JP6640314B2 - Transport vehicle - Google Patents

Description

  The present invention relates to a transport vehicle.

  With the development of a communication environment that enables communication using various types of terminals as a whole society, e-commerce using EC (Electronic Commerce) sites built using Web technology has become active. I have.

  This EC site plays a role as a virtual store provided on the Web, and is also called an online shop or the like. When a product is selected on the EC site, the purchase procedure of the product becomes possible, personal authentication and payment procedures are completed on a system called a Web settlement system, and then the product is delivered to the designated delivery destination. .

  The products at this time include "digital data" distributed online and "formal products (articles)" such as daily necessities. If the former “digital data” is purchased, the delivery of the goods will be completed if it is sent to a designated destination such as e-mail, but if the latter “formal product” is purchased, it will generally be Is delivered to the delivery destination via a delivery company or the like. That is, in the latter case, a delivery process for delivering the product to the delivery destination is required.

  In the delivery process using a delivery company or the like in this delivery process, since the delivery is carried out by a person, costs such as labor costs are incurred, and the more the amount of the package (product) to be delivered increases. More labor costs, equipment, etc. are required. Further, when the recipient of the package (goods) is absent at the delivery destination, new work such as creation of an absent slip and notification of redelivery occurs.

  As described above, while e-commerce using the EC site is activated, delivery of purchased goods (products) takes a lot of time and increases delivery costs.

JP 08-324709 A

  Patent Literature 1 discloses a technology related to a transport device with a three-dimensional automatic warehouse. The transport equipment with a three-dimensional automatic warehouse disclosed in Patent Document 1 includes a rack, a stacker crane, a restraining mechanism for restraining the stacker crane, and a control means, and mechanizes storage and handling of articles to reduce a burden on an operator. .

  However, the transport equipment with a three-dimensional automatic warehouse disclosed in Patent Literature 1 requires a stacker crane and its restraining mechanism, so that the storage amount of luggage is limited. Further, in the transport equipment with a three-dimensional automatic warehouse disclosed in Patent Document 1, it is premised that workers take out the luggage from the transport equipment and deliver it to the delivery destination itself, so that delivery costs are reduced, speed is increased, and efficiency is increased. There is room for improvement in terms of conversion.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to solve the above-described problems. That is, an example of an object of the present invention is to efficiently and efficiently deliver packages at low cost.

  A transport vehicle according to one aspect of the present invention is a transport vehicle capable of mounting a delivery vehicle that loads a delivery box and delivers the delivery box to a delivery destination, and is capable of storing one or a plurality of the delivery boxes. Storage, and a transport control mechanism that controls the delivery box arranged at a predetermined storage position in the storage to another storage position different from the predetermined storage position, The delivery box can be loaded on the delivery vehicle by controlling the delivery box to transport the delivery box to a receiving and storing position where the delivery vehicle can receive the delivery box.

  Since the transport vehicle according to one aspect of the present invention can increase the amount of stored luggage in the storage, it can efficiently and efficiently deliver the luggage at low cost.

Some embodiments of the present invention are described below, by way of example only, with reference to the accompanying drawings.
FIG. 1 is a diagram illustrating an outline of a delivery system according to a first embodiment of the present invention. FIG. 2 is another diagram showing an outline of the delivery system according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating processing steps (work steps) performed at a delivery source included in the delivery system according to the first embodiment of the present invention. FIG. 1 is a diagram illustrating an electrical configuration of a vehicle according to a first embodiment of the present invention. The figure which shows the external appearance structure of the stroller in Embodiment 1 of this invention. It is a figure showing the internal composition of the storage contained in the automatic warehouse in Embodiment 1 of the present invention, and was the figure which looked at the inside of the storage from the upper part. It is a figure which shows the internal structure of the storage contained in the automatic warehouse in Embodiment 1 of this invention, and is an AA 'arrow view when the storage is cut | disconnected by the AA' line shown in FIG. The figure which shows the conveyor which comprises the conveyance control mechanism contained in the automatic warehouse in Embodiment 1 of this invention. FIG. 2 is a diagram illustrating an electrical configuration of the stroller according to the first embodiment of the present invention. The figure which shows the external appearance structure of the stroller in Embodiment 1 of this invention. FIG. 1 is a diagram illustrating a delivery mode in a delivery system according to a first embodiment of the present invention (part 1). FIG. 4 is a diagram illustrating a delivery mode in the delivery system according to the first embodiment of the present invention (part 2). FIG. 3 is a diagram illustrating a delivery mode in the delivery system according to the first embodiment of the present invention (part 3). FIG. 4 is a diagram illustrating a delivery mode in the delivery system according to the first embodiment of the present invention (part 4). The figure which shows the detailed structure of the delivery box in Embodiment 1 of this invention. The figure which shows the detail of the delivery box fixing tool in Embodiment 1 of this invention. The figure which shows the engagement state of the delivery box and delivery box fixture in Embodiment 1 of this invention. The figure which shows the mail content which the receiver of a package receives. 5 is a flowchart illustrating a detailed flow of a BOX delivery control process performed in the mother vehicle according to the first embodiment of the present invention. 5 is a flowchart showing a detailed flow of a BOX delivery control process performed in the child car according to the first embodiment of the present invention. 5 is a flowchart illustrating a detailed flow of a lock control process performed in the delivery box according to the first embodiment of the present invention. 4 is a flowchart showing a detailed flow of a driving control process performed on the mother vehicle according to the first embodiment of the present invention. 5 is a flowchart illustrating a detailed flow of an automatic warehouse control process performed on the mother vehicle according to the first embodiment of the present invention. 5 is a flowchart illustrating a detailed flow of a box transfer control process performed in the mother vehicle and the child vehicle according to the first embodiment of the present invention. 5 is a flowchart showing a detailed flow of inter-hierarchy transfer control processing performed in the mother vehicle and the child vehicle according to the first embodiment of the present invention. It is a figure which shows typically a mode that the arrangement | positioning of the delivery box in the storage in Embodiment 1 of this invention is changed, and shows the case where the transfer control process between tiers is not performed. It is a figure which shows typically a mode that the arrangement | positioning of the delivery box in the storage in Embodiment 1 of this invention is changed, and shows the case where the transfer control process between tiers is performed. It is a figure which shows typically a mode that the arrangement | positioning of the delivery box in the storage in Embodiment 1 of this invention is changed, and shows the case where the delivery order of the delivery box is changed according to the change of the delivery destination. FIG. The figure which shows the delivery box in Embodiment 2 of this invention, and its arrangement change. The figure which shows the stroller in which the delivery box in Embodiment 2 of this invention was loaded. 9 is a flowchart illustrating a detailed flow of an automatic warehouse control process performed on a mother vehicle according to a third embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiments described below show some examples of the present invention and do not limit the content of the present invention. Further, all configurations and operations described in each embodiment are not necessarily essential as configurations and operations of the present invention. The same components are denoted by the same reference numerals, and redundant description will be omitted.

[1. Overview of delivery system]
FIG. 1 is a diagram illustrating an outline of a delivery system 1 according to the first embodiment of the present invention.

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

  This center 10 includes a product management center (product management source) that manages products, a delivery center (delivery source) that performs a delivery procedure for a product ordered by a purchaser among products managed by the product management center, and monitoring of delivery. It is a general term for the bases that play the role of a monitoring center (monitoring source) that performs monitoring. The center 10 may be referred to as a “delivery base”.

  The center 10 receives an order made using an EC site where electronic commerce is possible. More specifically, the center 10 receives an order at a server provided at the center 10 for managing and operating the EC site.

  This EC site is a store on the Web that can be accessed using an electronic device such as a personal computer or a tablet installed at home or the like. By accessing this EC site, a purchaser of a product can easily order (purchase) a desired product and can easily shop.

  This EC site can be accessed from a vending machine equipped with a liquid crystal display and connected to the Web site by network communication. For example, a purchaser of a product can purchase a product displayed on a liquid crystal display, like purchasing a beverage with a conventional vending machine.

  When purchasing a product using the 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 receives an order in which the delivery destination 20 or the like is designated from the purchaser of the product, a process of selecting the ordered product from the managed products and delivering the product to the delivery destination 20 is performed. .

  The 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, goods are delivered as packages by a delivery vehicle.

  The package at this time is stored in an appropriate delivery box 300 (also referred to as a “box”, “BOX”, or “delivery container”) selected according to the size (size), shape, quantity, impact resistance, and the like. (Stored) and delivered. For this reason, the package and the delivery box 300 are synonymous with the delivery target (delivery target). The meaning of "delivery of package" and "delivery of delivery box" are not different.

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

  A large-sized delivery vehicle can be equipped with one or more delivery boxes 300 and a small-sized delivery vehicle, and includes “unmanned self-driving delivery carrier”, “transportation vehicle”, “mother vehicle”, “mother vehicle”. Also called. Hereinafter, this large-sized delivery vehicle is referred to as “mother vehicle 100”.

  On the other hand, a small delivery vehicle that can be mounted on the mother vehicle 100 can load the delivery box 300 that stores the luggage, and is also referred to as an “unmanned self-driving delivery child stroller” or a “child stroller”. Hereinafter, this small-sized delivery vehicle is referred to as a “child car 200”.

  Note that the stroller 200 may be referred to as a “first delivery vehicle” and the mother vehicle 100 may be referred to as a “second delivery vehicle”.

  The center 10 sets (stores) information ("delivery information") on the delivery destination 20 of the delivery box 300 in which the luggage is stored in each delivery vehicle (the mother vehicle 100 and the child vehicle 200). That is, information on the delivery destination 20 is set and stored in the mother vehicle 100 and the child vehicle 200 by the quantity of one or a plurality of delivery boxes 300 mounted on the mother vehicle 100.

  The delivery information includes, besides the address and name of the delivery destination 20, "fixture number" for identifying the delivery box fixture 400, "box identification information" for identifying the delivery box 300 to be delivered, and the like. These pieces of information included in the delivery information are stored in association with each other. In addition, the delivery information includes delivery order information indicating the order in which the delivery boxes 300 are delivered to the plurality of delivery destinations 20.

  The vehicle 100 has an automatic operation control mechanism (automatic operation control unit) and a delivery control mechanism (delivery control unit), and performs delivery of the package by interlocking with each other.

The automatic operation control mechanism of the vehicle 100 is a general term for devices, mechanisms, control programs, and the like necessary for moving (running) the vehicle 100 to a predetermined position (point) by automatic operation.
This automatic operation control mechanism controls the carriage 100 to move from the delivery center 10 to a predetermined position (point) on the delivery route (corresponding to the following “disembarkation point”, “relay point 21”, etc.). Do.

  Here, the delivery route from the delivery center 10 to a predetermined position (point) on the delivery route (corresponding to the “disembarkation point”, the “relay point 21”, etc.) is also referred to as a “first movement route”. That is, the first movement route is a delivery route in which the mother vehicle 100 moves (runs) with the child vehicle 200 mounted thereon. In other words, the stroller 200 travels along the mother vehicle (in an inseparable state) from the delivery destination 20 to the relay point 21.

The delivery control mechanism of the vehicle 100 is a general term for devices, mechanisms, control programs, and the like necessary for the vehicle 100 to deliver the delivery box 300 to the delivery destination 20.
The delivery control mechanism corresponds to a predetermined position (point) on the delivery route (corresponding to “disembarkation point”, “relay point 21”, etc.) in one or a plurality of delivery boxes 300 stored in the mother vehicle 100. The delivery box 300 to be delivered to the delivery destination 20 to be delivered is specified, and control is performed to load the delivery box 300 on the child carriage 200.

  Further, the delivery control mechanism controls the child car 200 mounted on the mother vehicle 100 to leave the vehicle and get off the mother vehicle 100. The exit control at this time is a control process for opening the door of the stroller 100 to open the child car 200 by opening the door as an exit path.

  Furthermore, when the child car 200 returns to the mother car 100 after returning the delivery box 300 to the delivery destination 20 (returns), the delivery control mechanism causes the child car 200 to enter the car and to be put on the mother car 100. Perform control. The entry control at this time is a control process of opening the door of the mother vehicle 100, opening the door as an entrance path, entering the child car 200, and stopping at the predetermined space in the mother vehicle 100.

  Further, in this delivery control mechanism, the delivery status of the child car 200 is managed by performing mutual communication with the child car 200 that has left the vehicle from the mother vehicle 100.

  The detailed configuration of the carriage 100 will be described later with reference to FIGS.

  Further, the child stroller 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 vehicle 100. Do. However, the automatic operation control mechanism of the child car 200 is similar to the automatic operation control mechanism of the mother vehicle 100, but is different, and the delivery control mechanism of the child vehicle 200 is different from the delivery control mechanism of the mother vehicle 100.

The automatic driving control mechanism of the stroller 200 moves (runs) the stroller 200 from the point at which the stroller 200 gets off the mother car 100 (corresponding to the "disembarkation point" and the "relay point 21") to the delivery destination 20 by automatic driving. This is a general term for devices, mechanisms, control programs, and the like necessary to perform the above operations.
The automatic driving control mechanism controls the child car 200 to move from the point at which the child car 200 gets off the mother vehicle 100 (corresponding to the “disembarkation point” and the “relay point 21”) to the delivery destination 20.

  Here, the delivery route from the point at which the stroller 200 gets off the mother vehicle 100 (corresponding to the “disembarkation point” and the “relay point 21”) to the delivery destination 20 is also referred to as a “second travel route”. That is, the second movement route is a delivery route in which the child car 200 gets off the mother car 100 and moves (runs). In other words, the stroller 200 moves (runs) on the second movement route from the relay point 21 to the delivery destination 20 independently of the mother vehicle 100 independently.

The delivery control mechanism of the stroller 200 is a general term for devices, mechanisms, control programs, and the like necessary for the stroller 200 to deliver the delivery box 300 to the delivery destination 20.
As the delivery control mechanism, the child car 200 is provided with a robot arm (also simply referred to as an “arm”). This arm holds the delivery box 300 so that the delivery box 300 loaded on the stroller 200 does not drop during delivery. Further, this arm moves the delivery box 300 from the state where the delivery box 300 is held, and fixes the delivery box 300 provided at the delivery destination 20 (hereinafter, referred to as a “delivery box fixture 400”). ). As described above, in the delivery system 1, the delivery box 300 is delivered to the delivery destination 20 by fixing the delivery box 300 to the delivery box fixture 400 by driving the arm of the stroller 200.

  The arm is a member capable of holding, holding or holding the delivery box 300, and thus can be referred to as a "holding member", a "holding member", a "holding member", or a "holding portion". . Further, since the arm is also a member that drives the delivery box 300 so as to be movable, it can also be referred to as a “movable member”.

  The detailed configuration of the stroller 200 will be described later with reference to FIGS. The detailed configurations of the delivery box 300 and the delivery box fixture 400 will be described later with reference to FIGS.

  Subsequently, a flow of a process of delivering the delivery box 300 from the center 10 to the delivery destination 20 by the mother vehicle 100 and the child vehicle 200 having the functions described above will be described below.

  Based on the information on the delivery destination 20, the mother vehicle 100 on which the stroller 200 is mounted searches for a delivery route (moving route) to the delivery destination 20 to which the delivery box 300 loaded on the stroller 200 is delivered. In this search process, a delivery route for delivering the delivery box 300 to the delivery destination 20 is searched using the GPS device included in the mother vehicle 100, map information, road information, and the like.

  That is, if there are a plurality of delivery boxes 300 to be delivered, the mother vehicle 100 searches for a delivery route in consideration of each delivery destination 20 of each delivery box 300. The carriage 100 stores the delivery route searched by the search process.

  In the example shown in FIG. 1, three “delivery destination 1”, “delivery destination 2”, and “delivery destination 3” are designated as the delivery destinations 20. 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 specified as a part of the delivery route, the moving route along which the mother vehicle 100 moves is from the center 10 to the “relay point 1” as the relay point 21 ( “Relay 1” is shown). It is shown that the stroller 200 moves between the “relay point 1” and the “delivery destination 1”. The “relay point 1” at this time is a point corresponding to “delivery destination 1” as the delivery destination 20, and a child on which the delivery box 300 to be delivered to “delivery destination 1” as the delivery destination 20 is loaded. This is the point at which the vehicle 200 gets off from the mother vehicle 100 (alighting point).

  Note that, similarly to the mother car 100, the child car 200 also searches for a delivery route (moving route) from the current location (a drop-off point or the like) to the delivery destination 20 based on the information on the delivery destination 20. Further, the child car 200 searches for a return route from the delivery destination 20 to the mother car 100. In these search processes, the GPS device provided in the child car 200, map information, road information, and the like are used, from the current location (a drop-off point or the like) of the child car 200 to the delivery destination 20, and from the delivery destination 20 to the mother vehicle 100. Search for a travel route to the point where you are.

  If the current location is “relay point 1”, which is the point at which the vehicle got off the mother car 100, the child car 200 searches for and stores a delivery route from the “relay point 1” to “delivery destination 1”. Then, the child car 200 moves on the delivery route from “relay point 1” to “delivery destination 1”. After that, when the delivery of the delivery box 300 to the “delivery destination 1” is completed, the child car 200 performs a return route to the “relay point 1” where the mother vehicle 100 is located, through mutual communication with the mother vehicle 100. Search for. In other words, in this case, it is shown that the getting-off point and the return point from the mother vehicle 100 are the same (including substantially the same).

  Subsequently, in “delivery destination 1” → “delivery destination 2”, which is a part of the delivery route searched by the mother vehicle 100, the travel route along which the mother vehicle 100 moves corresponds to “delivery destination 1”. The range is from “relay point 1” to “relay point 2” corresponding to “delivery destination 2”. In this case, similarly, the stroller 200 moves between the “relay point 2” and the “delivery destination 2” to deliver the delivery box 300. On the other hand, in this case, the stroller 200 that has moved from the “relay point 2” to the “delivery destination 2” is not the “relay point 2” that has exited from the mother vehicle 100, but the “relay point” corresponding to the “delivery destination 3”. 3 ”.

  That is, in the part of “delivery destination 1” → “delivery destination 2”, it is indicated that the movement start point and the return point of the stroller 200 are different. This means that while the stroller 200 is delivering to the “delivery destination 3”, the mother vehicle 100 has moved from “the relay point 2” to “the relay point 3” corresponding to the “delivery destination 3”. This shows that the child car 200 has searched for ““ delivery destination 2 ”→“ relay point 3 ”” as a return route by communication with the mother vehicle 100.

  Subsequently, in “delivery destination 2” → “delivery destination 3”, which is a part of the delivery route searched by the mother vehicle 100, the travel route along which the mother vehicle 100 moves corresponds to “delivery destination 2”. “Relay point 3” corresponding to “relay point 3” from “relay point 2”. In this case, similarly, the child car 200 moves between “the relay point 3” and “the delivery destination 3” to deliver the delivery box 300.

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

  According to the flow described above, the delivery system 1 enables delivery of the delivery box 300 (package) from the delivery center 20 to the delivery destination 20.

  At this time, the delivery destination 20 is provided with a delivery box fixture 400 which is a fixture to which the delivered delivery box 300 is fixed.

  The delivery box 300 fixed to the delivery box fixture 400 has one or more projections 310 (also referred to as “projections”) that can be fixed to the delivery box fixture 400. The delivery box fixing device 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 protruding portion 310 is formed by a combination of a cylindrical portion and a conical portion, and has a constriction at a combination portion of the cylindrical portion and the conical portion.

  The projection 310 provided on the delivery box 300 and the hole 410 provided on the delivery box fixture 400 are fixing members capable of fixing 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 by the projection 310 and the hole 410, the projection 310 is engaged with the engagement portion (first engagement) of the delivery box 300. ), And the hole 410 can be said to be an engaging portion (second engaging portion) in the delivery box fixture 400. Therefore, the delivery box 300 can be fixed to the delivery box fixture 400 by engaging the second engagement portion and the first engagement portion.

  Further, the delivery box fixing device 400 has a lock mechanism, and when the protrusion 310 of the delivery box 300 is inserted into the hole 410, the protrusion 310 is fixed to the hole 410 by the lock mechanism and cannot be removed. By controlling (locking control) to the state (including the state where removal is difficult), it is configured so that it will not be removed or stolen without permission (by setting the state where the retaining is effective). ing.

  The lock mechanism is supported by two projections 310 among four projections 310 provided on the delivery box 300, and the remaining two projections 310 are provided on the delivery box fixture 400. A cylindrical pin without any constriction is provided as a protrusion that fits into the upper circular portion of the formed hole portion 410 so as to prevent it from jumping out of the delivery box and lifting up the delivery box.

  To remove the lock-controlled delivery box 300 from the delivery box fixture 400 (unlock), the stroller 200 authenticates the unique ID, password, and the like stored in the storage device of the delivery box 300. The stroller 200 performs an operation of unlocking the delivery box 300 with respect to the delivery box fixture 400 (an unlocking operation).

  It should be noted that the delivery to the delivery destination 20 where the delivery box fixing device 400 is not installed, or in the case where the stroller 200 cannot fix the delivery box 300 to the delivery box fixing device 400 due to some kind of obstacle, register in advance. The arrival of the luggage is notified to the contact information of the recipient, and the luggage can be delivered at a predetermined position (standby position) near the delivery destination 20 where the stroller 200 is waiting.

  However, this is a case where the stroller 200 cannot fix the delivery box 300 to the delivery box fixing device 400, and despite the notification of the arrival of the package in the contact information of the recipient registered in advance, the absence If it is confirmed by telephone, e-mail or various SNSs (Social Networking Service) that there is no reply for some reason or that it is difficult or impossible to receive for some reason, the child car 200 After returning to 100, the home time is confirmed and redistribution is performed.

  Subsequently, a process after the delivery is completed will be described.

  When the delivery of the delivery box 300 is completed by the processing as described above, the child car 200 sets the contact information (mail or various SNS) included in the information on the recipient of the delivery box 300 stored in the storage device. Notify when the package has arrived.

  The contents notified at this time include the fact that the package has been delivered and an unlock key code (other than “unlock information” and “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, or a camera (imaging device), and can receive an unlock key code described later. When a proper unlocking key code is input from this information input unit and authenticated, the delivery box 300 can open the door (also referred to as a “BOX door” or “lid part”) of the delivery box 300 (opened). Lock control is performed for (state). Further, when the luggage is taken out by the recipient and the door is closed in a state where the door is controlled to be locked in the open state, the delivery box 300 sets the lock control to a state in which opening of the door of the delivery box 300 is restricted (closed state). Do.

  The receiver of the package (if the purchaser and the purchaser are the same, the purchaser) inputs predetermined information into the information input section of the delivery box 300, and the delivery box 300 is correct. When the delivery box 300 is authenticated as an unlock key code, the delivery box 300 performs lock control so that it can be opened (open state). Thus, 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 (or the door is closed by the recipient) after the baggage is taken out, the delivery box 300 locks the door. It can be unlocked any number of times by authenticating the input.

  By the above-described processing, the delivery system 1 can take out the package that has been delivered.

  The delivery box 300 transmits status information to the center 10 when it detects that a package has been taken out by a sensor or the like and that the door has been locked. At this time, the center 10 transmits a “BOX collection inquiry notification” to the mother vehicle 100 that is delivering the luggage to an arbitrary delivery destination 20 as to whether the delivery box 300 can be collected.

  The mother vehicle 100 that has received the “BOX collection inquiry notification” determines whether or not there is a child vehicle 200 on which the delivery box 300 can be loaded (the child vehicle 200 on which the delivery box 300 is not loaded). Is returned if the delivery box 300 can be collected.

  After that, the mother vehicle 100 that has received the “BOX collection instruction (collection instruction information)” for instructing the collection of the delivery box 300 from the center 10 receives the delivery destination 20 (in this case, “collection destination”) designated by the “BOX collection instruction”. ) Is searched for and stored based on information (also referred to as “collection information” and “collection destination information”), and traveling based on the route is performed. To collect the delivery box 300.

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

  In addition, the route for collecting the delivery box 300 is newly incorporated into the delivery route of the existing delivery box 300, whereby the mother vehicle 100 performs the collection together with the delivery on the new delivery route (delivery and 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 is completed by the delivery route. The delivery box 300 may be collected based on the collection route before delivery of the delivery box 300 by route.

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

  FIG. 2 is another diagram showing an outline of the delivery system 1 according to the first embodiment of the present invention.

  FIG. 2 shows the delivery system 1 in the delivery collection route in which the delivery route for collecting the delivery box 300 is incorporated in the delivery route in the delivery system 1 as shown in FIG. 1 as described above.

  The delivery collection route shown in FIG. 2 is a delivery box corresponding to the delivery route shown in FIG. 1 "center" → "delivery destination 1" → "delivery destination 2" → "delivery destination 3" → "center". 300 is newly incorporated with “collection destination 1” (also referred to as “delivery destination”).

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

  Upon receiving the “BOX collection instruction (collection instruction information)” from the center 10, the mother vehicle 100 that collects the delivery box 300 receives information (collection destination) related to the collection destination included in the “BOX collection instruction (collection instruction information)”. Based on the address and information on the box (such as "box identification information", "unlock key code", and "size" described later).

  Similarly to the respective delivery destinations 20, the "collection destination 1" is provided with a "relay point 4" which is a stop position of the mother vehicle 100 with respect to the "collection destination 1". The stroller 200 gets off and the stroller 200 moves to the “collection destination 1”. At this time, the stroller 200 heading for collection is a delivery vehicle in which the delivery box 300 is not loaded on the carrier.

  At the “collection destination 1”, the child car 200 performs a process of loading the delivery box 300 on the carrier using the arm. At this time, the stroller 200 uses the unique delivery box identification information (hereinafter also referred to as “BOX ID”, “BOX identification information”, and “box identification information”) stored in the storage device of the delivery box 300 and the unlock key. The code or the like is checked (checked), and the unlock key code or the like is the same as the “box identification information” or the “unlock key code” of the collection destination information included in the “BOX collection instruction (collection instruction information)”. On condition that there is a condition, the stroller 200 releases the delivery box 300 from the delivery box fixture 400. Then, the stroller 200 loads and recovers the delivery box 300 that has been released.

  With the above-described processing, the delivery system 300 allows the delivery box 300 fixed to the delivery box fixing device 400 of the delivery destination 20 to be collected.

  By such processing, the delivery can be completed without the recipient directly receiving the package stored in the delivery box 300 at the delivery destination 20. In other words, the number of times that redelivery is required due to the absence of the recipient can be significantly reduced.

  Therefore, with the delivery system 1 according to the first embodiment, it is possible to significantly reduce the cost (cost) related to delivery as compared with the conventional delivery.

[2. Processing at delivery source]
FIG. 3 is a diagram showing processing steps (work steps) performed at the delivery source constituting the delivery system 1 according to the first embodiment of the present invention.

  In FIG. 3, the center 10 is a general term for a product management center (product management source), a distribution center (delivery source), a monitoring center (monitoring source), and the like, as described above. FIG. 3 illustrates each operation process included in the “BOX delivery process” and the “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.

  The "BOX delivery process" includes an order receiving process (A1) for receiving an order for a product. The order receiving step is a step of receiving an order made using an EC site that enables electronic commerce.

  In the order receiving step, when the order is received, there is a storing step (A2) for storing (storing) the ordered product as a package in the delivery box 300.

  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 your luggage and store it.

  Subsequently, in the storing step, in addition to determining the child car 200 which is the delivery vehicle on which the delivery box 300 storing the luggage is loaded, the vehicle determining step (A3) of determining the mother vehicle 100 which is the delivery vehicle on which the child car 200 is mounted. ).

  In this vehicle determination step, when the delivery vehicle is determined, there is subsequently an information setting step (A4) for setting (storing) predetermined information in the storage device of each of the delivery box 300, the child car 200, and the mother vehicle 100.

  In the information setting step, first, the child car identification information (child car ID) for identifying the child car 200 loaded with the delivery box 300 and the delivery information specifying the delivery destination 20 are stored in the storage device of the delivery box 300. At least remember. Second, box identification information for identifying the delivery box 300 loaded on the child vehicle 200, authentication information, and mother vehicle identification information for identifying the mother vehicle 100 on which the child vehicle 200 is mounted (mother vehicle) in the storage device of the child vehicle 200. ID) and at least delivery information specifying the delivery destination 20. Third, in the storage device of the mother vehicle 100, a child vehicle ID for identifying the child vehicle 200 mounted on the mother vehicle 100, delivery information designating the delivery destination 20, and an arrangement of the delivery box 300 in the mother vehicle 100. Set the box management information that manages

  In this information setting step, when information is set in the respective storage devices of the delivery box 300, the stroller 200, and the stroller 100, the delivery box 300 is stored in the stroller 100 and the stroller 200 is moved to the stroller. There is a departure preparation step (A5) in which departure preparation is carried out by mounting on the vehicle.

  In the departure preparation step, when departure preparation is completed, there is a delivery instruction step (A6) for performing a “BOX delivery request” to the mother vehicle 100 and instructing delivery.

  Through these steps, the vehicle 100 can depart from the center 10 to the delivery destination 20.

  Next, the “BOX collection step” for collecting the delivery box 300 delivered to the delivery destination 20 will be described.

  In the “BOX collection process”, first, after receiving “unloading completion notification” indicating that the package has been removed from the delivery box 300 at the center, the center 10 sends a “BOX collection inquiry notification” to a predetermined mother vehicle 100. There is an inquiry step (B1) for transmission.

  In the inquiry step (B1), when the center 10 transmits a “BOX collection inquiry notification” to the predetermined mother vehicle 100, subsequently, the delivery box 300 is not loaded from the mother vehicle 100 receiving the notification. It indicates that the delivery box 300 can be collected by installing the stroller 200 or that the delivery box 300 cannot be collected because there is no stroller 200 on which the delivery box 300 is not loaded. There is a notification receiving step (B2) for receiving the “BOX inquiry response notification”.

  At this time, the vehicle 100 transmits information necessary for the center 10 to determine the vehicle 100 for collecting the delivery box 300, such as the current location and the remaining number of deliveries, in the "BOX inquiry response notification". You may.

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

  In this carriage determination step (B3), the distance, the movement route, and the like to the delivery destination 20 where the delivery box 300 to be collected is installed among the carriages 100 on which the carriages 200 having no delivery box 300 loaded are mounted. In consideration of the above, the mother vehicle 100 for collecting the delivery box 300 is determined.

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

  The mother vehicle 100 that has received the “BOX collection instruction” transmitted in the collection instruction step (B4) searches the collection route of the delivery box 300 on the delivery route and collects the delivery box 300.

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

[3. Detailed configuration of mother vehicle]
FIG. 4 is a diagram illustrating an electrical configuration of the mother vehicle 100 according to the first embodiment of the present invention. FIG. 5 is a diagram illustrating an external configuration of the mother vehicle 100 according to the first embodiment of the present invention. FIG. 6 is a diagram illustrating an internal configuration of the storage 120 included in the automatic warehouse 110 according to the first embodiment of the present invention, and is a view of the inside of the storage 120 as viewed from above. FIG. 7 is a diagram illustrating an internal configuration of the storage 120 included in the automatic warehouse 110 according to the first embodiment of the present invention, and illustrates an A-A when the storage 120 is cut along line AA ′ illustrated in FIG. 6. It is an A 'arrow view. FIG. 8 is a diagram illustrating a conveyor 131 included in the transport control mechanism 130 included in the automatic warehouse 110 according to the first embodiment of the present invention. FIG. 8A shows a first conveyor 132 which is one of the conveyors 131. FIG. 8B shows a second conveyor 133 which is one of the conveyors 131.

  As shown in FIG. 4, the mother vehicle 100 includes a control unit 101, a communication device 102, a detection device 103, a storage device 104, an operation control device 105, a traveling mechanism 106, and an automatic warehouse 110.

  The control unit 101 is a control unit that comprehensively controls all functions of the mother vehicle 100 including the automatic driving control mechanism and the delivery control mechanism as described above. The control unit 101 may be, for example, an ECU (Electronic Control Unit).

  The communication device 102 is a mobile communication device that can perform mutual communication with the center 10 and mutual communication with the child car 200. The communication device 102 can also perform mutual communication with another mother vehicle 100.

  The detection device 103 is for recognizing a situation around the mother vehicle 100 including a traffic lane defined by other surrounding vehicles, pedestrians, animals, falling objects, grooves, irregularities, a center line, and the like, and a signal. Radars and sensors. Various radars and various sensors constituting the detection device 103 are, for example, a laser sensor, an infrared sensor, an ultrasonic sensor, a pyroelectric sensor, a 3D-LiDAR (3D Light Detection and Ranging), and the like. These various sensors include a camera. The detection device 103 compositely recognizes a situation around the mother vehicle 100 based on information obtained by a face recognition system using a camera and a human body detection system. Thereby, the mother vehicle 100 can safely and automatically drive (move) to the relay point 21 or its vicinity while avoiding various dangers on the road.

  The storage device 104 is a storage device that stores various types of information necessary for executing various control processes performed by the above-described automatic operation control mechanism and delivery control mechanism. The storage device 104 stores various types of information transmitted and received through mutual communication with the center 10 and the child car 200, and various types of information for automatically driving on the delivery route. The storage device 104 stores, for example, delivery information that is information on the delivery destination 20, map information used to determine a delivery route to the delivery destination 20 of the package, and a traveling route (moving route, delivery route) of the mother vehicle 100. , Road information, traffic information, and the like regarding the road that is. Further, the storage device 104 stores “box management information” and the like for managing the arrangement of the delivery boxes 300 stored in the automatic warehouse 110.

  The operation control device 105 is a control unit that controls the traveling mechanism 106 of the mother vehicle 100. The traveling mechanism 106 is a vehicle mechanism related to traveling of the mother vehicle 100. The traveling mechanism 106 corresponds to an engine, drive wheels 106a, various actuators, motors (servo motors, in-wheel motors), cylinders, and the like. FIG. 5 shows, as an example of the traveling mechanism 106, driving wheels 106a for the mother vehicle 100 to travel on a road.

  The driving control device 105 performs drive control of the traveling mechanism 106 to perform not only movement (driving) such as driving and stopping the mother vehicle 100, but also parallel parking and direction change in a narrow place (alley or the like). Therefore, it is possible to perform not only the front-back movement, but also the operation control such as the parallel movement to the left and right, the rotation on the spot, and the parallel movement in the oblique direction.

  The operation control device 105 also includes a GPS (Global Positioning System) device 105a capable of specifying (positioning) a position on map information. Further, the operation control device 105 includes a receiver that can be connected to a VICS (Vehicle Information and Communication System) or a similar road traffic information communication system, and can acquire road information and traffic information provided by this system. is there.

  In the mother vehicle 100, the driving control device 105 uses the information (map information, road information, traffic information, etc.) stored in the storage device 104 and the GPS device 105a to move from the current position (current location) to the delivery destination 20. The delivery route (moving route) is searched and stored, and the operation (movement) is performed based on the delivery route. Of course, the operation control device 105 can appropriately update (change) this delivery route based on new traffic information, road information, and the like.

  The automatic warehouse 110 can store one or a plurality of delivery boxes 300 and can change the arrangement of the delivery boxes 300 in the automatic warehouse 110 without depending on the work of the operator. The automatic warehouse 110 conveys the delivery box 300 to a pre-designated position in the automatic warehouse 110 (“reception storage position” described later) based on a command from the control unit 101. The delivery box 300 transported to the pre-designated position is received by the arm of the stroller 200 and loaded on the stroller 200.

  The automatic warehouse 110 includes a storage 120 and a transport control mechanism 130.

  The storage 120 is a warehouse for storing one or a plurality of delivery boxes 300. As shown in FIG. 5, storage 120 forms a compartment of mother vehicle 100. That is, since the mother vehicle 100 is an unmanned automatic driving delivery vehicle that does not require a driver's boarding space, the compartment of the mother vehicle 100 can be formed by the storage 120.

  A door 125 serving as an entrance and exit of the stroller 200 is provided at a rear side portion of the storage case 120. The door 125 functions as an entrance path and exit path when the child car 200 enters and exits (enter and exit).

  The storage space 120 is provided with a mounting space 121 in which the stroller 200 is mounted and a main space 122 in which the delivery box 300 is stored.

  The mounting space 121 is not only a standby place where the stroller 200 waits, but also a work place for loading the delivery box 300 on the stroller 200 and preparing for delivery. That is, it can be said that the storage 120 stores the stroller 200 in addition to the delivery box 300.

  The main space 122 is provided with a rack (not shown) capable of storing the plurality of delivery boxes 300 in a three-dimensional manner, and a plurality of storage spaces 123 in which the plurality of delivery boxes 300 are stored are secured. That is, the main space 122 is defined in each of the plurality of storage spaces 123. Each position of the plurality of storage spaces 123 corresponds to a storage position of the delivery box 300.

  As shown in FIG. 6, the plurality of storage spaces 123 are arranged in a matrix adjacent to each other along a floor surface of the storage case 120 which is a substantially uniform plane. In addition, as shown in FIG. 7, the plurality of storage spaces 123 are three-dimensionally arranged adjacent to each other along the height direction of the storage 120 (the vehicle height direction of the mother vehicle 100). However, the space near the door 125 is defined as a mounting space 121 in which the stroller 200 is mounted. That is, if the plurality of storage spaces 123 and the mounting space 121 arranged along the floor surface of the storage 120 are defined as one level (level), the internal space of the storage 120 is defined as a plurality of levels (levels). Are stacked.

The space adjacent to the mounting space 121 among the plurality of storage spaces 123 is a storage space in which the stroller 200 located in the mounting space 121 can receive the delivery box 300 arranged in the storage space 123 adjacent to the mounting space 121. This is a space 123.
Hereinafter, the storage space 123 adjacent to the mounting space 121 among the plurality of storage spaces 123 provided in the storage 120 is referred to as a “receiving storage space 124”. The position of the receiving storage space 124 is referred to as a “receiving storage position”.
A plurality of receiving storage spaces 124 are provided for each layer.

  In the example shown in FIGS. 6 and 7, eight spaces arranged in the front-rear direction of the vehicle 100 are arranged in the storage 120 in three rows in the vehicle width direction of the vehicle 100 per layer 24. Spaces are arranged. The 24 spaces arranged in a matrix along the floor of the storage 120 constitute one layer, and three layers of “upper”, “middle” and “lower” are arranged. That is, in the example shown in FIGS. 6 and 7, 72 spaces are defined in the internal space of the storage 120. In other words, in the examples shown in FIGS. 6 and 7, 72 spaces are provided in the storage 120.

  6 and 7, (1) to (24) and (A) to (X) are symbols for indicating positions of a plurality of spaces provided in the storage 120. In the following, when the internal space of the storage 120 is located at (16) when viewed from above and when the position of the space located at (H) is viewed from the side, as in (16, H), write.

  Of the plurality of spaces provided in the storage 120, three spaces (16, H), (16, P), and (16, X) correspond to the mounting space 121. Of the plurality of spaces provided in the storage 120, 69 spaces other than (16, H), (16, P) and (16, X) correspond to the storage space 123. Of the 69 storage spaces 123, (8, H), (8, P) and (8, X), and (24, H), (24, P) and (24, X), and ( Nine spaces of 15, G), (15, O) and (15, W) correspond to the receiving storage space 124.

  In addition, some of the plurality of storage spaces 123 are previously blank (empty space) without storing the delivery box 300 from the stage of the departure preparation step (A5) in FIG. 3 in order to change the arrangement of the delivery box 300. Has been in the state of. Specifically, in FIGS. 6 and 7, in the 69 storage spaces 123, only one storage space 123 is blank in any of the layers. For example, in the example shown in FIG. 6 and FIG. 7, the (15, G) storage space 123, which is one of the receiving storage spaces 124 in the upper layer, is blanked in advance. For this reason, in the examples shown in FIGS. 6 and 7, the storage 120 can store a maximum of 68 delivery boxes 300. In addition, the level where the storage space 123 in the blank state is not present is also referred to as the “level where the delivery box 300 is full”.

  The transport control mechanism 130 is a mechanism that controls a change in the arrangement of the delivery boxes 300 in the automatic warehouse 110. Specifically, the transport control mechanism 130 is a mechanism for controlling the transport of the delivery box 300 arranged in the storage space 123 (storage position) in the storage 120 to another storage space 123 in the storage 120. is there.

  The transport control mechanism 130 includes a plurality of conveyors 131 and a transport control unit 135.

  The plurality of conveyors 131 is a mechanism for transporting the delivery box 300 arranged in the storage space 123 (storage position) to another storage space 123 adjacent to the storage space 123. As shown in FIG. 8, each of the plurality of conveyors 131 is configured by, for example, a roller conveyor with a pulley. As shown in FIG. 7, each of the plurality of conveyors 131 is provided for each of the plurality of storage spaces 123 in the storage 120. Each of the plurality of conveyors 131 and each of the plurality of storage spaces 123 are associated with each other.

  Further, each of the plurality of conveyors 131 is provided with a sensor capable of detecting the identification information of the delivery box 300 placed on each of the conveyors 131. The mother vehicle 100 can acquire the identification information of the delivery boxes 300 arranged in each of the plurality of storage spaces 123 based on the information detected by these sensors.

  Each of the plurality of conveyors 131 is provided with a restraint that restrains the delivery box 300 placed on each of the conveyors 131. The carriage 100 can restrain the delivery box 300 with these restraining tools during traveling, thereby suppressing the position of the delivery box 300 from shifting.

  The plurality of conveyors 131 are composed of at least two types of conveyors. Hereinafter, one of the at least two types of conveyors 131 is referred to as a “first conveyor 132”, and the other type of conveyor 131 is referred to as a “second conveyor 133”.

  The first conveyor 132 is a conveyor 131 that can transport the delivery boxes 300 in the front-rear direction and the vehicle width direction of the vehicle 100. The first conveyor 132 is provided for at least the receiving storage space 124 among the plurality of storage spaces 123.

  6 and 7 indicate the direction in which each of the first conveyor 132 and the second conveyor 133 conveys the delivery box 300.

  In the example illustrated in FIGS. 6 and 7, the first conveyor 132 includes (8, H), (8, P), and (8, X), and (24, H), (24, P), and (24). , X) and the receiving storage spaces 124 located at (15, G), (15, O) and (15, W). Further, the first conveyor 132 includes (7, G), (7, O) and (7, W), and (23, G), (23, O) and (23, W), and (1 , A), (1, I) and (1, Q), and (9, A), (9, I) and (9, Q), and (17, A), (17, I) and It is provided for the storage space 123 located at (17, Q).

  As shown in FIG. 8A, the first conveyor 132 includes a motor roller 132a with a pulley and a free roller 132b with a pulley, and a motor roller 132c with a pulley and a free roller 132d with a pulley. I have.

  The motor roller 132a and the free roller 132b are conveyors for transporting the delivery box 300 in the front-rear direction of the vehicle 100. The motor roller 132a and the free roller 132b are provided such that their longitudinal directions extend in a direction substantially perpendicular to the front-rear direction of the mother vehicle 100.

  The motor roller 132c and the free roller 132d are conveyors for transporting the delivery box 300 in the width direction of the mother vehicle 100. The motor roller 132c and the free roller 132d are provided such that their longitudinal directions extend in a direction substantially perpendicular to the vehicle width direction of the mother vehicle 100.

  In addition, the first conveyor 132 moves the motor roller 132a and the free roller 132b and the motor roller 132c and the free roller 132d up and down in the vehicle height direction of the mother vehicle 100 so that the contact state with the delivery box 300 is changed to the non-contact state. A switching mechanism is provided. For example, when the first conveyor 132 transports the delivery box 300 in the front-rear direction of the vehicle 100, the contact state between the motor roller 132c and the free roller 132d and the delivery box 300 is switched to the non-contact state. When the first conveyor 132 conveys the delivery box 300 in the vehicle width direction of the mother vehicle 100, the contact state between the motor roller 132a and the free roller 132b and the delivery box 300 is switched to a non-contact state. Thereby, the first conveyor 132 can transport the delivery box 300 in both the front-rear direction and the vehicle width direction of the vehicle 100.

  The second conveyor 133 is a conveyor 131 that can transport the delivery box 300 in the front-rear direction of the vehicle 100. The second conveyor 133 is provided for at least the storage space 123 other than the receiving storage space 124 among the plurality of storage spaces 123.

  In the example shown in FIGS. 6 and 7, the second conveyor 133 has white arrows such as (2, B), (2, J), and (2, R) that extend only in the front-rear direction of the mother vehicle 100. Is provided for the storage space 123 at the designated position.

  As shown in FIG. 8B, the second conveyor 133 includes a motor roller 133a with a pulley and a free roller 133b with a pulley.

  The motor roller 133a and the free roller 133b are conveyors for transporting the delivery box 300 in the front-rear direction of the carriage 100. The motor roller 133a and the free roller 133b are provided such that their longitudinal directions extend in a direction substantially perpendicular to the front-rear direction of the mother vehicle 100.

  The transport control unit 135 is a control unit that controls the plurality of conveyors 131. For example, the transport control unit 135 controls the plurality of conveyors 131 so that the delivery box 300 disposed in the storage space 123 in the storage 120 is transported to the reception storage space 124 (reception storage position) in the storage 120. Perform control processing. At this time, the transport control unit 135 controls at least one of the first conveyor 132 and the second conveyor 133.

  In addition, the mother vehicle 100 includes a monitoring camera that can monitor the periphery of the mother vehicle 100, and also includes a microphone and a speaker at a predetermined portion. When an emergency or trouble occurs in the mother vehicle 100, the maintenance supervisor of the monitoring center communicates with the center 10 (especially the monitoring center), and the maintenance person at the monitoring center uses the monitoring camera mounted on the mother vehicle 100 to monitor the surroundings. In addition to being able to converse with the surrounding people by confirming the information, the maintenance and monitoring staff can perform the driving operation by remote control while confirming the safety of the surrounding situation with a camera or the like.

[4. Detailed configuration of stroller]
FIG. 9 is a diagram illustrating an electrical configuration of the stroller 200 according to the first embodiment of the present invention. FIG. 10 is a diagram illustrating an external configuration of the stroller 200 according to the first embodiment of the present invention. FIG. 10A shows a state where the delivery box 300 is not loaded on the stroller 200. FIG. 10A shows a state where the delivery box 300 is loaded on the stroller 200.

  As illustrated in FIG. 9, the stroller 200 includes a control unit 201, a communication device 202, a detection device 203, a storage device 204, an operation control device 205, a traveling mechanism 206, and a loading control mechanism 210. .

  The control unit 201 is a control unit that comprehensively controls all functions of the stroller 200 including the automatic driving control mechanism and the delivery control mechanism as described above. The control unit 201 may be an ECU (Electronic Control Unit), for example.

  The communication device 202 is a mobile communication device that can perform mutual communication with the center 10 and mutual communication with the mother vehicle 100, respectively. The communication device 202 can also perform mutual communication with the delivery box 300 and with the recipient of the delivery destination 20. Further, the communication device 202 can perform mutual communication with another child vehicle 200.

  The detection device 203 is for recognizing the surroundings of the stroller 200 including other traffic around the vehicle, pedestrians, animals, falling objects, grooves, unevenness, a running lane defined by a center line, and signals. Radars and sensors. Various radars and various sensors constituting the detection device 203 are, for example, a laser sensor, an infrared sensor, an ultrasonic sensor, a pyroelectric sensor, a 3D-LiDAR, and an electromagnetic wave sensor. These various sensors include a camera. The detection device 203 compositely recognizes the situation around the stroller 200 based on information obtained by a face recognition system using a camera and a human body detection system. Thereby, the child car 200 can safely and automatically drive (move) to the delivery destination 20 or its vicinity while avoiding various dangers on the road. The detecting device 203 is also used when confirming the position of the hole 410 in the delivery box fixing device 400.

  The storage device 204 is a storage device for storing various information necessary for executing various control processes performed by the automatic operation control mechanism and the delivery control mechanism as described above. The storage device 204 stores various types of information transmitted and received through mutual communication with the center 10, the vehicle 100, and the delivery box 300, and various types of information for automatically driving on the delivery route. The storage device 204 stores, for example, delivery information that is information on the delivery destination 20, map information used to determine a delivery route to the delivery destination 20 of the package, and a moving route (moving route, delivery route) of the child car 200. , Road information, traffic information, and the like regarding the road that is.

  The operation control device 205 is a control unit that controls the traveling mechanism 206 of the stroller 200. The traveling mechanism 206 is a vehicle mechanism related to traveling of the stroller 200. The traveling mechanism 206 corresponds to an engine, driving wheels 206a, various actuators, motors (servo motors, in-wheel motors), cylinders, and the like. FIG. 10 shows, as an example of the traveling mechanism 206, drive wheels 206a for the child stroller 200 to travel on a road. The drive wheel 206a is configured by a crawler capable of running on a step, uneven terrain, and the like.

  The driving control device 205 performs drive control of the traveling mechanism 206 to perform parallel parking or turning in a narrow place (alley or the like) as well as movement (driving) such as driving and stopping the stroller 200. Therefore, it is possible to perform not only the front-back movement, but also the operation control such as the parallel movement to the left and right, the rotation on the spot, and the parallel movement in the oblique direction.

  Further, the operation control device 205 has a balance control function for preventing the vehicle from tipping over when climbing up or down stairs or the like or when inclining on a slope or the like. The balance control function is a function of detecting the position of the center of gravity based on the stroller 200 and the delivery box 300 one by one and automatically adjusting the position of the center of gravity using the center of gravity position adjusting device 205b (balancer). For example, the operation control device 205 controls the balance of the stroller 200 by keeping the amount of exercise at the position of the center of gravity at a constant value using the position of the center of gravity adjustment device 205b. With this center-of-gravity position adjusting device 205b, the stroller 200 can minimize rollover and fall due to collision with or contact with an obstacle.

  The operation control device 205 also includes a GPS device 205a capable of specifying (positioning) a position on the map information. Further, the driving control device 205 includes a receiver that can be connected to a VICS or a similar road traffic information communication system, and can acquire road information and traffic information provided by this system.

  The child car 200 uses the information (map information, road information, traffic information, and the like) stored in the storage device 204 and the GPS device 205a by the driving control device 205 from the current position (current location) to the delivery destination 20. The delivery route (moving route) is searched and stored, and the operation (movement) is performed based on the delivery route. Of course, the driving control device 205 can appropriately update (change) this delivery route based on new traffic information, road information, and the like.

  The loading control mechanism 210 is a mechanism that controls loading of the delivery box 300 delivered to the delivery destination 20 onto the stroller 200 based on a command from the control unit 201. Specifically, the loading control mechanism 210 receives the delivery box 300 transported to the receiving storage space 124 in the storage 120 by the transport control mechanism 130 of the automatic warehouse 110, and performs control to load the delivery box 300 on the stroller 200. Mechanism. The stroller 200 delivers the delivery box 300 loaded in the stroller 200 by the loading control mechanism 210 to the delivery destination 20 as the delivery box 300 delivered to the delivery destination 20. .

  The loading control mechanism 210 includes a loading mechanism 220 and a loading control unit 230. As shown in FIG. 10A, the loading mechanism 220 includes an arm 221 (holding unit), an elevating unit 222, a translating unit 223, and a loading platform 224.

  The arm 221 is a means for implementing the delivery control mechanism for the stroller 200 as described above. As shown in FIG. 10B, the delivery box 300 holds the delivery box 300 loaded on the stroller 200 at the time of delivery. It is fixed to the fixture 400.

  Furthermore, when the stroller 200 is mounted in the mounting space 121 in the storage 120, the arm 221 receives the delivery box 300 arranged in the receiving storage space 124 in the storage 120 and places it on the loading platform 224. be able to. Then, the arm 221 can hold the delivery box 300 placed on the carrier 224. As a result, the stroller 200 is in a state where the delivery boxes 300 are loaded. That is, the state where the delivery box 300 is loaded on the stroller 200 may be a state where the delivery box 300 placed on the carrier 224 is held by the arm 221.

  The elevating unit 222 is a mechanism that moves the arm 221 up and down in the vehicle height direction of the stroller 200. The arm 221 and the elevating unit 222 function as a lifter of the stroller 200.

  The translation unit 223 is a mechanism that translates the arm 221 in the front-rear direction of the stroller 200.

  The loading platform 224 is formed of a flat pedestal such that the bottom surface of the delivery box 300 comes into contact with the delivery platform 300. Further, the loading platform 224 includes a mechanism for rotating the placed delivery box 300, and is configured to be able to change the direction of the delivery box 300.

  The loading control unit 230 is a control unit that controls the loading mechanism 220. For example, when the loading control unit 230 receives the delivery box 300 arranged in the receiving storage space 124 in the storage 120 by the loading mechanism 220 and loads the delivery box 300 on the stroller 200, the loading control unit 230 replaces each component of the loading mechanism 220 with the following. Drive in conjunction.

  That is, the loading control unit 230 drives the lifting unit 222 and the translation unit 223 to move the arm 221 to the receiving storage space 124. Then, the loading control unit 230 drives the arm 221 moved to the receiving storage space 124 to cause the arm 221 to hold the delivery box 300 arranged in the receiving storage space 124. Then, the loading control unit 230 drives the elevating unit 222 and the translating unit 223 to move the arm 221 holding the delivery box 300 to the loading platform 224, and places the delivery box 300 on the loading platform 224.

  In addition, the loading control unit 230 drives each component of the loading mechanism 220 to move the delivery box 300 arranged in the storage space 123 of the specific level in the storage 120 to another level different from the specific level. Can be controlled. Hereinafter, the control process of transferring the delivery box 300 between the respective tiers of the storage 120 is referred to as “inter-layer transfer control process”. Further, among the functions of the loading control unit 230 that controls the loading mechanism 220, the function of executing the inter-layer transfer control processing is referred to as “inter-layer transfer control unit 231”.

  The black arrow in FIG. 7 indicates the direction in which the delivery box 300 held by the arm 221 is transferred by the movement of the arm 221.

  In the example illustrated in FIGS. 6 and 7, for example, the loading control unit 230 holds the delivery box 300 arranged in the receiving storage space 124 located at (15, W) in the lower level with the arm 221, and It can be transferred to the blank receiving storage space 124 located at (15, G) on the level.

  In addition, the stroller 200 includes a monitoring camera that can monitor the periphery of the stroller 200, and also includes a microphone and a speaker at a predetermined portion. When an emergency or trouble occurs in the child car 200, the maintenance supervisor of the surveillance center uses the surveillance camera mounted on the child car 200 to communicate with the center 10 (particularly, the surveillance center). In addition to being able to converse with the surrounding people by confirming the information, the maintenance and monitoring staff can perform the driving operation by remote control while confirming the safety of the surrounding situation with a camera or the like.

  In addition, the stroller 200 can stop traveling of the stroller 200 by pressing (or touching) the emergency stop button when a nearby person feels danger. It is possible to check the surrounding situation with a surveillance camera mounted on the stroller 200 and to have a conversation with surrounding people.

[5. Delivery mode of delivery system]
FIG. 11 to FIG. 14 are diagrams illustrating delivery modes in the delivery system 1 according to the first embodiment of the present invention.

  FIG. 11 shows a carriageway, a sidewalk provided along the carriageway, a delivery path that intersects the sidewalk substantially perpendicularly, and a step provided between the delivery path and the delivery box fixture 400 of the delivery destination 20. (Stairs) are shown. Further, FIG. 11 shows a space where the arm 221 can be moved to place the delivery box 300 on the delivery box fixture 400 beyond the step, and the delivery destination designated for each delivery destination 20 is provided. The designated space is shown. Further, FIG. 11 shows a delivery box fixture 400 provided on the wall surface of the delivery destination 20.

  In FIG. 11, the mother vehicle 100 is stopped at an end of a road as a relay point 21 (for example, “relay point 1”) corresponding to the delivery destination 20. The stroller 200 that gets off from the mother vehicle 100 at the relay point 21 moves out of the delivery passageway across the sidewalk after leaving the door 125 of the mother vehicle 100 as the exit route.

  After moving over this delivery destination passage, the stroller 200 crosses the step and arrives at the delivery destination designation space. After confirming the position of the hole 410 of the delivery box fixing device 400, the delivery box 300 is moved to the hole 410. Fixed to.

  12 to 14 are views showing a state in which the delivery box 300 is fixed to the delivery box fixing device 400 by moving the arm 221 of the stroller 200 in the delivery destination designation space provided in the delivery destination 20. .

  The delivery destination designation space is provided at a position in front of the delivery box fixing device 400, and is a work area including a fixed range in which the delivery box 300 is fixed by moving the arm 221 of the stroller 200.

  When the stroller 200 belongs to the delivery destination designation space (see FIG. 12), the stroller 200 confirms (recognizes) the position of the hole 410 provided in the delivery box fixing device 400.

  Next, as shown in FIG. 13, the stroller 200 lifts the delivery box 300 from the carrier 224 by moving the arm 221 and moves the delivery box 300 forward of the stroller 200.

  Then, the stroller 200 locks the delivery box 300 by inserting the protrusion 310 of the delivery box 300 into the hole 410 whose position is recognized (penetrating), as shown in FIG.

  At this time, four holes 410 (first hole 410a, second hole 410b, third hole 410c, and fourth hole 410d) are provided in delivery box fixing device 400 shown in FIGS. 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 each of the holes 410. are doing.

  Of course, while the delivery box fixture 400 has a plurality of holes 410, the delivery box 300 may be configured to have only a single protrusion, or vice versa. In addition, when the projection 310 is a mechanism (a mechanism that can be recessed) that can be embedded in the delivery box 300 by a spring or the like, the quantity of “the number of holes 410” is “the quantity of the projection 310”. It may be the following.

  That is, the number of engaging portions (projections 310, holes 410) of the delivery box fixing device 400 and the delivery box 300 does not necessarily need to be the same.

[6. Detailed configuration of delivery box and delivery box fixture]
FIG. 15 is a diagram illustrating a detailed configuration of the delivery box 300 according to the first embodiment of the present invention.

  In FIG. 15, the delivery box 300 includes a lid portion 301, a luggage storage section 302, a damper 303, and a hinge 304. The lid part 301 and the luggage storage part 302 are joined by a hinge 304.

  With the hinge 304 as a fulcrum, the cover box 301 of the delivery box 300 is opened, and the delivery box 300 can be slowly closed while maintaining the open state by the damper 303.

  FIG. 15A shows a state where the lid portion 301 can be opened and closed in the vertical direction, and FIG. 15B shows a state where the lid portion 301 can be opened and closed in the forward direction. These delivery boxes 300 are appropriately selected depending on the package to be delivered.

  FIG. 15C is a diagram showing the rear surface on which the protrusion 310 is provided by rotating FIG. 15A. The 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 be referred to as a portion (first engagement portion) that engages with the hole 410 provided in the delivery box fixing device 400.

  FIG. 16 is a diagram illustrating a detailed configuration of the delivery box fixing device 400 according to the first embodiment of the present invention.

  The delivery box fixing device 400 shown in FIG. 16 has four holes (a first hole 410a, a second hole 410b, a third hole 410c, and a fourth hole 410d). Is a portion that can be engaged with the projection 310 provided on the front side.

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

  The hole 410 is formed by combining two circular portions, an upper circular portion and a lower circular portion. The protrusion 310 provided on the delivery box 300 fits (engages) with the two circular portions, the upper circular portion and the lower circular portion. The cylindrical portion of the projection 310 protrudes from the delivery box 300, and is provided so as to prevent the delivery box 300 from being lifted up and fixed.

  FIG. 17 is a diagram illustrating an engagement state between the delivery box 300 and the delivery box fixing device 400 according to the first embodiment of the present invention.

  FIG. 17 shows a state in which the protrusion 310 of the delivery box 300 is inserted (hooked) into the hole 410 of the delivery box fixture 400 and is fixed (engaged).

  The hole 410 provided in the delivery box fixture 400 is formed by combining a large hole (first hole shape) and a small hole (second hole shape) as compared with the large hole.

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

  FIG. 18 is a diagram showing the contents of the mail received by the recipient of the package.

  The mail content shown in FIG. 18 is the content of the transmission means that the subcar 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 sending source)), a title (SUBJECT: notification of delivery completion), and the like. In addition, the message content, delivery box identification information (BOX number) for identifying the delivery box, and an unlock key code are included.

  The recipient of the package recognizes that the delivery of the package is completed by receiving the mail content, specifies the delivery box 300, unlocks the specified delivery box 300, and takes out the package. It becomes possible.

[7. Detailed flow of various processes]
FIG. 19 is a flowchart illustrating a detailed flow of the BOX delivery control process performed in the mother vehicle 100 according to the first embodiment of the present invention.

  In FIG. 19, the mother vehicle 100 (the control unit 101) confirms “delivery information” and “collection information” which are information received or set by communication with the center 10 (S1901).

  The delivery information includes information such as “fixture number” for identifying the delivery box fixture 400 and “box identification information” for identifying the delivery box 300 to be delivered, in addition to the address and name of the delivery destination 20. It is.

  The collection information includes information such as “fixture number” for identifying the delivery box fixture 400 and “box identification information” for identifying the delivery box 300 to be collected, in addition to the address and name of the collection destination. It is.

  Based on these information, the mother vehicle 100 (the control unit 101) searches for a delivery route to the delivery destination 20 based on map information and traffic information stored in advance (S1902), and sets (stores) it. (S1903).

  Then, the mother vehicle 100 (the control unit 101) determines whether a delivery start condition, which is a condition for starting delivery starting from the current location (for example, the center 10), is satisfied (S1904). The delivery start condition is that the mother vehicle 100 has arrived at the departure order starting from the center 10 or that the set departure time has come.

  The carriage 100 (the control unit 101) continues the standby state until it determines that the delivery start condition is satisfied (NO in S1904).

  On the other hand, when it is determined that the delivery start condition is satisfied (YES in S1904), mother vehicle 100 (control section 101) performs an operation control process (S1905).

  This operation control process is a process of moving the delivery route from the current position (current location) to the delivery destination 20 using each information (map information, road information, traffic information, etc.) and the GPS device 105a. Based on the information obtained by the detection device 103, the mother vehicle 100 pays attention to traffic lanes, signals, and the like defined by surrounding vehicles, pedestrians, animals, falling objects, grooves, irregularities, center lines, and the like, The vehicle travels (runs) on the delivery route by automatic driving.

  The detailed flow of the operation control process will be described later with reference to FIG.

  Subsequently, the mother vehicle 100 (the control unit 101) performs an automatic warehouse control process (S1906).

  This automatic warehouse control processing is performed such that the delivery box 300 delivered to the delivery destination 20 is arranged in the receiving storage space 124 in the storage 120 by the time the child stroller 200 is disembarked at the relay point 21 on the delivery route. This is a process for controlling the transport control mechanism 130 of the automatic warehouse 110. Thereby, the stroller 200 can receive and load the delivery boxes 300 arranged in the receiving storage space 124 before the stroller 200 gets off the stroller 200 at the junction point 21.

  The detailed flow of the automatic warehouse control process will be described later with reference to FIG.

  Then, the mother vehicle 100 (the control unit 101) determines whether or not the vehicle has arrived at the relay point 21 for the delivery destination 20 indicated by the “delivery information” on the delivery route or in the vicinity thereof (S1906).

  The mother vehicle 100 (the control unit 101) continues the driving control process and the automatic warehouse control process until the vehicle reaches these points (the relay point 21 or its vicinity) by the driving control process (S1907: NO).

  On the other hand, when the vehicle 100 (the control unit 101) arrives at or near the relay point 21 for the delivery destination 20 indicated by the “delivery information” (YES in S1907), the delivery box extends from the relay point 21 to the delivery destination 20. The child car 200 delivering the 300 is controlled to leave the mother car 100 (S1908).

  The parent vehicle 100 (the control unit 101) determines whether or not the child car 200 has exited from the parent vehicle 100 by this exit control process (S1909), and until the child vehicle 200 completes exiting from the parent vehicle 100 (S1909). (NO at S1909) performs a retrieval control process (S1909).

  Then, when the exit control process is completed and child car 200 exits from vehicle 100 (YES in S1909), mother vehicle 100 (control section 101) continuously performs communication control processing with child vehicle 200 that has exited. , The delivery status of the child car 200 is continuously managed (S1910). Thereby, the mother vehicle 100 and the child vehicle 200 can grasp each other's current location and delivery status one by one.

  Based on this management status, the mother vehicle 100 (the control unit 101) determines whether or not the child vehicle 200 has completed the delivery and belongs to a predetermined position (S1911). That is, after the delivery is completed by the stroller 200 fixing the delivery box 300 to the delivery destination 20, the stroller 100 (the control unit 101) controls the predetermined position related to the stroller 100 (the stroller 100 to enter the warehouse). It is determined whether or not it has returned to the position specified in the relationship.

  Until the stroller 200 belongs to this predetermined position (NO in S1911), the mother vehicle 100 (control unit 101) performs communication control processing with the stroller 200 and continues to manage the status of the stroller 200 (S1910). .

  The communication control processing performed between the mother vehicle 100 and the child vehicle 200 includes direct communication performed directly between the mother vehicle 100 and the child vehicle 200, as well as the communication between the mother vehicle 100 and the child vehicle 200 via the center 10. May be an indirect communication control process performed indirectly. Further, all the control processes performed in the mother vehicle 100 and the child vehicle 200 may be based on a communication control instruction from the center 10.

  On the other hand, when the stroller 200 belongs to the predetermined position (YES in S1911), the stroller 100 (the control unit 101) performs control processing for causing the stroller 200 to enter the stroller 100 (S1912). This entry control process is a control process in which the door 125 of the mother vehicle 100 is opened, the door 125 serves as an entrance path, the child vehicle 200 is entered, and the child vehicle 200 is stopped at a predetermined stop position in the mother vehicle 100.

  When the child car 200 is completely stored in the mother vehicle 100 by this warehouse control process, the mother vehicle 100 (the control unit 101) updates the management information (child vehicle management information) of the child car 200 (S1913) and returns to the center. It is transmitted (S1914). Thus, the center 10 can recognize that the stroller 200 has returned to the mother car 100 normally. Also in this case, similarly, the communication control process performed between the mother vehicle 100 and the child vehicle 200 includes the direct communication performed directly between the mother vehicle 100 and the child vehicle 200, and also includes the mother vehicle via the center 10. Control processing of indirect communication performed indirectly between the vehicle 100 and the child car 200 may be performed. Further, all the control processes performed in the mother vehicle 100 and the child vehicle 200 may be based on a communication control instruction from the center 10.

  Then, the carriage 100 (the control unit 101) determines whether or not the delivery control in the delivery route is managed (S1915), and when it is determined that the delivery of all the delivery boxes 300 is completed (YES in S1915), Then, the present process ends.

  Until it is determined that the delivery of all the delivery boxes 300 has been completed (NO in S1915), the mother vehicle 100 (the control unit 101) performs the operation control process in the delivery of the delivery boxes 300 on the set delivery route. (S1905).

  FIG. 20 is a flowchart illustrating a detailed flow of the BOX delivery control process performed in the stroller 100 according to the first embodiment of the present invention.

  In FIG. 20, the child car 200 (the control unit 201) confirms “delivery information” and “collection information” that are information received or set by communication with the center 10 (S2001).

  This delivery information is similar to the “delivery information” set for the mother vehicle 100, in addition to the address and name of the delivery destination 20, a “fixture number” for identifying the delivery box fixture 400, and a delivery box to be delivered. This is information including “box identification information” for identifying 300.

  The collection information is similar to the “collection information” set in the mother vehicle 100, in addition to the collection destination address and name, a “fixture number” for identifying the delivery box fixture 400, and a delivery box to be collected. This is information including “box identification information” for identifying 300.

  Based on these information, the child car 200 (the control unit 201) searches for a delivery route to the delivery destination 20 based on map information and traffic information stored in advance (S2002), and sets (stores) the route. (S2003).

  Then, the child car 200 (the control unit 201) determines whether a child car delivery start condition, which is a condition for starting delivery starting from the current location (for example, the relay point 21), is satisfied (S2004). . The delivery start condition for the stroller is a condition under which the door 125 of the stroller 100 is opened and the stroller 200 can be taken out in consideration of the surrounding road conditions and the like.

  Until the child stroller 200 (the control unit 201) determines that the child vehicle delivery start condition is satisfied (NO in S2004), the child vehicle 200 continues the standby state until it determines that the delivery start condition is satisfied.

  On the other hand, when judging that the delivery start condition is satisfied (YES in S2004), the child car 200 (the control unit 201) performs the operation control processing for the delivery to the delivery destination 20 based on the set delivery route. Performed (S2005).

  Then, the child car 200 (the control unit 201) determines whether or not it has arrived at the delivery destination 20 indicated by the “delivery information” on the delivery route by this driving control process (S2006).

  The child car 200 (the control unit 201) continues the operation control processing until it reaches the delivery destination 20 by this operation control processing (NO in S2006).

  On the other hand, when the child car 200 (the control unit 201) arrives at the delivery destination 20 indicated by “delivery information” (YES in S2006), the loaded delivery box 300 is fixed to the delivery box provided in the delivery destination 20. A control process (BOX fixing control process) for hooking and fixing to the tool 400 is performed (S2007).

  When the delivery box 300 is fixed to the delivery box fixing device 400 by the BOX fixing control process, the stroller 200 (the control unit 201) transmits an “attachment completion notification” to the mother vehicle 100 and the center 10 (S2008). ).

  Then, the child car 200 (the control unit 201) acquires “position information of the mother vehicle” through communication with the mother vehicle 100 (S2009), and based on the acquired “position information of the mother vehicle”, The "return route" up to (S2010) is searched and set (stored) (S2011).

  In this state, the child vehicle 200 (the control unit 201) determines whether or not a “return start condition” for starting operation control based on the set “return route” is satisfied (S2012).

  Until the “return start condition” is satisfied (NO in S2012), the child car 200 (control unit 201) waits until the condition is satisfied, and the “return start condition” for starting the driving control is satisfied. Then (YES in S2012), operation control based on the set “return route” is performed (S2013).

  Then, the child car 200 (the control unit 201) determines whether or not all the deliveries based on the “delivery route” in the set child car 200 have been completed (S2014). By this determination process, the slave unit 200 (the control unit 201) continuously performs the driving control based on the “return route” until all the deliveries are completed (NO in S2014) (S2013).

  On the other hand, when the child car 200 (the control unit 201) determines that all the deliveries have been completed by this determination processing (YES in S2014), the processing ends.

  FIG. 21 is a flowchart illustrating a detailed flow of the lock control process performed in the delivery box 300 according to the first embodiment of the present invention.

  In FIG. 21, the delivery box 300 receives an input of “predetermined information” at an information input unit provided in the delivery box 300 by an operation of a recipient of the stored luggage or the like (S2101). The information input unit is provided in the delivery box 300, and includes a touch panel, buttons, a camera (imaging device), and the like as described above.

  The delivery box 300 transmits an authentication request including the “predetermined information” input from the information input unit to the slave vehicle 200 (S2102). Upon receiving the authentication request including the “predetermined information” from the delivery box 300, the child car 200 (the control unit 201) receives the authentication request including the “predetermined information”. It is determined whether or not it is "unlock key code".

  This authentication request includes information for identifying the delivery box 300 in addition to the “predetermined information”. The child car 200 (the control unit 201) determines whether the “predetermined information” is an “unlock key code” corresponding to the “authentication information” specified for the information for identifying the delivery box 300. Judge and respond to delivery box 300. That is, in the storage device 204 of the stroller 200, “authentication information” corresponding to the information for identifying the delivery box 300 is stored, and the “unlock key code” corresponding to the “authentication information” is checked. A determination program for determining whether or not the information is stored is stored.

  Then, the delivery box 300 determines whether or not the response from the stroller 200 is the authenticated “unlock key code” (S2103). When the child car 200 (the control unit 201) determines that the "predetermined information" has been authenticated as a normal "unlock key code", the delivery box 300 unlocks the locked BOX door. Is performed (S2104).

  Thus, the recipient of the package can open the BOX door and take out the package. The delivery box 300 determines whether the recipient has taken out the package and then detects whether the BOX door is closed (S2105).

  When the delivery box 300 detects that the BOX door is closed by a sensor or the like (YES in S2105), the delivery box 300 performs a locking process for locking the BOX door (S2106).

  This locking process is a process for preventing the recipient from unlocking the BOX door without inputting the "unlock key code". If the recipient inputs the normal "unlock key code" again, This is a process for making the state openable.

  When the locking process for locking the BOX door is performed, the delivery box 300 determines whether or not a sensor (package sensor) provided in the delivery box 300 detects that the package has been taken out by the recipient. (S2107).

  Until the delivery box 300 detects that the package has been taken out by the recipient (NO in S2107), that is, when the package has not been taken out, it is possible to accept the input of “predetermined information” in the information input unit. I do.

  When the delivery box 300 detects that the package has been taken out by the recipient (YES in S2107), the delivery box 300 displays a "completion completion notice (including BOX identification information) indicating that the package has been taken out to the center 10. ) ”(S2108), and the process ends.

  In the above-described process, the delivery box 300 determines whether or not the package has been taken out by the recipient after the locking process has been performed. However, the present invention is not limited to this. In other words, the delivery box 300 detects that the luggage has been taken out by the recipient with the BOX door opened and detects the luggage by the luggage sensor or the like. “Extraction completion notification (including BOX identification information)” indicating that the extraction has been performed may be transmitted.

  FIG. 22 is a flowchart illustrating a detailed flow of the driving control process performed in the mother vehicle 100 according to the first embodiment of the present invention.

  The mother vehicle 100 (the control unit 101) checks the road information and traffic information of the delivery route at any time using the operation control device 105 and the detection device 103 while moving (traveling) along the delivery route to the delivery destination 20. (S2201).

  Subsequently, the mother vehicle 100 (the control unit 101) determines whether to change the delivery destination 20 to be delivered this time (S2202).

  The mother car 100 and the child car 200 deliver the delivery box 300 to the delivery destination 20 according to a preset delivery order included in the delivery information. At this time, an unexpected situation such as traffic congestion or suspension of traffic may occur on the delivery route, and delivering the delivery box 300 according to a preset delivery order may be an inefficient delivery.

  Therefore, when checking the road information and the traffic information, the mother vehicle 100 (the control unit 101) determines that changing the delivery destination 20 enables more efficient delivery. Is changed to another delivery destination 20 included in the delivery information (YES in S2202).

  On the other hand, when it is determined that the delivery destination 20 does not need to be changed (NO in S2202), the mother vehicle 100 (the control unit 101) proceeds to S2208 to perform delivery to the preset delivery destination 20.

  Then, when the delivery destination 20 is changed (YES in S2202), the mother vehicle 100 (the control unit 101) changes the delivery order information included in the delivery information according to the changed delivery destination 20. Then, the mother vehicle 100 (the control unit 101) updates the “delivery information” so as to include the changed delivery order information (S2203), and records that the delivery destination 20 has been changed in the “delivery information”. (S2204). Then, mother vehicle 100 (control section 101) transmits the updated delivery information to center 10 and child car 200, respectively.

  Subsequently, the mother vehicle 100 (the control unit 101) searches for a delivery route to the changed delivery destination 20 (S2205), and determines whether to change the relay point 21 corresponding to the changed delivery destination 20. (S2206).

  When the vehicle 100 (the control unit 101) determines that changing the relay point 21 in accordance with the change of the delivery destination 20 enables more efficient delivery (YES in S2206), the relay point 21 Is changed and set as the delivery route (S2207). Then, the mother vehicle 100 (the control unit 101) transmits information on the changed relay point 21 to the center 10 and the child vehicle 200, respectively.

  On the other hand, when it is not necessary to change the preset relay point 21 even when the delivery destination 20 is changed (NO in S2206), the mother vehicle 100 (the control unit 101) performs delivery from the preset relay point 21. Then, the process proceeds to S2208.

  The mother vehicle 100 (the control unit 101) performs a traveling control process related to delivery based on the set delivery route (S2208). Thereafter, the carriage 100 (the control unit 101) proceeds to S1906 in FIG.

  FIG. 23 is a flowchart illustrating a detailed flow of the automatic warehouse control process performed in the mother vehicle 100 according to the first embodiment of the present invention.

  The vehicle 100 (control unit 101) checks the stored delivery information and determines whether or not the change of the delivery destination 20 is recorded (S2301).

  When the delivery information indicates that the delivery destination 20 has been changed (YES in S2301), the mother vehicle 100 (control unit 101) checks the stored “box management information” (S2302).

  On the other hand, if the change of the delivery destination 20 is not recorded in the delivery information (NO in S2301), the mother vehicle 100 (the control unit 101) is set in advance in, for example, the information setting step (A4) in FIG. The process shifts to S2305 to perform the transport control process of the delivery box 300 based on the “box management information”.

  The box management information is information for managing the arrangement of the delivery boxes 300 stored in the storage 120 of the automatic warehouse 110. The box management information includes position information of each space (storage space 123 and mounting space 121) provided in the storage 120, box identification information of the delivery box 300 disposed in these spaces, and delivery box 300 Transport order information indicating the order in which the 300s are transported to the receiving storage space 124 is recorded in association with each other.

  Subsequently, the carriage 100 (the control unit 101) needs to change the arrangement of the delivery boxes 300 in the storage 120 according to the change of the delivery destination 20 based on the delivery information and the box management information. It is determined (S2303).

  If there is no need to change the arrangement of the delivery boxes 300 in the storage 120 (NO in S2303), the carriage 100 (the control unit 101) proceeds to S2305.

  On the other hand, if it is necessary to change the arrangement of the delivery boxes 300 in the storage 120 (YES in S2303), the carriage 100 (the control unit 101) uses the delivery order information included in the box management information as the delivery information. The process moves to S2304 to reflect the included delivery order information.

  Next, the mother vehicle 100 (the control unit 101) updates the box management information including the transport order information so that the delivery boxes 300 are transported to the receiving storage space 124 according to the changed delivery order (S2304).

  Subsequently, the carriage 100 performs a box transport control process (S2305). Specifically, the control unit 101 of the mother vehicle 100 transmits an instruction to execute the box transfer control process to the transfer control unit 135. This command includes delivery information and box management information. The transport control unit 135 executes a box transport control process based on a command from the control unit 101. After the box control process is performed by the transfer control unit 135, the control unit 101 proceeds to S1907 in FIG.

  In this box transport control process, based on the delivery information and the box management information, the delivery box 300 delivered to the delivery destination 20 is controlled to be transported to the receiving storage space 124, and the delivery box 300 is loaded on the stroller 200. This is a process for performing control. As a result, in the child car 200, the delivery boxes 300 to be delivered to the delivery destination 20 are in a loaded state, and the delivery preparation for loading the delivery boxes 300 is completed.

  The detailed flow of the box transport control process will be described later with reference to FIG.

  FIG. 24 is a flowchart illustrating a detailed flow of the box transfer control process performed in the mother vehicle 100 and the child vehicle 200 according to the first embodiment of the present invention.

  The carriage 100 (the transport control unit 135) transmits a notification indicating that the execution of the box transport control process is started to the child vehicle 200 (S2401). When this notification is received by the stroller 200, the stroller 200 (the loading control unit 230) activates the loading mechanism 220 and performs necessary initialization (S2402).

  Subsequently, the carriage 100 (the transport control unit 135) checks the delivery information and the box management information (S2403). Then, the carriage 100 (the transport control unit 135) uses the delivery information to specify the delivery destination 20 and the delivery box 300 to be delivered to the delivery destination 20 (S2404).

  In addition, the carriage 100 (the transport control unit 135) uses the box management information to position information and the like of the space (the storage space 123 and the mounting space 121) in the storage 120 in which the specified delivery box 300 is arranged. To identify. Then, the carriage 100 (the transport control unit 135) searches for the specified delivery box 300 in the storage 120 (S2405), and locates the specified delivery box 300 in the storage 120 indicated by the specified position information. Make sure that it is actually located in the space.

  Subsequently, the carriage 100 (the transport control unit 135) determines whether the specified delivery box 300 is arranged in the receiving storage space 124 (S2406).

  If the specified delivery box 300 is located in the receiving storage space 124 (YES in S2406), the carriage 100 (transportation control unit 135) proceeds to S2413 to notify the child car 200 of the fact.

  On the other hand, if the specified delivery box 300 is not placed in the receiving storage space 124 (NO in S2406), the carriage 100 (transportation control unit 135) determines whether or not the delivery box 300 is stored in a full-packed level. It is determined (S2407).

  In the case where the delivery box 300 is stored in the full level, if any of the delivery boxes 300 stored in the full level is transferred to another level, the delivery box 300 is stored in the full level. The arrangement of 300 can be changed. In other words, when the delivery box 300 is stored in a non-full level with a blank storage space 123, the arrangement of the delivery boxes 300 can be changed in this non-full level, so that the inter-level transfer control is performed. Processing need not be performed.

  Therefore, if the specified delivery box 300 is not stored in the full-package level (NO in S2407), the carriage 100 (transportation control unit 135) sends a notification indicating that the inter-level transfer control process is not to be performed. 200 (S2408), and proceeds to S2412.

  On the other hand, if the specified delivery box 300 is stored in the full-packed level (YES in S2407), the stroller 100 (transportation control unit 135) sends a notification indicating that the inter-level transfer control processing is to be performed. 200 (S2409), and executes the inter-tier transfer control process (S2411).

  The child car 200 (the loading control unit 230) determines whether or not to execute the inter-layer transfer control process in response to the notification from the mother vehicle 100 regarding whether or not to execute the inter-layer transfer control process (S2410). Specifically, when notification indicating that the inter-layer transfer control process is to be performed is received by sub-car 200 (YES in S2410), sub-car 200 (load control unit 230) executes the inter-layer transfer control process. (S2411). On the other hand, when a notification indicating that the inter-layer transfer control process is not to be performed is received by the stroller 200 (NO in S2410), the stroller 200 (the loading control unit 230) places the specified delivery box 300. The process waits until information indicating the position of the receiving storage space 124 and the position of the floor where the receiving storage space 124 is located is transmitted from the mother vehicle 100, and then proceeds to S2414.

  This inter-layer transfer control process is a control process of transferring the delivery box 300 between the respective layers of the storage 120. Specifically, the stroller 200 (the loading control unit 230) replaces the delivery box 300 arranged in the receiving storage space 124 of the full level with the receiving storage space 124 ( The process of transferring to the receiving storage space 124) of the transfer destination is performed. During this time, the carriage 100 (transportation control unit 135) changes the arrangement of the delivery boxes 300 in the hierarchy where the destination storage space 124 is located so that the destination storage space 124 is blank. I do. That is, in the delivery system 1, even when a stacker crane or the like is not provided in the storage 120, the child car 200 that delivers the delivery box 300 cooperates with the mother vehicle 100, so that the delivery between the respective layers of the storage 120 is performed. Box 300 can be transported.

  The detailed flow of the inter-tier transfer control process will be described later with reference to FIG.

  Subsequently, the carriage 100 (the transport control unit 135) controls the conveyor 131 so that the specified delivery box 300 is transported to the receiving storage space 124 in the same level (S2412). Then, the carriage 100 (transportation control unit 135) gives the child car 200 information indicating the position of the receiving storage space 124 where the specified delivery box 300 is arranged and the position of the floor where the receiving storage space 124 is located. It is transmitted (S2413).

  The stroller 200 (the loading control unit 230) determines whether to raise or lower the arm 221 of the loading mechanism 220 based on the notification indicating the position and the level of the receiving storage space 124 where the specified delivery box 300 is arranged. A determination is made (S2414).

  If there is no need to raise and lower the arm 221 (NO in S2414), the stroller 200 (the loading control unit 230) prepares the arm 221 for receiving the delivery box 300 from the mother vehicle 100. Then, the stroller 200 (the loading control unit 230) transmits a notification indicating that it is in a standby state to receive the delivery box 300 to the stroller 100 (S2416).

  On the other hand, if it is necessary to move the arm 221 up and down (YES in S2414), the stroller 200 (the loading control unit 230) drives the elevating unit 222 to receive the storage space 124 in which the specified delivery box 300 is arranged. The arm 221 is moved up and down to the level (S2415). Then, the stroller 200 (the loading control unit 230) prepares the arm 221 and transmits a notification indicating that the arm 221 is in the receiving standby state to the stroller 100 (S2416).

  When the notification indicating that the vehicle is in the receiving standby state is received by the vehicle 100, the vehicle 100 (transportation control unit 135) moves the delivery box 300 arranged in the receiving storage space 124 by the transportation in S2412 to the arm 221. The conveyer 131 is controlled to be conveyed (S2417).

  The stroller 200 (the loading control unit 230) drives the arm 221 so that the delivery box 300 arranged in the receiving storage space 124 is held by the arm 221. Thereby, the stroller 200 can receive the delivery box 300 (S2418).

  Then, the stroller 200 (the loading control unit 230) drives the elevating unit 222 and the translation unit 223, moves the arm 221 holding the delivery box 300 to the loading platform 224, and places the delivery box 300 on the loading platform 224. . Then, the stroller 200 (the loading control unit 230) causes the placed delivery box 300 to be held by the arm 221. Thereby, the child carriage 200 is in a state where the delivery box 300 is loaded.

  Subsequently, the stroller 200 (the loading control unit 230) sends a notification indicating that the specified delivery box 300, that is, the delivery box 300 to be delivered to the delivery destination 20 is loaded in the stroller 200. The data is transmitted to the mother vehicle 100 (S2419), and the process ends.

When a notification indicating that the delivery box 300 is in the loaded state is received by the vehicle 100, the transport control unit 135 determines that the loading of the delivery box 300 to be delivered to the delivery destination 20 onto the stroller 200 is completed. The notification (loading completion notification) is transmitted to the control unit 101 of the mother vehicle 100 (S2420). Then, the transport control unit 135 updates the box management information so that the arrangement of the delivery boxes 300 in the storage 120 is reflected in the box management information, and ends this processing.
Upon receiving the loading completion notification, the control unit 101 proceeds to S1907 in FIG.

  FIG. 25 is a flowchart showing a detailed flow of the inter-layer transfer control process performed in the mother vehicle 100 and the child vehicle 200 according to the first embodiment of the present invention.

  The carriage 100 (the transport control unit 135) selects the delivery box 300 to be transferred to another non-full level among the delivery boxes 300 arranged in the receiving storage space 124 in the full level (S2501). Then, the carriage 100 (transportation control unit 135) determines the position of the receiving storage space 124 where the selected delivery box 300 is arranged, the position of the level where the receiving storage space 124 is located, and the selected delivery box 300. The information indicating the position of the receiving storage space 124 of the transfer destination and the position of the floor where the receiving storage space 124 of the transfer destination is located is transmitted to the stroller 200 (S2502).

  When this information is received by the stroller 200, the stroller 200 (the loading control unit 230) drives the elevating unit 222 to move the arm 221 to the level of the receiving storage space 124 where the selected delivery box 300 is arranged. Is moved up and down (S2503). Then, the stroller 200 (the loading control unit 230) prepares the arm 221 for receiving the delivery box 300 from the stroller 100, and transmits a notification indicating that it is in a reception standby state to the stroller 100 (S2504). .

  While the stroller 200 is driving the arm 221 (S2503 and S2504), if the delivery box 300 is arranged in the receiving storage space 124 of the transfer destination (S2505). (YES), the conveyor 131 is controlled so that the receiving storage space 124 is blank (S2506). On the other hand, if the delivery box 300 is not placed in the receiving storage space 124 at the transfer destination (NO in S2505), the stroller 100 (the transport control unit 135) sends a notification from the stroller 200 indicating that it is in the receiving standby state. After waiting for transmission, the flow shifts to S2507.

  When the notification indicating that the vehicle is in the receiving standby state is received by the vehicle 100, the vehicle 100 (the transport control unit 135) controls the conveyor 131 so that the selected delivery box 300 is transported to the arm 221. (S2507).

  The stroller 200 (the loading control unit 230) drives the arm 221 so that the selected delivery box 300 is held by the arm 221. Thereby, the stroller 200 can receive the delivery box 300 (S2508).

  Then, the stroller 200 (the loading control unit 230) drives the elevating unit 222 to move the arm 221 holding the delivery box 300 up and down to the level where the receiving storage space 124 at the transfer destination is located (S2509). Then, the stroller 200 (the loading control unit 230) drives the arm 221 to arrange the delivery box 300 held by the arm 221 in the receiving storage space 124 of the transfer destination (S2510). Thus, the selected delivery box 300 is transferred to the receiving storage space 124 of the transfer destination.

  The stroller 200 (the loading control unit 230) transmits a notification indicating that the selected delivery box 300 has been placed in the receiving storage space 124 at the transfer destination to the stroller 100 (S2511), and ends this processing.

  When the parent vehicle 100 receives a notification indicating that the selected delivery box 300 has been placed in the receiving storage space 124 of the transfer destination, the transport control unit 135 confirms that (S2512). Then, the carriage 100 (the transport control unit 135) updates the box management information so that the arrangement of the delivery boxes 300 in the storage 120 is reflected in the box management information. Then, the carriage 100 (the transfer control unit 135) ends this processing, and proceeds to S2412 in FIG.

[8. Change of delivery box arrangement]
FIG. 26 is a diagram schematically illustrating a state where the arrangement of the delivery boxes 300 in the storage 120 according to the first embodiment of the present invention is changed, and illustrates a case where the inter-tier transfer control process is not executed.

  In FIG. 26, the positions of a plurality of spaces (storage space 123 and mounting space 121) provided in storage 120 are specified using the same notation as in the examples shown in FIGS. The gray delivery box 300 in FIG. 26 indicates the delivery box 300 delivered to the delivery destination 20. 26 indicates the storage space 123 in a blank state.

  FIG. 26A shows the arrangement of the delivery boxes 300 before the change. The delivery box 300 to be delivered to the delivery destination 20 is arranged in advance at (17, A) in a hierarchy that is not full.

  First, the carriage 100 conveys the delivery box 300 arranged at (14, F) adjacent to the blank state (15, G) in advance to the blank state (15, G). Thereby, (14, F) becomes a blank state. Subsequently, the carriage 100 transports the delivery box 300 arranged at (13, E) adjacent to the blank state (14, F) to the blank state (14, F). When such conveyance is repeated, (9, A) adjacent to (17, A) in which the delivery box 300 to be delivered to the delivery destination 20 is arranged is blanked. Thereby, as shown in FIG. 26B, the delivery box 300 delivered to the delivery destination 20 can be transported to the blank state (9, A).

  Subsequently, as shown in FIG. 26 (b), the carriage 100 moves the delivery box 300 arranged at (18, B) adjacent to the blank state (17, A) in the blank state ( 17, and transported to A). Thereby, (18, B) becomes a blank state. Subsequently, the carriage 100 conveys the delivery box 300 arranged at (19, C) adjacent to the blank state (18, B) to the blank state (18, B). When such conveyance is repeated, as shown in FIG. 26 (c), the delivery box 300 delivered to the delivery destination 20 is placed in the receiving storage space 124 in the same hierarchy as (17, A) previously arranged. (15, G).

  As described above, the carriage 100 repeatedly transports the delivery box 300 disposed in the storage space 123 adjacent to the storage space 123 in the blank state to the storage space 123 in the blank state. Can be circulated in the same hierarchy. Hereinafter, a control process of transporting the delivery boxes 300 arranged in the storage space 123 of a specific level so as to circulate in the same level is referred to as a “circular transport control process”.

  Then, as shown in FIG. 26 (d), the stroller 100 moves the delivery box 300 arranged in the receiving storage space 124 at (15, G) to the arm 221 of the stroller 200 at (16, H). Transport. The delivery box 300 delivered to the delivery destination 20 is received by the arm 221 of the stroller 200, and as shown in FIG. 26 (e), can be lowered to (16, X) in the level where the loading platform 224 is located.

  In this manner, the stroller 100 can transport the delivery box 300 delivered to the delivery destination 20 to the arm 221 of the stroller 200.

  FIG. 27 is a diagram schematically illustrating a state where the arrangement of the delivery boxes 300 in the storage 120 according to the first embodiment of the present invention is changed, and illustrates a case where the inter-layer transfer control process is executed.

  In FIG. 27, the positions of a plurality of spaces provided in the storage 120 are specified using the same notation as in FIG. The gray delivery box 300 in FIG. 27 also shows the delivery box 300 delivered to the delivery destination 20, as in FIG. The broken line in FIG. 27 also indicates the storage space 123 in a blank state, as in FIG.

  FIG. 27A shows the arrangement of the delivery boxes 300 before the change. The delivery box 300 to be delivered to the delivery destination 20 is arranged in advance at (23, W) in the full-load hierarchy.

  First, since the delivery box 300 to be delivered to the delivery destination 20 is arranged at (23, W) in the full level of the carriage 100, the delivery box arranged in the receiving storage space 124 in the full level is first provided. A delivery box 300 to be transported to another layer that is not full is selected from among the 300 boxes. In the example of FIG. 27, it is assumed that the delivery box 300 arranged at (15, W) indicated by oblique lines in FIG. 27A is selected as the delivery box 300 to be transferred to another level that is not full.

  In addition, the carriage 100 specifies a transfer destination hierarchy to which the selected delivery box 300 is transferred. The transfer destination layer is the layer where the blank storage space 123 is located as in (14, F). The carriage 100 performs the above-described circulating transfer control process, and blanks the receiving storage space 124 (15, G) in the specified transfer destination level as shown in FIG. 27B.

  Subsequently, the stroller 100 transports the delivery box 300 located at (15, W), which is the selected delivery box 300, to the arm 221 of the stroller 200 at (16, X). Thereby, as shown in FIG. 27C, the selected delivery box 300 is received by the arm 221 of the stroller 200 and can be located at (16, X).

  As shown in FIG. 27D, the stroller 200 raises the arm 221 holding the selected delivery box 300 to the transfer destination level, and transfers the selected delivery box 300 to a blank transfer state. It is transferred to (15, G) which is the receiving storage space 124 described above.

  As a result, at the level where the delivery boxes 300 were initially placed, the receiving storage space 124 at (15, W) where the delivery boxes 300 were placed can be in a blank state as shown in FIG. 27D.

  Subsequently, the carriage 100 conveys the delivery box 300 delivered to the delivery destination 20 to the blank receiving storage space 124 ((15, W)), as shown in FIG. 27 (e). Then, when the arm 221 of the stroller 200 descends to (16, X), as shown in FIG. 27F, the delivery box 300 arranged in the receiving storage space 124 of (15, W) is moved. To the arm 221 at (16, X).

  In this way, when the delivery boxes 300 to be delivered to the delivery destination 20 are arranged in a full-packed level, the mother car 100 is disposed in the receiving storage space 124 in the full-packed level in cooperation with the stroller 200. The delivered delivery box 300 is transferred to another level that is not full. Thereby, the stroller 100 can transport the delivery box 300 delivered to the delivery destination 20 to the arm 221 of the stroller 200.

  FIG. 28 is a diagram schematically illustrating a state in which the arrangement of the delivery boxes 300 in the storage 120 in the first embodiment of the present invention is changed. Indicates that the order has been changed.

  In FIG. 28, the positions of a plurality of spaces provided in the storage 120 are specified using the same notation as in FIG. The gray delivery box 300 in FIG. 28 also shows the delivery box 300 delivered to the delivery destination 20, as in FIG. The broken line in FIG. 28 also shows the storage space 123 in a blank state, as in FIG.

  FIG. 28A shows an arrangement of the delivery box 300 before the change. It is assumed that the delivery box 300 delivered to the delivery destination 20 is the delivery box α arranged in advance at (14, F). The delivery box 300 delivered to the delivery destination 20 next to the delivery box α is a delivery box β arranged in advance at (13, E).

  It is assumed that the delivery order of the delivery box 300 is changed from “delivery box α → delivery box β” to “delivery box β → delivery box α” as shown in FIG. I do. That is, the delivery box 300 delivered this time is the delivery box β shown in gray.

  In this case, the carriage 100 performs the above-described circulating transport control process as shown in FIG. 28C, and sets the delivery box β to be delivered this time as (15, G) as shown in FIG. )). The next delivery box α can be delivered to (23, G).

  Then, as shown in FIG. 28 (e), the mother car 100 moves the delivery box β arranged in the receiving storage space 124 at (15, G) to the arm 221 of the stroller 200 at (16, H). Transport.

  The delivery box β is received by the arm 221 of the stroller 200, and as shown in FIG. 28 (f), the loading platform 224 can be lowered to (16, X) in a certain level.

  Subsequently, the mother vehicle 100 conveys the delivery box α arranged at (23, G) to the receiving storage space 124 at (15, G), as shown in FIG. 28 (f). Thereby, the delivery boxes 300 can be arranged in the receiving storage space 124 of (15, G) in the changed delivery order (delivery box β → delivery box α).

  As described above, even if the delivery order of the delivery boxes 300 is changed in accordance with the change of the delivery destination 20, the mother car 100 moves the delivery boxes 300 to the arms of the stroller 200 in accordance with the changed delivery order of the delivery boxes 300. 221.

  FIG. 28 shows a case where the inter-layer transfer control process is not executed when the arrangement of the delivery boxes 300 is changed by changing the delivery order of the delivery boxes 300. 27, the carriage 100 can transfer the delivery box 300 to the arm 221 of the stroller 200 in accordance with the changed delivery order of the delivery boxes 300 by appropriately combining the processes shown in FIG. Can be.

  Also, even when the stroller 200 collects the delivery box 300 from the delivery destination 20 and enters the storage box 120 of the stroller 100, the stroller 100 performs the same processing as the processing illustrated in FIGS. By doing so, the collected delivery box 300 can be stored in the storage 120.

  For example, first, the mother vehicle 100 searches for the storage space 123 in the blank state and its level in the storage 120, and determines the level and the storage space 123 for storing the collected delivery boxes 300. At this time, the mother vehicle 100 may determine the hierarchy and the storage space 123 for storing the collected delivery boxes 300 as follows.

  That is, the mother vehicle 100 changes the storage space 123 located as far as possible from the loading platform 224 of the stroller 200 to the storage space 123 for storing the collected delivery boxes 300 in the floor where the storage space 123 in the blank state is located. You may decide. The storage space 123 located as far as possible from the loading platform 224 of the stroller 200 is, for example, the storage space 123 located at (1, A) or (17, A) shown in FIG. This makes it easier for the delivery box 300 to be delivered to the delivery destination 20 to be transported to the receiving storage space 124, so that more efficient delivery is possible in the delivery system 1.

  When the storage space 123 for storing the collected delivery boxes 300 is determined, the mother vehicle 100 performs the above-described circulating transport control process to blank the reception storage space 124 of the hierarchy where the determined storage space 123 is located. . Then, the stroller 200 raises and lowers the arm 221 to the level where the determined storage space 123 is located, and arranges the collected delivery boxes 300 in the blank receiving storage space 124. Then, the carriage 100 performs the above-described circulating transport control process, and transports the collected delivery boxes 300 to the determined storage space 123.

  As described above, the mother car 100 can store the collected delivery boxes 300 in the storage 120 by performing the same processing as the processing illustrated in FIGS. 26 to 28.

  By the processing as described above, the delivery system 1 of the first embodiment allows the stroller 200 that delivers the delivery box 300 to cooperate with the mother vehicle 100 even when the stacker crane or the like is not provided in the storage 120, The arrangement of the delivery boxes 300 in the storage 120 can be changed.

  In a general automatic warehouse system, a stacker crane or the like transports cargo in a warehouse, and a worker uses a cart or the like to deliver cargo outside the warehouse. That is, in a general automatic warehouse system, a dedicated means for transporting the load in the warehouse such as a stacker crane is required in the warehouse, so that the storage amount of the load is limited. Further, in a general automatic warehouse system, since the package is moved using different means inside and outside the warehouse and the delivery itself to the delivery destination 20 is performed by an operator, the delivery cost is reduced, the delivery speed is increased, and the delivery efficiency is increased. There is room for improvement in this respect. The number of times that re-delivery is required also depends on the convenience of the recipient, so it is difficult to efficiently deliver the package.

  On the other hand, in the delivery system 1 according to the first embodiment, the stroller 200 that delivers the delivery box 300 changes the arrangement of the delivery box 300 in the There is no need for a dedicated means for transporting the delivery box 300 in the inside. For this reason, the delivery system 1 according to the first embodiment can increase the storage amount of the package in the storage 120, so that the package can be efficiently delivered and the cost related to the delivery can be reduced. .

  Furthermore, in the delivery system 1 according to the first embodiment, the delivery of the package to the delivery destination 20 is performed by the stroller 200 of the unmanned automatic driving delivery vehicle, so that the delivery of the package by the worker is unnecessary. For this reason, the delivery system 1 according to the first embodiment can reduce human error and work variation among workers, and can reduce the cost, speed, and efficiency of delivery of packages.

  Further, in the delivery system 1 according to the first embodiment, the delivery box 300 is delivered by being fixed to the delivery box fixing device 400, so that delivery of the package can be completed without being affected by the convenience of the recipient. For this reason, in the delivery system 1 according to the first embodiment, the number of times that re-delivery is required can be reduced, so that the cost of delivering the package can be reduced, speeded up, and increased in efficiency.

  Further, in the delivery system 1 according to the first embodiment, the delivery box 300 to be delivered to the delivery destination 20 is arranged in the receiving storage space 124 before the child stroller 200 gets off at the relay point 21. Therefore, in the delivery system 1 according to the first embodiment, when the stroller 100 arrives at the relay point 21, the stroller 200 can immediately get off and the delivery box 300 can be delivered to the delivery destination 20. Can be reduced in cost, speed, and efficiency.

[9. Other Embodiments]
FIG. 29 is a diagram illustrating the delivery box 300 and a change in the arrangement of the delivery box 300 according to the second embodiment of the present invention. FIG. 30 is a diagram illustrating the stroller 200 on which the delivery box 300 according to the second embodiment of the present invention is loaded.

  As described above, the delivery box 300 according to the first embodiment has a size that can be stored in each of the plurality of storage spaces 123 provided in the storage 120. That is, the size of the delivery box 300 according to the first embodiment is a size corresponding to the size of one storage space 123, and is at least smaller than the size of one storage space 123.

  On the other hand, the size of the delivery box 300 according to the second embodiment may be larger than the size of the storage space 123. Specifically, the size of the delivery box 300 according to the second embodiment is a size corresponding to the size of the two storage spaces 123, and is larger than the size of one storage space 123. The size may be smaller than the size.

  In the example shown in FIG. 29A, the delivery box 300 according to the second embodiment is formed in a rectangular parallelepiped. The length of one side of the delivery box 300 according to the second embodiment in the front-rear direction of the vehicle 100 is twice as long as the length of the delivery box 300 according to the first embodiment.

  Even in such a case, the mother vehicle 100 according to the second embodiment changes the arrangement of the delivery box 300 in the storage 120 as shown in FIGS. The delivery box 300 delivered to the destination 20 can be transported to the arm 221 of the stroller 200.

  Also in the stroller 200 according to the second embodiment, as shown in FIG. 30A, the delivery box 300 according to the second embodiment can be held and received by the arm 221, and as shown in FIG. Then, the delivery box 300 according to the second embodiment can be loaded.

  Further, in the stroller 200 according to the second embodiment, as shown in FIG. 30C, the delivery box 300 according to the second embodiment can be rotated by the carrier 224 to change the direction of the delivery box 300. is there.

  FIG. 31 is a flowchart illustrating a detailed flow of the automatic warehouse control process performed in the mother vehicle 100 according to the third embodiment of the present invention.

  The mother vehicle 100 (control unit 101) according to the third embodiment may execute the automatic warehouse control process shown in FIG. 31 instead of the automatic warehouse control process shown in FIG. Note that among the processes shown in FIG. 31, the description of the same processes as those in FIG. 23 will be omitted.

  After updating the box management information (S3104), the mother vehicle 100 (control unit 101) according to the third embodiment calculates the estimated arrival time and the required loading time (S3105).

  The scheduled arrival time is a time when the mother vehicle 100 is expected to arrive at the relay point 21. The mother vehicle 100 (the control unit 101) calculates the distance from the current location to the relay point 21 using the map information and the GPS device 105a, and arrives based on traveling information such as traveling speed, road information, traffic information, and the like. Scheduled time can be calculated.

  The required loading time is a time required until the delivery box 300 delivered to the delivery destination 20 is loaded on the stroller 200. The required loading time includes a time required for changing the arrangement of the delivery boxes 300 in the storage 120, a time required for receiving and loading the delivery boxes 300 in the stroller 200, and the like. The carriage 100 can calculate the required loading time based on the delivery information, the box management information, and the like.

  Subsequently, the carriage 100 (control unit 101) compares the estimated arrival time with the required loading time, and if the estimated arrival time is equal to or longer than the required loading time (YES in S3106), the box transport control illustrated in FIG. The process is executed by the transport control unit 135 (S3107). Then, after the box transport control process is executed, the mother vehicle 100 (the control unit 101) records that the box transport control process has been executed in the box management information (S3108), and sets the delivery route to the set delivery route. The travel control process related to the delivery based on the information is performed (S3109).

  On the other hand, if the scheduled arrival time is shorter than the required loading time (NO in S3106), the stroller 100 (the control unit 101) performs box transport control after the vehicle arrives at the relay point 21 and before the stroller 200 gets off. In order for the processing to be performed, a travel control process related to delivery based on the set delivery route is performed (S3109).

  Thereafter, after arriving at the relay point 21 or its vicinity (YES in S3110), the mother vehicle 100 (the control unit 101) checks the box management information (S3111), and determines whether or not the box transport control processing has been executed. Is determined (S3112).

  If the box transport control process has been executed in S3107 (YES in S3112), the carriage 100 (control unit 101) ends this process.

  On the other hand, if the box transport control process has not been executed (NO in S3112), the carriage 100 (control unit 101) executes the box transport control process shown in FIG. 24 in the transport control unit 135 (S3113), This processing ends.

Here, if the box transport control process is performed while the mother vehicle 100 is traveling, there is a possibility that problems such as a transport error of the delivery box 300 and breakage of luggage in the delivery box 300 may occur.
If the expected arrival time is equal to or longer than the required loading time, the mother vehicle 100 according to the third embodiment performs the box transport control process until it reaches the relay point 21. On the other hand, if the scheduled arrival time is shorter than the required loading time, the mother vehicle 100 according to the third embodiment performs the box transfer control process after arriving at the relay point 21 and before dropping off the stroller 200. Thus, the mother vehicle 100 according to the third embodiment can reduce the possibility that the above-described problem occurs.

[10. Others]
It will be apparent to those skilled in the art that the embodiments described above can be applied to each other's technology between the embodiments including the modifications.

  The descriptions above are intended to be illustrative, not limiting. Thus, it will be apparent to one skilled in the art that modifications may be made to the embodiments of the invention without departing from the scope of the claims set out below.

  Terms used throughout the specification and the appended claims should be interpreted as "non-limiting." For example, the terms "include" or "include" should be interpreted as "not limited to what is described as being included." The term “comprising” should be interpreted as “not limited to what is described as having”.

Reference Signs List 10 center 20 delivery destination 21 relay point 100 mother vehicle 101 control unit 102 communication device 103 detection device 104 storage device 105 operation control device 105a GPS device 106 traveling mechanism 106a drive wheel 110 automatic warehouse 120 storage 121 mounting space 122 main space 123 storage Space 124 Receiving storage space 125 Door 130 Transport control mechanism 131 Conveyor 132 First conveyor 133 Second conveyor 135 Transport control unit 200 Child stroller 201 Control unit 202 Communication device 203 Detector 204 Storage device 205 Operation control device 205a GPS device 205b Center of gravity position Adjustment device 206 traveling mechanism 206a drive wheel 210 loading control mechanism 220 loading mechanism 221 arm 222 elevating section 223 translation section 224 carrier 230 loading control section 231 Interlayer transfer control unit 300 Delivery box 301 Cover part 302 Luggage storage unit 303 Damper 304 Hinge 310 Projection 310a First projection 310b Second projection 310c Third projection 310d Fourth projection 400 Delivery box fixture 410 Hole 410a First hole 410b Second hole 410c Third hole 410d Fourth hole

Claims (2)

A delivery vehicle that loads a delivery box and delivers the delivery box to a delivery destination, a transportable vehicle that can be mounted,
A storage capable of storing one or a plurality of the delivery boxes,
A transport control mechanism for controlling the transport of the delivery box arranged at a predetermined storage position in the storage to another storage position different from the predetermined storage position,
By controlling the transfer of the delivery box by the transfer control mechanism to the receiving storage position where the delivery vehicle can receive the delivery box among the storage positions, the delivery box can be loaded on the delivery vehicle. A transport vehicle. The transport control mechanism,
A first conveyor that is provided at least in the receiving and storing position and transports the delivery box in the front-rear direction and the vehicle width direction of the transport vehicle;
A second conveyor that is provided at least in another storage position different from the receiving storage position, and that conveys the delivery box in the front-rear direction of the transport vehicle;
The transport vehicle according to claim 1, further comprising: a transport control unit configured to control transport of the delivery box by controlling at least one of the first conveyor and the second conveyor.