the UGV2 carrying the cargo approaches the transportation destination.

The usage status confirmation unit 333 confirms the usage status of the storage according to the reservation request received by the reservation request reception unit 332. For example, the usage status confirmation unit 333 refers to the storage location database 321 and confirms the usage status associated with the location information that matches the location information included in the reservation request. Here, by confirming the usage status of the storage at the timing when the UGV2 approaches the transportation destination to some extent, even if the storage is not available, the UGV2 can be quickly headed to the temporary storage location. It will be possible.

The temporary storage location search unit 334 is located in the vicinity of the storage when the storage is not available (that is, when there is no "vacant" in the storage) based on the confirmation result (usage status confirmation result) by the usage confirmation unit 333. Search for temporary storage locations that are available within range (that is, the usage status is "vacant").

The temporary storage command transmission unit 335 issues a temporary storage command for temporarily storing the luggage in the temporary storage location specified by the search of the temporary storage location search unit 334 via the communication network NW, and the UGV2 carrying the luggage. Send to. As a result, the UGV2 transports the luggage to the temporary storage location in accordance with the temporary storage order and temporarily stores the luggage in the reserved storage.

The reservation processing unit 336 executes a reservation process for reserving a storage in which the usage status is available when the storage is available from the confirmation result (confirmation result of the usage status) by the usage status confirmation unit 333. do. In this reservation process, the usage status associated with the storage ID of the storage where the usage status has been confirmed is updated to "reserving" in the storage location database 321, and the mobile ID and luggage included in the reservation request. The ID and the like are stored in association with the storage ID.

The mobile search unit 337 transports the luggage within the vicinity of the temporary storage location when the storage for which the reservation is requested becomes available after the temporary storage command is transmitted by the temporary storage command transmission unit 335. Search for possible UGV2. The UGV2 searched here may or may not be the same as the UGV2 that stores the luggage stored in the temporary storage location. The neighborhood range of the temporary storage location may be the same range as the neighborhood range of the transportation destination, or may be a different range.

The baggage collection and storage command transmission unit 338 collects the baggage temporarily stored in the temporary storage location and stores it in the storage at the transportation destination (that is, the final storage location). The second command) for collecting the collected parcel and storing it in the storage is transmitted to the UGV2 specified by the search of the mobile search unit 337 via the communication network NW. As a result, the UGV2 collects the luggage at the temporary storage location in accordance with the luggage collection / storage command, transports the luggage to the transportation destination, and stores the luggage in the storage.

In addition, when the storage for which the reservation is requested becomes available after the temporary storage command is transmitted by the temporary storage command transmission unit 335, the reservation processing unit 336 reserves the available storage. Execute the reservation process of. Even in this case, the reservation processing unit 336 may execute the reservation processing at the timing when the UGV2 identified by the search of the mobile search unit 337 approaches the transportation destination.

[ 2. Operation of transport system S ]
Next, regarding the operation of the transport system S according to the present embodiment, the operation until the package transported by UGV2a is stored in the temporary storage location, and the operation of the package being taken out from the temporary storage location by UGV2b and stored in the transport destination. The operation up to this point will be explained separately.

[ 2-1. Operation until the transported luggage is stored in the temporary storage location ]
First, with reference to FIGS. 8 and 9, an example of the operation until the package carried by the UGV2a is stored in the temporary storage location will be described. FIG. 8 is a sequence diagram showing an example of the operation until the package carried by the UGV2a is stored in the temporary storage location. FIG. 9 is a conceptual diagram showing on a map how the luggage carried by the UGV2a is stored in the temporary storage location.

In this operation example, it is assumed that the above-mentioned transport destination information is set in UGV2a at the package delivery base P1. The destination information includes the location information of the destination and the package ID of the package to be transported. The destination information may include at least one of baggage size information, baggage type information, and baggage recipient information (for example, an e-mail address).

In FIG. 8, after the UGV2a starts transportation from the shipping base P1 toward the transportation destination of the luggage according to the transportation destination information (step S1), the control unit 26 of the UGV2a sets the position information of the UGV2a and the location information of the transportation destination. Based on the above, it is determined whether or not the UGV2a has approached the destination of the load (step S2). This determination is repeated at predetermined time intervals.

Then, when the control unit 26 of the UGV2a determines that the UGV2a has approached the destination of the cargo (step S2: YES), the communication network makes a reservation request for reserving the storage B at the destination of the luggage. It is transmitted to the management server 3 via the NW (step S3). As a result, even if the storage B is not available at the time of shipment, if the luggage can be used by being taken out from the storage B during transportation, the luggage can be stored in the storage B. Therefore, it is possible to improve the efficiency of transportation. If it is determined that the UGV2a is not close to the destination (step S2: NO), the reservation request is not transmitted.

For example, the reservation request is transmitted at the timing when the distance from the UGV2a to the storage locker device 1a at the transportation destination reaches a point of x (for example, 50 to 100) m. The reservation request includes the mobile ID of the UGV2a, the location information of the destination, the package ID of the package to be transported, the information of the recipient of the package (for example, the name and email address of the recipient) and the like. The reservation request may include at least one of baggage size information and baggage type information.

On the other hand, when the reservation request from UGV2a is received by the communication unit 31 of the management server 3, the control unit 33 receives the reservation request by the reservation request reception unit 332 (step S4). Next, the control unit 33 confirms the usage status of the storage B at the transportation destination by the usage status confirmation unit 333 by the usage status confirmation unit 333 in response to the reservation request (step S5).

Next, the control unit 33 determines whether or not the storage B is available based on the confirmation result of the usage status in step S5 (step S6). For example, when the usage status of any of the storages Ba to Bh of the storage locker device 1a is "vacant", it is determined that the storage B is available (step S6: YES), and the storage locker device 1a can be used. A reservation process for reserving the vault B is executed (step S7). The operation after this reservation process will be omitted.

Here, the size indicated by the luggage size information included in the reservation request is compared with the size of the storage B in the storage location database 321 and the luggage fits in the storage B (that is, the size of the storage B is the size of the luggage). If it is larger than the size), it may be determined that the storage B is available. Further, when the type indicated by the baggage type information included in the reservation request and the type of the storage B in the storage location database 321 are compared and the type of the storage B and the type of the baggage match (for example, the baggage is). It may be determined that the storage B can be used when the food is fresh food and the storage B has a refrigerating function).

On the other hand, for example, when the usage status of any of the storages Ba to Bh of the storage locker device 1a is not "vacant" (that is, "in use" or "reserved"), it is determined that the storage B is not available. (Step S6: NO), and the process proceeds to step S8.

If the storage B is not available, the reception time of the reservation request, the baggage ID included in the reservation request, the transportation destination information, the vacancy waiting flag, etc. are stored in the storage B (for example, each of the storages Ba to Bh). ) Stored in association with the storage ID (or the device ID of the storage locker device 1a including the storage). As a result, when the usage status of any of the target storage B becomes "vacant", for example, in order to store the cargo whose reception time is the earliest, the storage status becomes "vacant". The reservation process for reserving the warehouse B is executed.

As another example, when the storage B is not available, the reception time of the reservation request, the luggage ID included in the reservation request, the destination information, the luggage type information, the vacancy waiting flag, etc. are the storage ID of the storage B. It may be associated with and stored in. As a result, when the usage status of any of the target storage B becomes "vacant", the usage status is used to store the luggage (for example, fresh food) that needs to be delivered to the recipient as soon as possible. The reservation process for reserving the storage B that has become "vacant" is executed.

In step S8, the control unit 33 uses the temporary storage location search unit 334 to search for a temporary storage location that can be used within the vicinity of the storage B (for example, the storage locker device 1a) for which the storage B is determined to be unavailable. Search for. For example, the location information of the storage B determined to be unusable is compared with the location information of the temporary storage location in the storage location database 321, and the temporary storage location that can be used within the vicinity of the storage locker device 1a (that is, that is). , The temporary storage location where the usage status is "vacant" (vacant) is specified by the search.

Here, the neighborhood range of the storage B is, for example, a range in which the distance from the storage B is a predetermined distance (for example, 1 km) or less, or the time required to reach the storage B is a predetermined time (for example, 5 minutes) or less. Is the range of. When there are a plurality of temporary storage locations available within the vicinity of the storage B, it is preferable to specify the temporary storage location closest to the storage B. In the example of FIG. 9, the port PO for an unmanned aerial vehicle, which is within the vicinity range R1 of the storage locker device 1a and whose storage Bx is available (vacant) is specified as a temporary storage location.

Next, the control unit 33 executes the reservation process for reserving the temporary storage location specified by the search in step S8 by the reservation processing unit 336 (step S9). In this reservation process, in the storage location database 321, the usage status of the storage Bx of the temporary storage location (for example, port PO for unmanned aerial vehicle) is updated to "reserving", and the mobile ID and luggage ID included in the reservation request are updated. Is stored in association with the storage ID of the storage Bx.

Next, the control unit 33 issues the temporary storage command I1 for temporarily storing the luggage in the temporary storage location specified by the search in step S8 via the communication network NW to the temporary storage location specified by the search in step S8. (Step S10). The temporary storage command I1 includes the mobile ID of the UGV2a that sent the reservation request. As a result, the usage status associated with the storage ID stored in the temporary storage location (storage unit of the port PO for unmanned aerial vehicle) is updated to "reserved", and the moving object included in the temporary storage command I1. The ID is stored in association with the storage ID.

Next, the control unit 33 transmits a temporary storage command I2 for temporarily storing the luggage in the temporary storage location specified by the search in step S8, and a reservation request is transmitted by the temporary storage command transmission unit 335 via the communication network NW. It is transmitted to the UGV2a (step S11). The temporary storage command I2 includes temporary storage location information of the temporary storage location identified by the search in step S8. The temporary storage location information includes, for example, the location information of the temporary storage location and the storage ID of the storage Bx of the temporary storage location.

On the other hand, when the temporary storage command I2 from the management server 3 is received by the communication unit 23 of the UGV2a (step S12), the control unit 26 of the UGV2a responds to the temporary storage command I2 according to the location information of the temporary storage location. The UGV2a is moved to the temporary storage location (step S13). Then, when the UGV2a arrives at the temporary storage location, the control unit 26 of the UGV2a transmits the mobile ID to the temporary storage location (for example, the port PO for an unmanned aerial vehicle) by short-range wireless communication, and the door is opened through the authentication process. The luggage is carried out into the storage Bx (step S14).

Then, the luggage is temporarily stored in the storage Bx of the temporary storage place, and the storage Bx is locked. As a result, the locking information including the storage ID of the storage Bx, the password set in the storage Bx, and the luggage ID of the temporarily stored luggage is transmitted from the temporary storage location to the management server 3, so that the storage is stored. The storage location database 321 is updated by the management unit 331.

The control unit 33 (an example of the notification unit) may notify the recipient of the package of the temporary storage location specified by the search in step S8. For example, based on the recipient's information (for example, email address) included in the reservation request, the temporary storage location information of the temporary storage location and the storage included in the temporary storage location information are addressed to the recipient's email address. The password associated with the warehouse ID is sent by e-mail. As a result, even if the storage B is full, the recipient can quickly receive the package at the temporary storage location.

[ 2-2. Operation until the luggage is taken out from the temporary storage location and stored at the destination ]
Next, with reference to FIGS. 10 and 11, an example of the operation until the luggage is taken out from the temporary storage place by the UGV2b and stored at the transportation destination will be described. FIG. 10 is a sequence diagram showing an example of an operation from the temporary storage location to the removal of the luggage from the temporary storage location and the storage at the transportation destination by the UGV2b. FIG. 11 is a conceptual diagram showing on a map a state in which luggage is taken out from a temporary storage location by UGV2b and stored at a transportation destination.

After the temporary storage command I2 is transmitted in step S18 of FIG. 8, in FIG. 10, the control unit 33 of the management server 3 can use the storage B in which the free wait flag is associated with the storage ID. It is determined whether or not it is (step S21). This determination may be made, for example, every time the storage location database 321 is updated.

Then, when the control unit 33 determines that the storage B with the free waiting flag associated with the storage ID becomes available (that is, the usage status becomes "vacant") (step S21: YES). ), The temporary storage place for temporarily storing the baggage specified by the baggage ID associated with the vacant waiting flag is specified (specified by the storage ID) (step S22).

Here, when there are a plurality of baggage IDs associated with the vacancy waiting flag for the same storage ID, a temporary storage place for storing the baggage having the earliest reception time of the reservation request is specified. Alternatively, in this case, based on the package type information, a temporary storage location for storing the package (for example, fresh food) that needs to be delivered to the recipient earliest is specified.

Next, the control unit 33 acquires the temporary storage location information of the temporary storage location specified in step S22 from the storage location database 321 (step S23). If the storage B with the free wait flag associated with the storage ID is not available (step S21: NO), the process proceeds to another process.

Next, the control unit 33 searches the UGV2 capable of carrying the load within the vicinity of the temporary storage location specified in step S22 by the mobile search unit 337 (step S24). As a result, the UGV2 can more quickly collect the luggage temporarily stored in the temporary storage location and transport it to the destination. For example, the location information included in the temporary storage location information acquired in step S23 is compared with the location information indicating the current position of each UGV2 in the mobile database 322, and the luggage is transported within the vicinity of the temporary storage location. A possible UGV2 (that is, a UGV2 capable of loading a load from the loadability information) is identified by a search.

Here, the range near the temporary storage location is, for example, a range in which the distance from the temporary storage location is a predetermined distance (for example, 1 km) or less, or the time required to reach the temporary storage location is a predetermined time (for example, 5 minutes) or less. Is the range of. When there are a plurality of UGV2s capable of carrying luggage within the vicinity of the temporary storage location, it is preferable to specify the UGV2 closest to the temporary storage location. In the example of FIG. 11, the UGV2b that is within the vicinity of the port PO for the unmanned aerial vehicle, which is the temporary storage location, and is capable of carrying the luggage is identified by the search.

If there is a standby UGV2 (for example, an UGV2 dedicated to an apartment house or a public facility in which a storage locker device 1a is installed) that stands by at a transportation destination, the control unit 33 searches for the standby UGV2 in step S24. It may be specified. As a result, the search load on the management server 3 can be reduced.

Next, the control unit 33 executes a reservation process for reserving the storage B determined to be available in step S21 (step S25). In this reservation process, the usage status associated with the vault ID of the vault B that has become available in the vault database 321 is updated to "reserving", and the movement of the UGV2b identified by the search in step S24 is performed. The body ID, the luggage ID of the luggage temporarily stored in the temporary storage location (that is, the luggage ID associated with the vacancy waiting flag), and the like are stored in association with the storage ID. As a result, the luggage temporarily stored in the temporary storage location can be collected and reliably stored in the storage B.

Next, the control unit 33 transmits a package collection command for collecting the temporarily stored package to the temporary storage location specified in step S22 via the communication network NW (step S26). This package collection command includes the mobile ID of the UGV2b identified by the search in step S24. Next, the control unit 33 transmits a luggage storage command for storing the collected luggage to, for example, a storage locker device 1a at the transportation destination via the communication network NW (step S27). This baggage storage command includes the mobile ID of the UGV2b identified by the search in step S24.

Next, the control unit 33 issues a luggage collection / storage command for collecting the luggage temporarily stored in the temporary storage location specified in step S22 and storing it in the storage B reserved by the reservation process via the communication network NW. Then, it is transmitted to the UGV2b identified by the search in step S24 (step S28). In this baggage collection / storage command, the storage ID of the storage Bx of the temporary storage location specified in step S22 (that is, the storage ID of the storage for temporarily storing the baggage to be collected) and the storage Bx are set. The password, the temporary storage location information acquired in step S23, the luggage ID of the luggage temporarily stored in the storage Bx, and the destination information (that is, including the location information of the destination) are included.

After transmitting the baggage collection / storage command, the control unit 33 of the management server 3 sends the baggage collection / storage command to the e-mail address of the recipient based on the information (for example, e-mail address) of the recipient of the baggage stored in the storage B. , You may send an e-mail indicating the password set in the storage B. As a result, the recipient can take out the package from the storage B.

By the way, there are cases where a plurality of packages to be transported to the same destination are distributed and stored in different temporary storage locations. For example, it is assumed that a plurality of products ordered by the same recipient are distributed and stored in different temporary storage locations. In this case, the control unit 33 (an example of the determination unit) causes the UGV2b identified by the search in step S24 to collect the luggage at each of the plurality of temporary storage locations and transport the luggage to the destination (an appropriate transportation route). For example, it may be determined based on the respective location information of the optimum route, the shortest route), or at least the temporary storage location. Then, the control unit 33 transmits a package collection / storage command including the route information indicating the determined transportation route to the UGV2b. As a result, when storage B at multiple destinations of luggage becomes available, the luggage temporarily stored at each of the plurality of temporary storage locations can be more quickly transported and stored at the destination. Can be made to.

On the other hand, when the package collection / storage command from the management server 3 is received by the communication unit 23 of the UGV2b, the control unit 26 of the UGV2b goes to the temporary storage location according to the location information of the temporary storage location according to the package collection / storage command. The UGV2b is moved (step S29). Then, when the UGV2b arrives at the temporary storage location, the control unit 26 of the UGV2b transmits the mobile ID and password to the temporary storage location (for example, the port PO for an unmanned aerial vehicle) by short-range wireless communication, and the door is opened through the authentication process. Luggage is carried in from the unlocked and opened storage Bx (step S30). As a result, the unlocking information including the storage ID of the storage Bx is transmitted from the temporary storage location to the management server 3, and the storage location database 321 is updated by the storage management unit 331.

Next, the control unit 26 of the UGV2b moves the UGV2b to the final storage location (for example, the storage locker device 1a) which is the transport destination according to the location information of the transport destination (step S31). Then, when the UGV2b arrives at the final storage location, the control unit 26 of the UGV2b transmits the mobile ID to the final storage location by short-range wireless communication, and after the authentication process, carries out the luggage to the storage B whose door is opened. (Step S32). As a result, the luggage is stored in the storage B. Then, the locker information including the storage ID of the storage B is transmitted from the storage locker device 1a to the management server 3, so that the storage location database 321 is updated by the storage management unit 331.

The reservation process in step S25 may be executed at the timing when the UGV2b approaches the transportation destination (the approach timing of the UGV2b) after the baggage collection / storage command is transmitted to the UGV2b. This makes it possible to improve the efficiency of transportation. In this case, the control unit 33 of the management server 3 determines whether or not the UGV2b has approached the destination of the cargo based on the position information of the UGV2b and the location information of the destination. This determination is the same as the determination in step S2. Then, when it is determined that the UGV2b has approached the destination of the cargo, a reservation process for reserving the storage B at the destination of the luggage is executed.

Here, the control unit 26 of the UGV2b may determine whether or not the UGV2b has approached the destination of the cargo based on the position information of the UGV2b and the location information of the destination. In this case, when the control unit 26 of the UGV2b determines that the UGV2b has approached the destination of the cargo, the control unit 26 makes a reservation request for reserving the storage B at the destination of the cargo via the communication network NW. Send to the management server 3. As a result, the control unit 33 of the management server 3 performs the above reservation process in response to the reservation request.

However, if the reservation process is executed at the approach timing of UGV2b, the storage B determined to be available in step S21 may not be available again until the approach timing. Therefore, the control unit 33 of the management server 3 may check the usage status of the storage B determined to be available in step S21 at the approach timing. Then, when the control unit 33 of the management server 3 is not available from the confirmation result of the usage status of the storage B, the control unit 33 again searches for an available temporary storage location within the vicinity of the storage B, and the search is performed. A temporary storage command for temporarily storing the luggage in the specified temporary storage location is transmitted to UGV2b.

As described above, according to the above embodiment, when the management server 3 receives a reservation request for the storage at the destination of the luggage carried by the UGV 2, the management server 3 determines the usage status of the storage in response to the reservation request. Check, and if the storage is not available based on the confirmation result of the usage status, search for a temporary storage location that can be used within the vicinity of the storage. Then, the management server 3 is configured to send a temporary storage command for temporarily storing the luggage in the temporary storage location specified by the above search to the UGV2, so that even if there is no vacancy in the storage. The time and effort required for the UGV2 to carry the luggage again can be reduced.

Further, when the storage becomes available after the temporary storage command is transmitted, the management server 3 searches for a UGV2 capable of carrying the luggage, and collects the luggage temporarily stored in the temporary storage location. Since the baggage collection and storage command for storage in the storage is configured to be transmitted to the UGV2 specified by the search, the UGV2 is temporarily stored in the temporary storage place while reducing the trouble of transporting the baggage again. It is possible to collect the relevant baggage and store it in the storage at the destination.

It should be noted that the above embodiment is an embodiment of the present invention, and the present invention is not limited to the above embodiment, and various configurations and the like are changed from the above embodiment without departing from the gist of the present invention. Also, it is included in the technical scope of the present invention. Although the reception unit, the confirmation unit, the first search unit, the second search unit, the first transmission unit, the second transmission unit, the determination unit, and the reservation processing unit in the present invention have shown an example provided in the management server 3. Some of these components may be provided in devices other than the management server 3.

For example, a reception unit, a confirmation unit, and a reservation processing unit (part) are provided in the storage locker device 1, and a first search unit, a second search unit, a first transmission unit, a second transmission unit, a determination unit, and a reservation unit are provided. A processing unit (part) may be provided in the management server 3. In this case, when the storage locker device 1 receives, for example, a reservation request for the storage at the destination of the luggage from the UGV, the storage locker device 1 confirms the usage status of the storage in response to the reservation request, and stores the storage based on the confirmation result of the usage status. When the storage is not available, a search request for a temporary storage location that can be used within the vicinity of the storage is transmitted to the management server 3. Then, when the management server 3 receives the search request from the storage locker device 1, it searches for a temporary storage location that can be used within the vicinity of the storage, and temporarily stores the luggage in the temporary storage location specified by the search. The first command for making the UGV is transmitted to the above-mentioned UGV. On the other hand, the storage locker device 1 confirms the usage status of the storage in response to the above reservation request, and when the storage is available from the confirmation result of the usage status, the reservation process for reserving the storage. To execute.

Further, in the above embodiment, the door of the storage is opened and closed by the drive mechanism of the device (storage locker device 1 or the port PO for unmanned aerial vehicle) provided with the storage, but the door of the storage is opened and closed. The UGV2 may be configured to open and close the door by providing the UGV2 with a mechanism for opening and closing. Further, in the above embodiment, an unmanned and autonomously movable UGV has been described as an example, but the present embodiment can also be applied to a moving body such as a vehicle driven by a person.

1, 1a ~ 1c Storage locker device 2, 2a ~ 2c UGV
3 Management server 11 Operation / display unit 12 Communication unit 13 Storage unit 14 Control unit 21 Drive unit 22 Positioning unit 23 Communication unit 24 Imaging unit 25 Storage unit 26 Control unit 31 Communication unit 32 Storage unit 33 Control unit 331 Storage management unit 332 Reservation request reception unit 333 Usage status confirmation unit 334 Temporary storage location search unit 335 Temporary storage command transmission unit 336 Reservation processing unit 337 Mobile search unit 338 Luggage collection and storage command transmission unit B, Ba to Bh Storage S Transportation system

Claims (12)

The reception desk that accepts reservation requests for the storage at the destination of luggage,
A confirmation unit that confirms the usage status of the storage in response to the reservation request,
A first search unit that searches for a temporary storage location that can be used within the vicinity of the storage when the storage is not available based on the confirmation result of the usage status.
The first command for temporarily storing the baggage in the temporary storage location specified by the search of the first search unit is the autonomous body that is an autonomous mobile body that can move autonomously and unmanned and can carry the baggage. The first transmitter that sends to the mobile body,
The autonomous mobile body that transports the luggage to the temporary storage location in response to the first command, and
A transportation system characterized by being equipped with. The transportation system according to claim 1, further comprising a notification unit for notifying the recipient of the package of the temporary storage location specified by the search of the first search unit. The transportation system according to claim 1 or 2, wherein the reception unit receives the reservation request at a timing when the autonomous mobile body on which the luggage is loaded approaches the transportation destination. The transportation system according to any one of claims 1 to 3, wherein the reception unit receives the reservation request from the autonomous mobile body. After the transmission of the first command, when the storage becomes available, a second search unit for searching a mobile body capable of carrying the luggage, and a second search unit.
A second transmission unit that transmits a second command for collecting the baggage temporarily stored in the temporary storage location and storing it in the storage to the mobile body specified by the search of the second search unit.
Further prepare
Any of claims 1 to 4, wherein the mobile body identified by the search of the second search unit collects the baggage at the temporary storage place and transports the baggage to the transport destination in accordance with the second command. The transportation system described in item 1. The transportation system according to claim 5, wherein the second search unit searches for a mobile body capable of transporting the luggage within a range in the vicinity of the temporary storage location. The transportation system according to claim 5 or 6, wherein the second search unit searches for an autonomous mobile body that can be moved autonomously and unmanned as a mobile body that can carry the luggage. Further, a reservation processing unit for executing a reservation process for reserving the available storage when the storage becomes available after the transmission of the first command is provided.
The second transmission unit identifies a second command for collecting the baggage temporarily stored in the temporary storage location and storing it in the storage reserved by the reservation process by searching the second search unit. The transportation system according to any one of claims 5 to 7, wherein the transmission is performed to the mobile body. The transportation system according to claim 8, wherein the reservation processing unit executes the reservation processing at a timing when the moving body specified by the search of the second search unit approaches the transportation destination. When the plurality of packages to be transported to the same destination are distributed and stored in different temporary storage locations, the plurality of temporary storage locations are set in the moving body specified by the search of the second search unit. Further equipped with a determination unit for determining an appropriate transportation route for collecting the package and transporting the package to the destination in each of the above, at least based on the position information of each of the temporary storage locations.
The second transmission unit is characterized in that the second command including the information indicating the transportation route determined by the determination unit is transmitted to the mobile body specified by the search of the second search unit. Item 6. The transportation system according to any one of Items 5 to 9. An autonomous mobile body that is unmanned and autonomously mobile and that transports luggage, and a transportation method that is executed by a management device that manages the autonomous mobile body.
The step in which the management device accepts a reservation request for the storage at the destination of the cargo, and
A step in which the management device confirms the usage status of the storage in response to the reservation request, and
A step of searching for a temporary storage location that can be used within the vicinity of the storage when the management device cannot use the storage based on the confirmation result of the usage status.
A step of transmitting to the autonomous mobile body a first command for the management device to temporarily store the baggage in the temporary storage location specified by the search.
A step in which the autonomous mobile body transports the luggage to the temporary storage location in response to the first command, and
A transportation method characterized by including. The reception desk that accepts reservation requests for the storage at the destination of luggage,
A confirmation unit that confirms the usage status of the storage in response to the reservation request,
A first search unit that searches for a temporary storage location that can be used within the vicinity of the storage when the storage is not available based on the confirmation result of the usage status.
The first command for temporarily storing the luggage in the temporary storage location specified by the search of the first search unit is an autonomous movement that is an unmanned and autonomously movable autonomous body and can carry the luggage. The first transmitter that sends to the body,
A management device characterized by being provided with.

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