JP6455985B2 - Delivery system - Google Patents

Description

  The present invention relates to a delivery system.

  Electronic communication using EC (Electronic Commerce) site built using Web technology has become active as a communication environment that can communicate using various types of terminals as a whole society has been established. It is coming.

  This EC site plays a role as a virtual store provided on the Web, and is also referred to as an online shop. When you select a product on the EC site, you can purchase the product, complete personal authentication and payment procedures on a system called the Web payment system, and then deliver the product to the designated delivery destination. Become.

  The products at this time include “digital data” distributed online and “formal products (articles)” such as daily necessities. When the former “digital data” is purchased, delivery of the product will be completed if it is sent to a designated destination such as an e-mail. However, when the latter “shaped product” is purchased, Then, it is delivered (delivered) to a delivery destination via a delivery company or the like. That is, a delivery process for delivering the product to the delivery destination is required.

  In delivery using a delivery company, etc. in this delivery process, naturally, since delivery is performed through a person, expenses such as labor costs are incurred, and the amount of the package (product) to be delivered is The more it increases, the more labor costs and equipment will be required. Furthermore, when the recipient of the package (product) is absent at the delivery destination, new work such as creation of an absence slip and contact for re-delivery occurs.

  As described above, electronic commerce using an EC site is activated, and on the other hand, the delivery of purchased products (products) takes much time and the delivery cost is also increasing.

JP 2004-315116 A JP2012-121700A

  In the above-mentioned patent document 1, at least the sender's address and name and the address and name of the destination of the application form are registered in the delivery management database as part of the delivery information as image data, and the tag data is based on this image data. A technology is disclosed in which a product label is printed and attached to an article, and the article is delivered by referring to the delivery information using the invoice number printed on the tag label as a key of the delivery management database.

  Further, Patent Document 2 is a technology for delivering using two vehicles (a vehicle on which the orderer is boarded, a delivery vehicle). The product can be delivered.

  The conventional techniques as shown in Patent Document 1 and Patent Document 2 described above merely disclose a technique for improving work efficiency in delivery. In addition, in the conventional techniques as shown in Patent Document 1 and Patent Document 2, it is necessary to perform delivery work of the recipient and the package at the delivery destination in order to complete the delivery.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a delivery system that can reliably deliver a package regardless of the recipient's situation.

  To achieve the above object, the present invention according to claim 1 includes a delivery vehicle loaded with a delivery box to be delivered to a delivery destination, and a mother vehicle carrying the delivery vehicle, wherein the delivery box is used as a delivery destination. In the delivery system for delivering, the delivery destination is provided with a delivery box fixing tool capable of fixing the delivery box, and the delivery vehicle has the delivery box loaded at a predetermined installation position. A movable member that is movable from an installation position to the delivery box fixture, and is provided at the delivery destination using the movable member after getting off the mother vehicle and moving from the getting-off position to the delivery destination. The delivery box is fixed to a delivery box fixture.

  According to the present invention, it is possible to reliably deliver a package regardless of the recipient's situation.

The figure which shows the outline | summary of the delivery system in embodiment of this invention. The other figure which shows the outline | summary of the delivery system in embodiment of this invention. The figure which shows the process process (work process) performed in the delivery origin which comprises the delivery system in embodiment of this invention. The figure which shows the block diagram of the mother carriage in embodiment of this invention. The figure which shows the block diagram of the child carriage in embodiment of this invention. The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 1). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 2). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 3). The figure which shows the delivery aspect in the delivery system in embodiment of this invention (the 4). The figure which shows the detailed structure of the delivery box in embodiment of this invention. The figure which shows the detail of the delivery box fixing tool in embodiment of this invention. The figure which shows the engagement state of the delivery box and delivery box fixing tool in embodiment of this invention. The figure which shows the mail content which the recipient of a package receives. The flowchart which shows the detailed flow of the BOX delivery control process performed in the mother carriage in embodiment of this invention. The flowchart which shows the detailed flow of the BOX delivery control process performed in the child vehicle in embodiment of this invention. The flowchart which shows the detailed flow of the lock | rock control process performed in BOX in embodiment of this invention.

  Hereinafter, an embodiment of a delivery system according to the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram showing an outline of a delivery system in an embodiment of the present invention.

  In FIG. 1, the delivery system is a system for delivering a package by moving a delivery vehicle from a delivery center (hereinafter also referred to as “center 10”), which is a “delivery source” of the package, to a “delivery destination 20 (delivery destination)”. It is.

  The center 10 is a product management center (product management source) that manages products, a delivery center (delivery source) that performs delivery procedures for products ordered by the purchaser among products managed by the product management center, and other monitoring related to delivery. This is a general term for bases that play a role such as a monitoring center (monitoring source), and may also be referred to as “delivery bases”.

  The center 10 accepts orders placed using an EC (Electronic Commerce) site where electronic commerce is possible. More specifically, an order is received by a server provided in the center 10 that manages and operates an EC site.

  This EC site is a store on the Web that can be accessed using electronic devices such as personal computers and tablets installed at home, etc., and those who wish to purchase products can easily request products by accessing this EC site. Can be ordered (purchased) and can be easily purchased.

  Access to the EC site is also possible from a vending machine equipped with a liquid crystal display and connected to the Web site via network communication. For example, it is possible to purchase merchandise displayed on a liquid crystal display, like purchasing beverages with a conventional vending machine.

  When purchasing a product using this EC site, the purchaser of the product specifies the product to be purchased, the payment method of the product, and the delivery destination 20 of the product.

  When the center 10 accepts an order in which the delivery destination 20 or the like is designated from the purchaser of the product, the ordered product is selected from the products managed using the delivery vehicle, and the product is delivered to the delivery destination 20. Processing is performed. Details of the delivery process (delivery process) performed in the center 10 will be described later with reference to FIG.

  From the center 10 to the delivery destination 20, the goods are delivered as a package by a delivery vehicle.

  The baggage at this time can also be referred to as an appropriate delivery box 300 (“box”, “BOX”, “storage”) selected according to its size (size), shape, quantity, impact resistance, etc. ) Are stored (stored) and delivered. Therefore, as an object to be delivered (delivery object), the package and the delivery box 300 are synonymous, and “delivery of the package” and “delivery of the delivery box” do not have different meanings.

  The delivery vehicle to be delivered includes a small delivery vehicle loaded with the delivery box 300 and a large delivery vehicle on which the delivery vehicle itself is mounted.

  The large delivery vehicle can be equipped with one or a plurality of small delivery vehicles, and is also referred to as “unmanned automatic driving delivery carriage”, “mother vehicle”, and “mother carriage”. Hereinafter, this large delivery vehicle will be referred to as a “base wheel 100”, and details thereof will be described later with reference to FIG.

  On the other hand, a small delivery vehicle that can be mounted on the mother carriage 100 can be loaded with a delivery box 300 that stores luggage, and is also referred to as an “unmanned automatic driving delivery slave” or a “slave”. Hereinafter, this small delivery vehicle will be referred to as a “slave 200”, and details thereof will be described later with reference to FIG.

  From the relationship described above, it can be expressed that the mother carriage 100 on which the child carriage 200 on which the delivery box 300 is loaded is loaded with the delivery box 300.

  In the center 10, information (“delivery information”) related to the delivery destination 20 of the delivery box 300 that stores the luggage is set (stored) in each delivery vehicle (the mother carriage 100 and the child carriage 200). That is, the child car 200 carrying the single delivery box 300 stores and stores information related to the delivery destination 20 of the delivery box 300, and the delivery car 300 is loaded on the mother car 100. The information about the delivery destination 20 is set and stored for the number of child cars 200 to be set.

  The delivery information includes a delivery address and name, a “fixing tool number” for identifying the delivery box fixture 400, “box identification information” for identifying the delivery box 300 to be delivered, and the like.

  The mother carriage 100 has an automatic operation control mechanism (automatic operation control unit) and a delivery control mechanism (delivery control unit), and the packages are delivered in conjunction with each other.

  The automatic operation control mechanism is a general term for devices necessary for moving the carriage 100 to a predetermined position (point), and includes an operation control device, a storage device, an engine, driving wheels, various actuators, a motor (servo). Motors, in-wheel motors), cylinders, various sensors (including cameras (imaging devices)), and the like.

  In this storage device, in addition to information related to the delivery destination 20, map information used for determining a delivery route to the delivery destination of the package and a road relating to a road that is a movement route (movement route, delivery route) of the carriage 100 I remember information. In addition to this, it is also possible to store traffic information that can be updated at any time.

  In addition to driving (stopping) driving and stopping of the mother carriage 100, the operation control device not only moves back and forth but also moves left and right to perform parallel parking and turning in narrow spaces (alleys, etc.). It is possible to perform parallel movement, rotation on the spot, parallel movement in an oblique direction, and the like.

  This operation control device also includes a GPS (Global Positioning System) device capable of specifying (positioning) a position on map information.

  In the mother carriage 100, the operation control device uses the information stored in the storage device (map information, road information, traffic information, etc.) and the GPS device to deliver the delivery route (current location) to the delivery destination 20 ( The travel route) is retrieved and stored, and driving (moving) is performed based on the delivery route. Of course, this delivery route can be updated (changed) as appropriate based on new traffic information, road information, and the like.

  The mother car 100 can be used to detect driving lanes, signals, etc. defined by surrounding other vehicles, pedestrians, animals, fallen objects, grooves, unevenness, center lines, etc., as radars and sensors (radars, laser sensors, infrared sensors, ultrasonic sensors). , Pyroelectric sensors, etc.), as well as complex recognition based on information obtained by camera face recognition systems and human body detection systems. As a result, the carriage 100 can safely drive (move) to the delivery destination or the vicinity thereof while avoiding various dangers on the road.

  In addition, the delivery control mechanism is configured such that the carriage 100 is from the delivery center 10 to a predetermined position (point) on the delivery route (corresponding to the following “get off point”, “relay point”, etc.) by the automatic operation control mechanism. By moving along the delivery route (first travel route), control is performed such that the child car 200 mounted on the mother carriage 100 gets off and leaves. The delivery control at this time specifies the child car 200 on which the delivery box 300 to be delivered to the delivery destination corresponding to the predetermined position (“get off point”, “relay point”) on the delivery route is loaded, and This is a control process in which the child car 200 is delivered by opening the door to become a delivery path.

  That is, in the first movement route from the delivery source center to a predetermined position (point) on the delivery route (“get off point”, “relay point”), delivery in which the mother car 100 carries the child car 200 and moves. In other words, since it is a route, it can be said that the sub-car 200 moves along the first movement route together with the mother vehicle (in an inseparable state) from the delivery destination to the relay point.

  Further, the delivery control mechanism performs control to store the child car 200 when the child car 200 returns to the mother car 100 after returning the delivery box 300 to the delivery destination. At this time, the warehousing control is returned to a predetermined position with respect to the mother car 100 (a position designated in relation to the mother car 100 so that the child car 200 enters the mother car 100) through mutual communication with the child car 200. Thus, the control process of opening the door of the mother carriage 100 and using the door as a warehousing path to allow the child carriage 200 to enter and stop at a predetermined stop position in the mother carriage 100 is performed.

  In this delivery control mechanism, the delivery status of the child carriage 200 is further managed by performing mutual communication with the child carriage 200 from which the mother carriage 100 leaves.

  In addition, the mother carriage 100 is provided with a microphone and a speaker in addition to a monitoring camera capable of monitoring the surroundings at a predetermined part. When an emergency situation or trouble occurs in the mother car 100, the maintenance monitor of the monitoring center can monitor the surrounding situation with the monitoring camera mounted on the mother car 100 through mutual communication with the center 10 (particularly the monitoring center). In addition to confirming the above, it is possible to have a conversation with the surrounding people, and it is also possible for the maintenance monitor to operate by remote control while confirming the safety of the surrounding situation with a camera or the like.

  The child carriage 200 also has an automatic operation control mechanism (automatic operation control unit) and a delivery control mechanism (delivery control unit), as in the case of the mother car 100. Will be done. However, the automatic driving control mechanism of the child carriage 200 is similar to the automatic driving control mechanism of the mother carriage 100, but is different, and the delivery control mechanism of the child carriage 200 is different from the delivery control mechanism of the mother carriage 100. is there.

  The automatic driving control mechanism in the child car 200 is a general term for devices necessary for moving from a point of getting off from the mother car 100 (also referred to as “lighting point” or “relay point”) to a delivery destination. Control devices, storage devices, engines, drive wheels, various actuators, motors (servo motors, in-wheel motors), cylinders, various sensors (including cameras (imaging devices)), and the like are applicable.

  The automatic driving control mechanism causes the child car 200 to move along a delivery route (second travel route) from a point where the child car 200 gets off the mother car 100 (also referred to as “get-off point” or “relay point”) to the delivery destination.

  In other words, the second travel route from the point where the train gets off from the mother car 100 (“get off point”, “relay point”) to the delivery destination is a delivery route where the child car 200 gets off the mother car 100 and moves. In other words, it can be said that the child car 200 moves on the second movement route from the relay point to the delivery destination independently of the mother car 100.

  In the storage device of the child car 200, in addition to the information about the delivery destination 20, map information used for determining the delivery route to the delivery destination of the package and the movement route (movement route, delivery route) of the child car 200 are included. Stores road information about a road. In addition to this, it is also possible to store traffic information that can be updated at any time.

  In addition, the operation control device of the child car 200 is not only fore-and-aft movement but also for parallel movement in the right and left, rotation on the spot, parallel in the oblique direction in order to perform parallel parking and direction change in a narrow place (alley etc.). In addition to being able to move, it has a balance control function that prevents overturning when climbing up and down stairs or when tilting on a slope. This balance control function is a function for detecting the position of the center of gravity based on the child carriage 200 and the delivery box 300 one by one and automatically adjusting the position of the center of gravity using a center of gravity position adjusting device (balancer).

  With this balance control function, the child carriage 200 suppresses rollover or fall due to collision or contact with an obstacle to a minimum.

  In addition, the operation control device also includes a GPS device capable of specifying (positioning) the position on the map information.

  In the child car 200, the delivery control route from the current position (current location) specified by the GPS device using the information (map information, road information, traffic information, etc.) stored in the storage device to the delivery destination 20 by the operation control device. It is possible to search and store (travel route) and drive (move) based on this delivery route. Of course, this delivery route can be updated as appropriate based on new traffic information, road information, and the like.

  In this child car 200, as in the case of the mother car 100, a driving lane, a signal, etc., defined by surrounding other vehicles, pedestrians, animals, fallen objects, grooves, unevenness, center lines, etc. are sent to a radar or a sensor (radar, laser). In addition to sensors, infrared sensors, ultrasonic sensors, pyroelectric sensors, etc.), it also recognizes in combination based on information obtained by camera face recognition systems and human body detection systems. As a result, the child car 200 can safely drive (move) to the delivery destination or the vicinity thereof while avoiding various dangers on the road.

  In addition, as a delivery control mechanism of the slave car 200, the slave car 200 is provided with a robot arm (also simply referred to as “arm”), and this arm holds the delivery box 300 so that it does not fall during delivery. In addition, the delivery box 300 is moved from the held state, and the position of the delivery box fixture 400 provided at the delivery destination is confirmed by various sensors, optical system devices, electromagnetic wave sensors, etc., and then the delivery box fixture The delivery is performed by fixing the delivery box 300 to 400.

  The relationship between the delivery box 300 and the delivery box fixture 400 will be described later.

  Therefore, the arm is a member that can pinch, hold, or hold the delivery box 300, and is therefore referred to as “holding member” or “holding member” or “holding member”. In addition, since it is a member that moves the delivery box 300, it can also be referred to as a “movable member”.

  In the above, a state in which the delivery box 300 is loaded in advance on the child carriage 200 is shown, but the present invention is not limited to this, and the arm is movable so that the delivery box 300 is arranged at a predetermined position in the mother carriage 100. Alternatively, the delivery box 300 may be loaded on the child carriage 200.

  In addition, the child car 200 includes an emergency stop button in addition to a monitoring camera, a microphone, and a speaker that can monitor the surroundings at a predetermined position. When an emergency situation or trouble occurs in the child car 200, the maintenance monitor of the monitoring center uses a monitoring camera mounted on the mother car 100 to communicate with the center 10 (particularly, the monitoring center). In addition to confirming the above, it is possible to have a conversation with the surrounding people, and it is also possible for the maintenance monitor to operate by remote control while confirming the safety of the surrounding situation with a camera or the like.

  Further, when the surrounding person feels danger, pressing the emergency stop button (or touching) makes it possible for the child car 200 to stop traveling. It is possible to check the surrounding situation with the installed surveillance camera and have a conversation with the surrounding people.

  Subsequently, a flow of processing for delivering the delivery box 300 from the delivery source center 10 to the delivery destination by the mother carriage 100 and the slave carriage 200 having the functions as described above will be described below.

  Based on the information related to the delivery destination, the mother carriage 100 on which the child carriage 200 is mounted searches for a delivery route (movement route) to the delivery destination that delivers the delivery box 300 loaded on the child carriage 200. In this search process, a delivery route for delivering the delivery box 300 to a delivery destination is searched using the GPS device provided in the carriage 100 and stored map information, road information, and the like.

  That is, if there are a plurality of delivery boxes 300 to be delivered (if a plurality of child carts 200 carrying the delivery boxes 300 are installed), a delivery route that takes into account each delivery destination of each delivery box 300 is searched. . The carriage 100 stores the delivery route searched by this search process.

  In the example illustrated in FIG. 1, three items “delivery destination 1”, “delivery destination 2”, and “delivery destination 3” are designated as delivery destinations. In this case, the delivery route is “center →“ delivery destination 1 ”→“ delivery destination 2 ”→“ delivery destination 3 ”→ center”.

  However, although “center →“ delivery destination 1 ”” is designated as a part of the delivery route, the travel route along which the carriage 100 moves is the relay point 1 (shown as “relay 1”) from the center. In addition, between the relay point 1 and the “delivery destination 1”, the child car 200 moves and is delivered. The relay point 1 at this time is a point corresponding to the delivery destination, and may also be referred to as a point (alighting point) where the child car 200 carrying the delivery box 300 delivered to the delivery destination is unloaded from the mother car 100. it can.

  As with the mother car 100, the child car 200 also searches for a delivery route (movement route) from the current location (alighting point, etc.) to the delivery destination based on the information about the delivery destination, and delivers to the mother car 100. Search the return route to return from the destination. In this search process, using the GPS device included in the child car 200 and the stored map information, road information, etc., from the current location (alighting point, etc.) of the child car 200 to the delivery destination, and from the delivery destination to the mother car The delivery route to the point where 100 is located is searched.

  If your current location is a point where you get off from the mother car 100 (alighting point, relay point), search and store the delivery route from this point (alighting point, relay point) to the destination, and then deliver at the destination Is completed, the child car 200 searches for a return route to the return point where the mother car 100 is located by mutual communication with the mother car 100. That is, the case where the getting-off point and the return point from the carriage 100 are the same (including substantially the same) is shown.

  Subsequently, in “delivery destination 1” → “delivery destination 2”, which is a part of the delivery route searched by the carriage 100, the travel route along which the carriage 100 moves is “relay” corresponding to “delivery destination 1”. From “point 1” to “relay point 2” corresponding to “delivery destination 2”. In this case as well, between the relay point 2 and “delivery destination 2”, the child car 200 searches for a delivery route and delivers it. In FIG. 1, the child car 200 that has moved from “relay point 2” to “delivery destination 2” is not “relay point 2” that gets off from the mother car 100, but “relay point 3” corresponding to the delivery destination 3. It will return to.

  That is, the case where the movement start point and the return point of the child car 200 are different is shown. This indicates that the mother carriage 100 has moved from “relay point 2” to “relay point 3” corresponding to “delivery destination 3” while the child car 200 is being delivered to the delivery destination 3. This indicates that the child car 200 has searched for “delivery destination 2 → relay point 3” as a return route through communication with the mother car 100.

  Similarly, in “delivery destination 2” → “delivery destination 3”, which is a part of the delivery route searched by the carriage 100, the movement route along which the carriage 100 moves corresponds to “delivery destination 2”. This is “relay point 3” corresponding to “delivery destination 2” from “relay point 2”. Similarly, in this case, the child car 200 moves between the relay point 3 and the “delivery destination 3” to be delivered.

  The “delivery destination 3” → center, which is a part of the delivery route searched by the carriage 100, is a route along which the carriage 100 moves.

  With the above flow, the delivery box 300 (package) is delivered from the delivery source center to the delivery destination.

  The delivery destination at this time is provided with a fixture for fixing the delivery box 300 (hereinafter referred to as “delivery box fixture 400”).

  The delivery box 300 fixed to the delivery box fixture 400 has one or more protrusions 310 (also referred to as “projections”) that can be fixed to the delivery box fixture 400. The box fixture 400 has one or a plurality of holes 410 for hooking the delivery box 300 by inserting (penetrating) the protrusion 310 of the delivery box 300. The projecting portion 310 is configured by a combination of a cylindrical portion and a conical portion, and has a constriction at the combined portion of the cylindrical portion and the conical portion.

  The protrusion 310 provided in the delivery box 300 and the hole 410 provided in the delivery box fixture 400 are fixing members that can fix the delivery box 300 to the delivery box fixture 400. In other words, since the delivery box 300 and the delivery box fixture 400 are engaged with each other by the projection 310 and the hole 410, the projection 310 is an engagement portion (first engagement) in the delivery box 300. It can be said that the hole portion 410 is an engaging portion (second engaging portion) in the delivery box fixture 400. Therefore, the delivery box 300 is fixed to the delivery box fixture 400 by engaging the second engagement portion and the first engagement portion.

  Further, the delivery box fixture 400 has a lock mechanism, and when the projection 310 of the delivery box 300 is inserted into the hole 410, the projection 310 is fixed to the hole 410 by the lock mechanism and cannot be removed. By controlling (locking control) to a state (including a state that is difficult to remove), it is prevented from being unintentionally removed or stolen. .

  This locking mechanism is supported by two protrusions 310 of the four protrusions 310 provided on the delivery box 300, and the remaining two protrusions 310 are provided on the delivery box fixture 400. A cylindrical pin without a constriction protrudes from the delivery box as a projection that fits into the upper circular part of the hole 410 formed so as to prevent the delivery box from being lifted upward and to be fixed.

  In order to remove (unlock) the delivery box 300 controlled by the lock from the delivery box fixture 400, the child car 200 authenticates the unique ID and password stored in the storage device of the delivery box 300. The child carriage 200 performs an operation (lock release operation) for unlocking the delivery box 300 with respect to the delivery box fixture 400.

  As described above, when the delivery box 300 is fixed to the delivery box fixture 400 by the movement of the arm of the child carriage 200, the delivery of the delivery box 300 is completed.

  If the child car 200 cannot fix the delivery box 300 to the delivery destination where the delivery box fixing tool 400 is not installed or the delivery box fixing tool 400 installed due to some trouble, The arrival information of the package can be notified to the contact information of the recipient registered in advance, and the package can be delivered at a predetermined position (standby position) near the delivery destination where the child car 200 is waiting.

  However, there is a case where the child car 200 cannot fix the delivery box 300 to the delivery box fixing tool 400, and the absence of the baggage even though the arrival information of the package is notified to the contact information of the recipient registered in advance. If there is no reply for reasons such as, or if it is confirmed by means of telephone, e-mail, SNS or the like that it is difficult or impossible to receive for some reason, the child car 200 returns to the mother car 100 and spends time at home. Re-delivery after confirmation.

  Next, processing after delivery is completed will be described.

  Then, when the delivery of the delivery box 300 is completed by the processing as described above, the child car 200 transmits the contact information (mail, various SNSs) included in the information about the recipient of the delivery box 300 stored in the storage device. (Social Networking Service)).

  The contents notified at this time include the fact that the package has been delivered and the unlock key code (“unlock information”, “unlock password” as information for taking out the delivered package from the delivery box 300) Also called).

  The delivery box 300 has an information input unit such as a touch panel, a button, and a camera (imaging device), and can accept an input of an unlocking key code described later. When a normal unlocking key code is input and authenticated from this information input unit, the delivery box 300 performs lock control so that the door of the delivery box 300 can be opened (open state). In addition, when the luggage is taken out by the recipient and the door is closed while the door is locked to the open state, the delivery box 300 controls the lock to a state where the door of the delivery box 300 is restricted (closed state). Do.

  The recipient of the parcel (if the recipient who wants to purchase the item is the same as the recipient who wants to purchase the item) inputs the predetermined information into the information input section of the delivery box 300, and the delivery box 300 is correct. If it authenticates that it is an unlocking key code, this delivery box 300 will perform lock control in the openable state (open state). As a result, the recipient can open the door of the delivery box 300 and take out the package.

  When the door of the delivery box 300 is closed after the package is taken out (or the door is closed by the recipient), the delivery box 300 locks the door. It can be unlocked any number of times by authenticating it.

  With the processing described above, it is possible to take out a package that has been delivered.

  The delivery box 300 transmits status information to the center 10 when detecting that the package is taken out by the sensor or the like and that the door is locked. At this time, the center 10 transmits a “BOX collection inquiry notification” for inquiring whether the collection box 300 can be collected to the carriage 100 that delivers the package to an arbitrary delivery destination.

  In the mother carriage 100 that has received this “BOX collection inquiry notification”, it is determined whether or not there is a child car 200 in which the delivery box 300 can be mounted (the child car 200 that does not have the delivery box 300). To return whether the delivery box 300 can be collected.

  Thereafter, the carriage 100 that has received the “BOX collection instruction (collection instruction information)” instructing the collection of the delivery box 300 from the center 10 is the delivery destination specified in the “BOX collection instruction” (in this case, “collection destination”). By searching for and storing the route to the collection destination based on the information (also referred to as “collection information” and “collection destination information”) and moving based on the route. The delivery box 300 will be collected.

  The collection information at this time includes the address and name of the collection destination, “fixing tool number” for identifying the delivery box fixture 400, “box identification information” for identifying the delivery box 300 to be collected, and the like.

  In addition, the route for collecting the delivery box 300 is newly incorporated in the delivery route of the existing delivery box 300, whereby the carriage 100 collects with the delivery along the new delivery route (delivery collection route). It will be. Of course, the collection route may be searched and stored separately from the existing delivery route, and the delivery box 300 may be collected based on the collection route after the delivery of the delivery box 300 in the delivery route is completed. The delivery box 300 may be collected based on the collection route before delivery of the delivery box 300 on the route.

  A state in which the delivery box 300 is delivered and collected by a new “delivery collection route” in which the collection route for collecting the delivery box 300 at this time is incorporated into the existing delivery route is shown in FIG. 2 and will be described later.

  Through the processing as described above, the delivery box 300 that has been delivered and fixed to the delivery box fixture 400 at the delivery destination can be collected.

  FIG. 2 is another diagram showing an outline of the delivery system in the embodiment of the present invention.

  FIG. 2 shows a delivery system in the delivery collection route in which a collection route for collecting the delivery box 300 is incorporated in the delivery route in the delivery system as shown in FIG.

  The delivery collection route shown in FIG. 2 is the delivery route shown in FIG. 1, which is “center →“ delivery destination 1 ”→“ delivery destination 2 ”→“ delivery destination 3 ”→ center”. It can also be called “delivery destination”).

  Specifically, the delivery route in which the carriage 100 moves from “delivery destination 3” to the center 10 is changed from “delivery destination 3 → collection destination 1 → center”.

  When the carriage 100 that collects the delivery box 300 receives a “BOX collection instruction (collection instruction information)” from the center 10, information (collection destination) about the collection destination included in the “BOX collection instruction (collection instruction information)”. The address and the box related information (“box identification information”, “unlock key code”, “size”, etc., which will be described later)) are moved to the collection destination.

  Similarly to each delivery destination, a “relay point 4” that is a stop position of the carriage 100 with respect to the collection destination 1 is provided for the collection destination 1, and the child vehicle 200 gets off at this “relay point 4”. Then, the child car 200 moves to the collection destination 1. At this time, the child carriage 200 heading for collection is a delivery vehicle in which the delivery box 300 is not loaded on the carrier.

  In the collection destination 1, the child car 200 is subjected to a process of loading the delivery box 300 on the carrier using an arm. At this time, the sub-car 200 includes unique delivery box identification information (hereinafter also referred to as “BOXID”, “BOX identification information”, “box identification information”) stored in the storage device of the delivery box 300 and an unlock key. Confirm (check) the code etc., and the unlock key code etc. is the same as the “box identification information” or “unlock key code” of the information regarding the collection destination included in the “BOX collection instruction (collection instruction information)” As a result, the child car 200 unloads the delivery box 300 from the delivery box fixture 400, loads it, and collects it.

  By such processing, the delivery can be completed without the recipient receiving the package stored in the delivery box 300 directly at the delivery destination. In other words, the number of times that re-delivery is required due to absence of a recipient can be significantly reduced.

  Therefore, with the delivery system according to the present invention, it is possible to significantly reduce the cost (cost) related to delivery compared to conventional delivery.

  FIG. 3 is a diagram showing processing steps (work steps) performed at a delivery source constituting the delivery system according to the embodiment of the present invention.

  In FIG. 3, the center 10 is a generic term for a product management center (product management source), a delivery center (delivery source), a monitoring center (monitoring source), and the like. FIG. 3 shows each work process of “BOX delivery process” and “BOX collection process” performed in the center 10.

  First, the “BOX delivery process” for delivering the delivery box 300 to the delivery destination 20 will be described.

  As the “BOX delivery process”, there is an order reception process (A1) for receiving an order for a product. The order receiving process is a process of receiving an order made using an EC (Electronic Commerce) site that enables electronic commerce.

  When the order is received in the order receiving step, there is a storing step (A2) in which the ordered product is stored (stored) in the delivery box 300 (also referred to as “BOX” or “storage”) as a package.

  In this storage step, a delivery box 300 suitable for delivery of a package is selected from a plurality of delivery boxes 300 according to the size (size), shape, quantity, impact resistance, etc. of the package, and the selected delivery box 300 is selected. Pack the luggage in and store (store) it.

  Subsequently, in addition to determining the child vehicle 200 that is a delivery vehicle on which the delivery box 300 storing the luggage is loaded in the storage step, the vehicle determination step (A3) for determining the mother vehicle 100 that is the delivery vehicle on which the child vehicle 200 is mounted. ) The child carriage 200 may be referred to as a “first delivery vehicle”, and the mother carriage 100 may also be referred to as a “second delivery vehicle”.

  When the delivery vehicle is determined in the vehicle determination step, there is an information setting step (A4) for setting (storing) predetermined information in the storage devices of the delivery box 300, the child carriage 200, and the mother carriage 100.

  In the information setting step, first, at least storage vehicle identification information (child vehicle ID) for identifying the child vehicle 200 on which the delivery box 300 is loaded and delivery destination information specifying the delivery destination are stored in the storage device of the delivery box 300. To do. Secondly, in the storage device of the child car 200, delivery box identification information for identifying the delivery box 300 loaded on the child car 200, authentication information, and mother car identification information for identifying the mother car 100 on which the child car 200 is mounted (mother Car ID) and delivery destination information specifying the delivery destination are stored at least. Thirdly, in the storage device of the mother carriage 100, the child carriage ID for identifying the child carriage 200 mounted on the mother carriage 100 and the delivery destination information specifying the delivery destination are set.

  In this information setting step, when information is set in the storage devices of the delivery box 300, the child carriage 200, and the mother carriage 100, the delivery box 300 is loaded on the child carriage 200, and the child carriage 200 is loaded on the mother carriage 100. There is a departure preparation step (A5) that prepares for departure by mounting on the vehicle.

  In the departure preparation step, when preparation for departure is completed, there is a delivery instruction step (A6) in which a “BOX delivery request” is made to the mother carriage 100 to give a delivery instruction.

  Through such a process, the carriage 100 starts from the center toward the delivery destination.

  Next, the “BOX collection step” for collecting the delivery box 300 delivered to the delivery destination will be described.

  As the “BOX collection step”, first, the center 10 receives a “collection completion notification” indicating that the package has been removed from the delivery box 300, and then the center 10 sends a “BOX collection inquiry notification” to a predetermined mother car 100. There is an inquiry process (B1) to send.

  In this inquiry step (B1), when the center 10 transmits a “BOX collection inquiry notification” to the predetermined carriage 100, the delivery box 300 is not loaded from the carriage 100 that has received this notification. It indicates that the delivery box 300 can be collected because the child car 200 is mounted, or that the delivery box 300 cannot be collected because there is no child car 200 on which the delivery box 300 is not loaded. There is a notification receiving step (B2) for receiving "BOX inquiry response notification".

  At this time, the carriage 100 transmits information necessary for the center 10 to determine the carriage 100 for collecting the delivery box 300, such as the current location and the remaining delivery number, in the “BOX inquiry response notification”. May be.

  Subsequently, in the notification receiving step (B2), when the “BOX inquiry response notification” is received from each of the mother carriages 100, the delivery box 300 is collected based on the “BOX inquiry response notification” received from each of the mother carriages 100. There is a mother wheel determination step (B3) for determining the mother wheel 100 to be performed.

  In this mother carriage determination step (B3), the distance, movement route, etc. to the delivery destination 20 where the collection box 300 to be collected is installed among the mother carriages 100 carrying the child carriage 200 not loaded with the delivery box 300 are determined. Considering this, the mother carriage 100 corresponding to the collection of the delivery box 300 is determined.

  Subsequently, there is a collection instruction step (B4) for transmitting a “BOX collection instruction” to the mother carriage 100 when the mother carriage 100 corresponding to the collection of the delivery box 300 is determined in the mother carriage determination process (B3).

  In the carriage 100 that has received the “BOX collection instruction” transmitted in the collection instruction step (B4), the collection route of the delivery box 300 is searched for the delivery route, and the delivery box 300 is collected.

  Through the steps as described above, the center 10 instructs delivery and collection of the delivery box 300.

  FIG. 4 is a diagram showing a configuration diagram of the carriage in the embodiment of the present invention.

  4 shows a driving wheel 101 for driving (running) a road, a storage surface 102 on which the child car 200 is mounted, and a door 103 serving as an entrance of the child car 200.

  The storage surface 102 is provided with a work space 102a (work surface) for the child car 200. The work space 102a is a standby place for the child car 200 to be delivered to the next delivery destination, and the child car 200. This is a work place where a delivery box is loaded on the loading platform and preparations for delivery are made.

  The door 103 functions as a warehousing path and a warehousing path when the child car 200 enters and exits (in / out).

  FIG. 5 is a diagram showing a configuration diagram of the child carriage in the embodiment of the present invention.

  A slave car 200 in FIG. 5 includes an arm 201, a loading platform 202, a slave car drive wheel 203, and a communication antenna 204.

  The arm 201 is a joint-type arm, and is configured by a first joint arm 201a and a second joint arm 201b, and by performing an operation in which the first joint arm 201a and the second joint arm 201b are associated with each other. The delivery box 300 is held on the loading platform 202, and the delivery box 300 is fixed to the delivery box fixture 400.

  As described above, the arm 201 is a member that holds the delivery box 300 on the loading platform 202. In addition, the arm 201 is moved from the loading platform 202 to the delivery box fixture 400 and fixed to the delivery box fixture 400. The “delivery control mechanism (delivery control unit)” of the child carriage 200 is realized.

  The arm 201 includes an initial arm state (first arm state) when the delivery box 300 is not loaded on the loading platform 202, a second arm state where the delivery box 300 is loaded and held on the loading platform 202, and the delivery box. At least the third arm state when fixing 300 to the delivery box fixture 400 can be taken.

  The loading platform 202 is a pedestal that is flat so that the bottom surface of the delivery box 300 is attached, and the arm 201 is attached to and held by the loading platform 202 even if the child carriage 200 is shaken or the like. Keep state.

  The slave vehicle drive wheel 203 is a drive mechanism related to the movement of the delivery route (second travel route), and realizes the “automatic operation control mechanism (automatic operation control unit)” of the slave vehicle 200.

  The communication antenna 204 is a communication interface for performing mutual communication with the delivery car 300, the carriage 100, the center 10, and the like.

  This child car 200 has a balance control function. This balance control function manages the center of gravity of the child car 200 and keeps the momentum at the center of gravity at a constant value, thereby avoiding a fall or the like. It is a function. The momentum at this time corresponds to feedback control or the like in which the reaction force of the force applied in the traveling direction, up, down, left and right is calculated and this reaction force is applied to the child car 200.

  In addition, although not shown, the slave car 200 is equipped with a camera in addition to a radar and a sensor (radar, laser sensor, infrared sensor, ultrasonic sensor, pyroelectric sensor, etc.). In addition to being used for movement control, it is used when checking the position of the hole 410 in the delivery box fixture 400.

  6-9 is a figure which shows the delivery aspect in the delivery system in embodiment of this invention.

  FIG. 6 shows a roadway, a sidewalk provided along the roadway, a delivery destination passage substantially perpendicular to the sidewalk, and a step (stair) provided between the delivery destination passage and the delivery box fixing tool 400 at the delivery destination. In order to install the delivery box 300 on the delivery box fixture 400 beyond this level difference, the arm 201 can be moved in a movable space that is designated for each delivery destination. A delivery box fixture 400 provided on the wall surface is shown.

  In FIG. 6, the mother car 100 is in a state where it stops at the end of the roadway as a relay point (for example, “relay point 1”) to the delivery destination, and the child car 200 that gets off at this relay point is the mother car. After the 100 doors are exited as exit routes, the delivery path is moved across the sidewalk.

  After the child carriage 200 moves through the delivery destination passage and reaches the delivery destination designated position 21 after overcoming the step, the position of the hole 410 of the delivery box fixture 400 is confirmed by controlling the arm 201 and the delivery box. 300 is fixed.

  FIGS. 7 to 9 are diagrams showing how the delivery box 300 is fixed to the delivery box fixture 400 by moving the arm 201 of the child carriage 200 at the delivery destination designation position 21 with respect to the delivery destination.

  The delivery destination designation position 21 is a work area that is provided at a position in front of the delivery box fixture 400 and includes a certain range in which the delivery box 300 is fixed by moving the arm 201 of the child carriage 200.

  When the child car 200 belongs to the delivery destination designation position 21 (see FIG. 7), the child car 200 confirms the position of the hole 410 provided in the delivery box fixture 400 (position recognition).

  Next, as shown in FIG. 8, the child carriage 200 lifts the delivery box 300 from the loading platform 202 and moves it forward of the child carriage 200 by the movement control of the arm 201.

  Then, as shown in FIG. 9, the child carriage 200 hooks the delivery box 300 by inserting (penetrating) the protruding portion 310 of the delivery box 300 into the hole 410 whose position is recognized.

  At this time, the delivery box fixture 400 shown in FIGS. 7 to 9 has four holes 410 (first hole 410a, second hole 410b, third hole 410c, and fourth hole 410d). The delivery box 300 has four protrusions 310 (first protrusion 310a, second protrusion 310b, third protrusion 310c, and fourth protrusion 310d) that are provided and inserted into the holes 410, respectively. doing.

  Of course, the delivery box fixture 400 may have a plurality of holes 410, whereas the delivery box 300 may have only a single protrusion, or vice versa. In addition, when the protrusion 310 is a mechanism that can be embedded in the delivery box 300 with a spring or the like (a mechanism that can be recessed), the quantity of the “quantity of the hole 410” is “the quantity of the protrusion 310”. Or less.

  That is, the number of engaging portions (projections 310 and holes 410) between the delivery box fixture 400 and the delivery box 300 is not necessarily the same.

  FIG. 10 is a diagram showing a detailed configuration of the delivery box 300 in the embodiment of the present invention.

  In FIG. 10, the delivery box 300 includes a lid portion 301, a luggage storage portion 302, a damper 303, and a hinge 304, and the lid portion 301 and the luggage storage portion 302 are joined by a hinge 304.

  Using the hinge 304 as a fulcrum, the lid portion 301 is opened, and the damper 303 can be kept open and slowly closed.

  FIG. 10A shows a state in which the lid portion 301 can be opened and closed in the vertical direction, and FIG. 10B shows a state in which the lid portion 301 can be opened and closed in the front direction. These delivery boxes 300 are selected according to the package to be delivered.

  FIG. 10C is a view showing the back surface where the protrusion 310 is provided by rotating FIG. This protrusion 310 is provided in a positional relationship corresponding to a hole 410 provided in a delivery box fixture 400 described later.

  The protrusion 310 can also be referred to as a portion (first engagement portion) that engages with the hole 410 provided in the delivery box fixture 400.

  FIG. 11 is a diagram showing details of the delivery box fixture 400 in the embodiment of the present invention.

  The delivery box fixture 400 shown in FIG. 11 is provided with four holes (a first hole 410a, a second hole 410b, a third hole 410c, and a fourth hole 410d). It is a site | part which can engage the projection part 310 provided in this.

  Therefore, the hole 410 can also be referred to as a portion (second engagement portion) that engages with the protrusion 310 provided in the delivery box 300.

  The hole portion 410 is configured by combining two circular portions of an upper circular portion 410a and a lower circular portion 410b. A protrusion 310 provided in the delivery box 300 is fitted (engaged) with the two circular portions of the upper circular portion 410a and the lower circular portion 410b. Note that the cylindrical portion of the protrusion 310 protrudes from the delivery box 300 and is provided to prevent the delivery box 300 from being lifted upward.

  FIG. 12 is a diagram showing an engaged state between the delivery box 300 and the delivery box fixture 400 in the embodiment of the present invention.

  FIG. 12 shows a state (engaged state) in which the protrusion 310 of the delivery box 300 is inserted into (hanged on) the hole 410 of the delivery box fixture 400 and fixed.

  The hole 410 provided in the delivery box fixture 400 is a combination of a large hole (first hole shape) and a smaller hole (second hole shape) than the large hole to form one hole. It is.

  After inserting the protrusion 310 of the delivery box 300 into the large hole, the protrusion 310 is moved to the small hole, so that the delivery box 300 is engaged with the delivery box fixture 400 and fixed.

  FIG. 13 is a diagram showing the contents of mail received by the recipient of the package.

  The mail content shown in FIG. 13 is the content in the transmission means that the child car 200 notifies the recipient of the delivery box 300.

  This mail has header information including a destination (TO: xxx@yyy.jp), a delivery source (FROM: (delivery person or package sender)), a title (SUBJECT: notification of delivery completion), etc. The message content, delivery box identification information (BOX number) for identifying the delivery box, and unlock key code are included.

  By receiving such mail contents, the recipient of the package recognizes that the package has been delivered, identifies the delivery box 300, unlocks the identified delivery box 300, and takes out the package. It becomes possible.

  FIG. 14 is a flowchart showing a detailed flow of the BOX delivery control process performed in the mother carriage in the embodiment of the present invention.

  In FIG. 14, the carriage 100 confirms at least one of “delivery information” and “collection information” that is information received or set by communication with the center 10 (S1401).

  This delivery information is information including the address and name of the delivery destination, “fixing tool number” for identifying the delivery box fixture 400, “box identification information” for identifying the delivery box 300 to be delivered, and the like. The collection information includes a collection destination address and name, a “fixing device number” for identifying the delivery box fixture 400, “box identification information” for identifying the delivery box 300 to be collected, and the like.

  Based on these pieces of information, the carriage 100 searches for a delivery route to a delivery destination based on map information and traffic information stored in advance (S1402), and sets (stores) (S1403).

  Then, the carriage 100 determines whether or not a delivery start condition, which is a condition for starting delivery from the current location (for example, the center 10), is established (S1404). The delivery start condition is that the carriage 100 is in a departure order starting from the center 10 or a set departure time.

  The mother carriage 100 continues in a standby state until it is determined that the delivery start condition is satisfied (NO in S1404), and when it is determined that the delivery start condition is satisfied (YES in S1404), Operation control processing related to delivery based on the set delivery route is performed (S1405).

  This driving control process is a process of moving the delivery route from the current position (current location) to the delivery destination 20 using each piece of information (map information, road information, traffic information, etc.) and a GPS device. (Radars, laser sensors, infrared sensors, ultrasonic sensors, pyroelectric sensors, etc.), and other information from surrounding cameras, pedestrians, animals, and falling objects , Moving while paying attention to the driving lane, signal, etc. defined by the groove, unevenness, center line and the like.

  Then, the carriage 100 determines whether or not it has arrived at the relay point for the delivery destination indicated by the “delivery information” on the delivery route or in the vicinity thereof by this operation control process (S1406).

  The operation control process is continued until the arrival at these points (relay point or the vicinity thereof) by this operation control process (NO in S1406), and the relay point for the delivery destination 20 indicated by the “delivery information” or the vicinity thereof is determined. When the vehicle arrives (YES in S1406), the mother car 100 performs control to cause the child car 200 that delivers the delivery box 300 from the relay point to the delivery destination to leave the mother car 100 (S1407).

  It is determined whether or not the child car 200 has been issued from the mother carriage 100 by this delivery control process (S1408), and the delivery control process is performed until the child car 200 completes the delivery from the mother carriage 100 (NO in S1408). (S1407).

  When the delivery control process is completed and the child carriage 200 is delivered from the mother carriage 100 (YES in S1408), the mother carriage 100 continuously performs a communication control process with the delivered child carriage 200. Thus, the delivery status of the child car 200 is continuously managed (S1409).

  As a result, the mother carriage 100 and the child carriage 200 can grasp each other's current location and delivery status one by one.

  Based on this management status, the mother car 100 determines whether or not the child car 200 completes delivery and belongs to a predetermined position (S1410). That is, the mother car 100 is designated in relation to the mother car 100 to enter the predetermined position (to enter the car 100) after the delivery is completed by fixing the delivery box 300 to the delivery address 20 by the child car 200. It is determined whether or not it has returned to the previous position.

  Until the child car 200 belongs to this predetermined position (NO in S1410), the mother car 100 continues to manage the status of the child car 200 by performing communication control processing with the child car 200 (S1409).

  The communication control process performed between the mother car 100 and the child car 200 is not only direct communication between the mother car 100 and the child car 200 but also the mother car 100 and the child car 200 via the center 10. May be control processing of indirect communication performed indirectly. Further, all the control processing performed in the mother carriage 100 and the child carriage 200 may be based on a communication control instruction from the center 10.

  On the other hand, when the child carriage 200 belongs to a predetermined position (YES in S1410), the mother carriage 100 performs a control process for moving the child carriage 200 into the mother carriage 100 (S1411). This warehousing control process is a control process in which the door of the carriage 100 is opened, the door serves as a warehousing path, and the child carriage 200 is admitted to stop at a predetermined stop position in the carriage 100.

  When the child carriage 200 is completely stored in the mother carriage 100 by this entry control processing, the mother carriage 100 updates the management information (child carriage management information) of the child carriage 200 (S1412), and the child carriage management information is stored in the center. (S1413). As a result, the center 10 can recognize that the child car 200 has returned to the mother car 100 normally. In this case as well, the communication control process performed between the mother car 100 and the child car 200 is not only direct communication between the mother car 100 and the child car 200 but also the mother car via the center 10. The control process of indirect communication which 100 and the sub-car 200 indirectly perform may be sufficient. Further, all the control processing performed in the mother carriage 100 and the child carriage 200 may be based on a communication control instruction from the center 10.

  Then, in the mother carriage 100, it is determined whether or not the delivery control in the delivery route is managed (S1414). When it is determined that the delivery of all the delivery boxes 300 is completed (YES in S1414), the process is terminated. .

  Further, until it is determined that the delivery of all the delivery boxes 300 has been completed (NO in S1414), the carriage 100 performs the operation control process in the delivery of the delivery boxes 300 in the set delivery route (S1405).

  FIG. 15 is a flowchart showing a detailed flow of the BOX delivery control process performed in the child vehicle according to the embodiment of the present invention.

  In FIG. 15, the child car 200 confirms at least one of “delivery information” and “collection information” that is information received or set by communication with the center 10 (S1501).

  In the same way as the “delivery information” set in the carriage 100, this delivery information identifies the “fixing tool number” for identifying the delivery box fixture 400 and the delivery box 300 to be delivered, in addition to the address and name of the delivery destination. Information including “box identification information”. Similarly to the “collection information” set for the carriage 100, the collection information includes the collection destination address and name, the “fixing device number” for identifying the delivery box fixture 400, and the collection box 300 to be collected. “Box identification information” and the like for identification are included.

  Based on these pieces of information, the child car 200 searches for a delivery route to a delivery destination based on previously stored map information and traffic information (S1502), and sets (stores) (S1503).

  Then, the child car 200 determines whether or not a child car delivery start condition that is a condition for starting delivery from the current location (for example, a relay point) is satisfied (S1504). The delivery start condition for the child carriage is a condition in which the door of the carriage 100 is opened and the child carriage 200 can be dispatched in view of surrounding road conditions and the like.

  The child car 200 continues in a standby state until it is determined that the delivery start condition for the child car is satisfied (NO in S1504), and the delivery start condition is satisfied. If it is determined that YES (S1504: YES), then an operation control process related to delivery to the delivery destination 20 is performed based on the set delivery route (S1505).

  Then, the child car 200 determines whether or not it has arrived at the delivery destination 20 indicated by the “delivery information” on the delivery route by this operation control process (S1506).

  The operation control process is continued until the arrival at the delivery destination 20 by this operation control process (NO in S1506). When the arrival at the delivery destination 20 indicated by "delivery information" (YES in S1506), the child car 200 is A control process (BOX fixing control process) for hooking and fixing the loaded delivery box 300 to the delivery box fixture 400 provided at the delivery destination is performed (S1507).

  When the delivery box 300 is fixed to the delivery box fixture 400 by the BOX fixing control process, the child car 200 notifies the mother car 100 and the center 10 of “attachment completion notice” (S1508).

  Then, the child car 200 acquires “position information of the mother carriage” through communication with the mother carriage 100 (S1509), and “return route” to the mother carriage 100 based on the obtained “position information of the mother carriage”. Is searched (S1510) and set (stored) (S1511).

  In this state, the child car 200 determines whether or not a “return start condition” for starting operation control based on the set “return route” is satisfied (S1512).

  Until this “return start condition” is satisfied (NO in S1512), the child carriage 200 stands by until this condition is satisfied, and when the “return start condition” for starting operation control is satisfied (YES in S1512). ), Operation control based on the set “return route” is performed (S1513).

  Then, the child car 200 determines whether or not all delivery based on the “delivery route” in the set child car 200 has been completed (S1514). Until all the delivery is completed by this determination process (NO in S1514), the child car 200 continues to perform the operation control based on the “return route” (S1513). If it is determined by this determination process that all the deliveries have been completed, the child carriage 200 ends the BOX delivery control process.

  FIG. 16 is a flowchart showing a detailed flow of the lock control process performed in the delivery box according to the embodiment of the present invention.

  In FIG. 16, the delivery box 300 receives an input of “predetermined information” by an information input unit provided in the delivery box 300 by an operation by a recipient of the stored package (S1601). The information input unit is provided in the delivery box 300, and as described above, is a touch panel, a button, a camera (imaging device), and the like.

  The delivery box 300 transmits an authentication request including “predetermined information” input from the information input unit to the child car 200 (S1602). When the child car 200 receives the authentication request including the “predetermined information” from the delivery box 300, the “predetermined information” is a normal “unlock key code” for unlocking the delivery box 300. Judge whether there is.

  This authentication request includes not only “predetermined information” but also information for identifying the delivery box 300, and the “predetermined information” is “authentication information” designated for the information for identifying the delivery box 300. It is determined whether or not it is an “unlock key code” corresponding to, and responds to the delivery box 300 (that is, in the sub-car 200, “authentication information” for information identifying the delivery box 300 and its “authentication” A determination program for determining whether or not it is an “unlock key code” corresponding to “information” is stored.

  Then, the delivery box 300 determines whether or not the response from the child car 200 is an authenticated “unlock key code” (S1603). If it is determined by the child car 200 that this “predetermined information” has been authenticated as a normal “unlocking key code”, the delivery box 300 performs an unlocking process on the locked door (S1604).

  As a result, the recipient of the package can open the door and take out the package. It is determined whether or not it is detected by the recipient that the package has been taken out and then the door is closed (S1605).

  The process waits until the door is closed (NO in S1605). When the sensor detects that the door is closed (YES in S1605), the delivery box 300 performs a locking process for locking the door (S1606).

  In this locking process, the recipient cannot unlock the door without entering the “unlock key code”, and if the recipient inputs the normal “unlock key code” again, the door is opened. This is a process to make the state possible.

  When the locking process for locking the door is performed, the delivery box 300 determines whether or not it has been detected by the recipient that the package has been taken out by a sensor (package sensor) provided in the delivery box 300 ( S1607).

  When the delivery box 300 detects that the parcel has been taken out by the recipient (YES in S1607), the “delivery completion notification (including BOX identification information)” indicating that the parcel has been taken out to the center 10. Is transmitted (S1608).

  Until it is detected that the package has been taken out by the recipient (NO in S1607), that is, when the package has not been taken out, the delivery box 300 can accept the input of “predetermined information” in the information input unit. To do.

  In the above process, it is determined whether or not the package has been taken out by the recipient after the locking process is performed, but the present invention is not limited to this. In other words, the delivery box 300 detects the removal of the package from the center 10 by detecting that the package has been taken out by the recipient with the door open, and performing the locking process. It is also possible to transmit a “takeout completion notification (including BOX identification information)” indicating that has been performed.

  The embodiment described above is one embodiment of the present invention, and is not limited to these examples, and can be implemented with appropriate modifications within a range not changing the gist thereof.

DESCRIPTION OF SYMBOLS 10 Center 20 Delivery destination 100 Mother wheel 101 Mother wheel drive wheel 102 Storage surface 102a Work space 103 Door 200 Child wheel 201 Arm 201a First joint arm 201b Second joint arm 202 Carriage 203 Child wheel drive wheel 204 Communication antenna 300 Delivery box 310 Projection 400 Delivery Box Fixing 410 Hole

Claims (2)

In a delivery system having a delivery vehicle loaded with a delivery box for delivery to a delivery destination and a mother vehicle carrying the delivery vehicle, and delivering the delivery box to a delivery destination,
The delivery destination includes a delivery box fixture capable of fixing the delivery box,
The delivery vehicle has the delivery box loaded at a predetermined installation position, and includes a movable member that moves the delivery box from the installation position to the delivery box fixture.
The delivery box is fixed to a delivery box fixing tool provided at the delivery destination using the movable member after getting off the mother vehicle and moving from the getting-off position to the delivery destination. Delivery system. The delivery box is
A first engagement portion engageable with the delivery box fixture;
The delivery vehicle is
A detecting unit provided on the delivery box fixture for detecting a second engaging unit corresponding to the first engaging unit;
The delivery box is fixed to the delivery box fixture by engaging the second engagement part detected by the detection part and the first engagement part of the delivery box. The delivery system described.

Images