JP6738881B2 - Delivery system - Google Patents

Description

The present invention relates to a delivery system.

By establishing a communication environment that enables communication using various types of terminals throughout society, electronic commerce using EC (Electronic Commerce) sites constructed using Web technology has become active. There is.

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 for the product becomes possible, personal authentication, payment procedure, etc. are completed on a system called a Web payment system, and then the product is delivered to the designated delivery destination. ..

Products at this time include "digital data" distributed online, as well as "shaped products (articles)" such as daily necessities. When the former "digital data" is purchased, the product will be delivered if it is sent to a designated destination such as email, but when the latter "shaped product" is purchased, it is generally Is delivered (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.

Of course, in the delivery using a delivery company in this delivery process, since the delivery is performed by a person, personnel expenses and other expenses are incurred, and the more the amount of parcels (products) to be delivered increases. More labor costs, equipment, etc. will be incurred. Furthermore, when the recipient of the parcel (product) is absent at the delivery destination, new work such as creation of an absent slip and notification of redelivery occurs.

As described above, while the electronic commerce using the EC site is activated, it takes a lot of time and effort to deliver the purchased product (product) and the delivery cost also increases.

JP, 08-324709, A

Patent Document 1 discloses a technique relating to transportation equipment with a three-dimensional automatic warehouse. The transportation apparatus with a three-dimensional automatic warehouse of Patent Document 1 includes a rack, a stacker crane, a restraint mechanism that restrains the stacker crane, and a control means, and mechanizes the storage and handling of items to reduce the burden on the operator. ..

However, the transportation device with a three-dimensional automatic warehouse of Patent Document 1 requires a stacker crane and a restraint mechanism therefor, so that the storage amount of luggage is limited. Further, in the transportation device with a three-dimensional automated warehouse of Patent Document 1, since it is premised that the worker itself takes out the package from the transportation device and delivers it to the delivery destination, the cost reduction, speedup, and efficiency of delivery are achieved. There is room for improvement in terms of conversion.

The present invention has been made in view of the above circumstances, and an object thereof is to solve the above-mentioned problems. That is, one example of the problem to be solved by the present invention is to deliver a package quickly and efficiently.

A delivery system according to one aspect of the present invention includes a delivery vehicle on which a delivery box to be delivered to a delivery destination is loaded, and a mother vehicle on which the delivery vehicle is mounted, and the mother vehicle includes a plurality of the delivery boxes. An automated warehouse configured to store and change the arrangement of the plurality of delivery boxes, and to the delivery destination before the delivery vehicle is dismounted at a relay point on the delivery route from the delivery source to the delivery destination. The delivery box to be delivered includes a control unit that controls the automated warehouse so that the delivery vehicle is located at a receiving and storing position where the delivery vehicle can receive the delivery box, and the delivery vehicle is located at the receiving and storing position. By receiving the arranged delivery box, the delivery box to be delivered to the delivery destination is loaded, the delivery box travels from the relay point to the delivery destination on the delivery route, and the delivery box is loaded on the delivery vehicle. The delivery box is delivered to the delivery destination, and the control unit sets the delivery box to be delivered to the delivery destination in a state of being loaded on the delivery vehicle until the mother vehicle arrives at the relay point. If the time required for the delivery is shorter than the required time , the automatic warehouse is controlled so that the delivery box delivered to the delivery destination is located at the receiving storage position after the mother vehicle arrives at the relay point.

In the delivery system according to one aspect of the present invention, the delivery vehicle can be dismounted from the mother vehicle arriving at the relay station and the delivery box can be delivered to the delivery destination, so that the package can be delivered quickly and efficiently. it can.

Some embodiments of the present invention are described below, by way of example only, with reference to the accompanying drawings.
The figure which shows the outline|summary of the delivery system in Embodiment 1 of this invention. Another figure showing the outline of the delivery system in Embodiment 1 of the present invention. The figure which shows the process process (work process) performed in the delivery origin which comprises the delivery system in Embodiment 1 of this invention. The figure which shows the electric constitution of the mother car in Embodiment 1 of this invention. The figure which shows the external appearance structure of the mother car in Embodiment 1 of this invention. It is a figure which shows the internal structure of the storage contained in the automatic warehouse in Embodiment 1 of this invention, Comprising: The figure which looked at the inside of a 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, Comprising: The AA' arrow line 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. The figure which shows the electric constitution of the slave wheel in Embodiment 1 of this invention. The figure which shows the external appearance structure of the child vehicle in Embodiment 1 of this invention. The figure which shows the delivery mode in the delivery system in Embodiment 1 of this invention (the 1). The figure which shows the delivery mode in the delivery system in Embodiment 1 of this invention (the 2). The figure (3) which shows the delivery mode in the delivery system in Embodiment 1 of this invention. The figure which shows the delivery mode in the delivery system in Embodiment 1 of this invention (the 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 fixing tool in Embodiment 1 of this invention. The figure which shows the email content which the recipient of a package receives. 6 is a flowchart showing a detailed flow of a BOX delivery control process performed in the mother car according to the first embodiment of the present invention. 6 is a flowchart showing a detailed flow of a BOX delivery control process performed in the child vehicle according to the first embodiment of the present invention. 6 is a flowchart showing a detailed flow of lock control processing performed in the delivery box according to the first embodiment of the present invention. 3 is a flowchart showing a detailed flow of a driving control process performed in the mother car according to the first embodiment of the present invention. 6 is a flowchart showing a detailed flow of automatic warehouse control processing performed in the mother car according to the first embodiment of the present invention. 6 is a flowchart showing a detailed flow of box transfer control processing performed in the mother car and the child car according to the first embodiment of the present invention. 3 is a flowchart showing a detailed flow of inter-tier transfer control processing performed in a mother car and a child car in the first embodiment of the present invention. FIG. 9 is a diagram schematically showing how the arrangement of delivery boxes in the storage is changed in the first embodiment of the present invention, showing a case where inter-tier transfer control processing is not executed. FIG. 6 is a diagram schematically showing how the arrangement of delivery boxes in the storage box is changed in the first embodiment of the present invention, showing a case where inter-tier transfer control processing is executed. It is a figure which shows typically the mode that the arrangement|positioning of the delivery box in the storage box in Embodiment 1 of this invention is changed, and shows the case where the delivery order of the delivery box is changed with the change of the delivery destination. Fig. The figure which shows the delivery box in Embodiment 2 of this invention, and its layout change. The figure which shows the child vehicle with which the delivery box in Embodiment 2 of this invention was loaded. 9 is a flowchart showing a detailed flow of automatic warehouse control processing performed in the mother car according to the 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. In addition, not all of the configurations and operations described in each embodiment are essential as the configurations and operations of the present invention. In addition, the same reference numerals are given to the same components, and duplicate description will be omitted.

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

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

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

The center 10 accepts orders made using an EC site that enables electronic commerce. More specifically, the center 10 receives an order by a server provided in the center 10 that manages and operates an EC site.

This EC site is a store on the Web that can be accessed using electronic devices such as personal computers and tablets installed at home. By accessing this EC site, a person who wants to purchase a product can easily order (purchase) the desired product and can easily carry out shopping.

Access to this EC site is also possible from an automatic vending machine equipped with a liquid crystal display and connected to the Web site by network communication. For example, a person who wants to purchase a product can purchase the product displayed on the liquid crystal display as if he/she purchased a drink with a conventional vending machine.

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

In the center 10, when the purchaser of the product receives an order in which the delivery destination 20 or the like is designated, the ordered product is selected from the managed products, and the product is delivered to the delivery destination 20. ..

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, the delivery vehicle delivers the product as a package.

The parcel at this time is stored in an appropriate delivery box 300 (also referred to as a “box”, a “BOX”, or a “delivery container”) selected according to the size, shape, quantity, impact resistance, or the like. It is (stored) and delivered. From this, the parcel and the delivery box 300 are synonymous as an object to be delivered (delivery target). The meanings of “delivery of parcel” and “delivery of a delivery box” are not different.

The delivery vehicle to be delivered includes a small delivery vehicle loaded with the delivery box 300 and a large delivery vehicle equipped with the delivery vehicle itself.

The large-sized delivery vehicle can be equipped with one or more delivery boxes 300 and a small delivery vehicle, and is an “unmanned automatic delivery delivery mother vehicle”, “transport vehicle”, “mother vehicle”, “mother vehicle”. Also called. Hereinafter, this large delivery vehicle is referred to as "mother car 100".

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

The child vehicle 200 may be referred to as a “first delivery vehicle”, and the mother vehicle 100 may also be referred to as a “second delivery vehicle”.

In the center 10, information (“delivery information”) regarding the delivery destination 20 of the delivery box 300 in which the parcel is stored is set (stored) in each delivery vehicle (the mother vehicle 100 and the child vehicle 200). That is, the information regarding the delivery destination 20 is set and stored in each of the mother car 100 and the child car 200 by the number of one or a plurality of delivery boxes 300 mounted on the mother car 100.

This delivery information includes the address and name of the delivery destination 20, a "fixing device number" for identifying the delivery box fixing device 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. Further, the delivery information includes delivery order information indicating the order in which the delivery box 300 is delivered to the plurality of delivery destinations 20.

The mother vehicle 100 has an automatic driving control mechanism (automatic driving control unit) and a delivery control mechanism (delivery control unit), and the luggage is delivered by interlocking with each other.

The automatic driving control mechanism of the mother vehicle 100 is a general term for devices, mechanisms, control programs and the like required to move (run) the mother vehicle 100 to a predetermined position (point) by automatic driving.
This automatic driving control mechanism controls the movement of the mother vehicle 100 from the center 10 of the delivery source to a predetermined position (point) on the delivery route (corresponding to the “alighting point”, the “relay point 21”, etc.). To do.

Here, the delivery route from the delivery source center 10 to a predetermined position (point) on the delivery route (corresponding to the “alighting 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 carries the child vehicle 200 and moves (runs). In other words, the child vehicle 200 moves from the delivery destination 20 to the relay point 21 along with the mother vehicle (in an inseparable state) on the first movement route.

The delivery control mechanism of the mother car 100 is a general term for devices, mechanisms, control programs, and the like necessary for the mother car 100 to deliver the delivery box 300 to the delivery destination 20.
This delivery control mechanism corresponds to a predetermined position (point) on the delivery route (corresponding to the “alighting point”, the “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 is specified, and the delivery box 300 is loaded.

Further, the delivery control mechanism controls the child car 200 mounted on the mother car 100 to be discharged from the mother car 100. The delivery control at this time is a control process in which the door of the mother car 100 is opened to serve as a delivery path and the child car 200 is delivered.

Further, when the child car 200 returns the delivery box 300 to the delivery destination 20 and then returns (returns) to the mother vehicle 100, the delivery control mechanism stores the child vehicle 200 and rides on the mother vehicle 100. Take control. The warehousing control at this time is a control process in which the door of the mother car 100 is opened, and the door serves as a warehousing path to store the slave car 200 and stop the mother car 100 in a predetermined space.

Further, this delivery control mechanism manages the delivery status of the child vehicle 200 by performing mutual communication with the child vehicle 200 that has been delivered from the mother vehicle 100.

The detailed configuration of the mother carriage 100 will be described later with reference to FIGS. 4 to 8.

In addition, the child car 200 also has an automatic driving control mechanism (automatic driving control unit) and a delivery control mechanism (delivery control unit), similar to the mother car 100, and delivers a package by interlocking with each other. To do. However, the automatic driving control mechanism of the child vehicle 200 is similar to the automatic driving 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 child vehicle 200 moves the child vehicle 200 from the point where the child vehicle 200 gets off from the mother vehicle 100 (corresponding to the “getting off point” and the “relay point 21”) to the delivery destination 20 by automatic driving (running). ) Is a general term for devices, mechanisms, control programs, etc. required for the operation.
This automatic driving control mechanism performs control to move the child vehicle 200 from a point where the child vehicle 200 gets off from the mother vehicle 100 (corresponding to a “getting off point”, a “relay point 21”, etc.) to a delivery destination 20.

Here, the delivery route from the point where the child vehicle 200 gets off from the mother vehicle 100 (corresponding to the “getting-off point” and the “relay point 21”) to the delivery destination 20 is also referred to as a “second moving route”. That is, the second movement route is a delivery route in which the child vehicle 200 dismounts from the mother vehicle 100 and moves (runs). In other words, the child car 200 moves (runs) independently from the mother car 100 along the second movement route from the relay point 21 to the delivery destination 20.

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

The arm is a member that can hold, hold, or hold the delivery box 300, and thus can be referred to as a “holding member”, a “holding member”, a “holding member”, or a “holding portion”. .. The arm is also a member that movably drives the delivery box 300, and thus can be referred to as a “movable member”.

The detailed configuration of the child vehicle 200 will be described later with reference to FIGS. 9 and 10. The detailed configurations of the delivery box 300 and the delivery box fixture 400 will be described later with reference to FIGS. 15 to 17.

Subsequently, a flow of processing for 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 above-described functions will be described below.

The mother vehicle 100 equipped with the child car 200 searches for a delivery route (moving route) to the delivery destination 20 to which the delivery box 300 loaded in the child car 200 is delivered based on the information about the delivery destination 20. In this search process, the delivery route for delivering the delivery box 300 to the delivery destination 20 is retrieved using the GPS device included in the mother car 100, the map information, the road information, and the like.

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

In the example shown in FIG. 1, three delivery destinations 20 are designated, “delivery destination 1”, “delivery destination 2”, and “delivery destination 3”. In this case, the delivery route is ““center”→“delivery destination 1”→“delivery destination 2”→“delivery destination 3”→“center””.

However, although ““center”→“delivery destination 1”” is designated as a part of the delivery route, the travel route along which the mother vehicle 100 moves is from the center 10 to the “relay point 1” (relay point 1) ( “Relay 1” is shown). This indicates that the child vehicle 200 moves between the "relay point 1" and the "delivery destination 1". The "relay point 1" at this time is a point corresponding to the "delivery destination 1" as the delivery destination 20, and the child on which the delivery box 300 to be delivered to the "delivery destination 1" as the delivery destination 20 is loaded. The vehicle 200 is a point where the mother vehicle 100 gets off (get-off point).

Similar to the mother vehicle 100, the child vehicle 200 also searches for a delivery route (moving route) from the current location (e.g., a drop-off point) to the delivery destination 20 based on the information about the delivery destination 20. Further, the child vehicle 200 searches for a return route from the delivery destination 20 to return to the mother vehicle 100. In these search processes, the GPS device included in the child vehicle 200, map information, road information, and the like are used to deliver the child vehicle 200 from the current location (e.g., the exit point) to the delivery destination 20, and from the delivery destination 20 to the mother vehicle 100. Search for a route to the point where there is.

If the current location is “relay point 1”, which is the point where the mother vehicle 100 gets off, the child vehicle 200 searches for and stores the delivery route from the “relay point 1” to the “delivery destination 1”. Then, the child vehicle 200 moves on the delivery route from the "relay point 1" to the "delivery destination 1". After that, when the delivery of the delivery box 300 to the "delivery destination 1" is completed, the child car 200 follows the return route to the "relay point 1", which is the return point where the mother car 100 is, by mutual communication with the mother car 100. Search for. That is, in this case, the exit 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 movement route along which the mother vehicle 100 moves corresponds to “Delivery destination 1”. From "relay point 1" to "relay point 2" corresponding to "delivery destination 2". Also in this case, similarly, the child vehicle 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 child vehicle 200 that has moved from the "relay point 2" to the "delivery destination 2" is not the "relay point 2" that is alighted from the mother vehicle 100, but the "relay point" corresponding to the "delivery destination 3". Return to 3”.

That is, in the portion of “delivery destination 1”→“delivery destination 2”, the movement start point and the return point of the child vehicle 200 are different. This means that the mother car 100 moved from the "relay point 2" to the "relay point 3" corresponding to the "delivery destination 3" while the child vehicle 200 was delivering to the "delivery destination 3". The figure shows that the child vehicle 200 has searched for ““delivery destination 2”→“relay point 3”” as a return route through 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 movement route along which the mother vehicle 100 moves corresponds to “Delivery destination 2”. It is the "relay point 3" corresponding to the "relay point 2" to the "delivery destination 3". Also in this case, similarly, the child vehicle 200 moves between the "relay point 3" and the "delivery destination 3" to deliver the delivery box 300.

Then, ““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.

With the above flow, the delivery system 1 enables delivery of the delivery box 300 (luggage) from the delivery source center 10 to the delivery destination 20.

At this time, the delivery destination 20 is provided with a delivery box fixture 400 that 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 a plurality of protrusions 310 (also referred to as “projections”) that can be fixed to the delivery box fixture 400. Further, the delivery box fixing tool 400 has one or a plurality of holes 410 for locking 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 the combined portion of the cylindrical portion and the conical portion.

The protrusion 310 provided on the delivery box 300 and the hole 410 provided on the delivery box fixture 400 are fixing members that can fix the delivery box 300 to the delivery box fixture 400. In other words, since the delivery box 300 and the delivery box fixture 400 are in a relationship of engaging with each other by the protrusion 310 and the hole 410, the protrusion 310 is the engagement portion (first engagement) in the delivery box 300. It can be said that the hole portion 410 is an engaging portion (second engaging portion) of 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 fixture 400 has a lock mechanism, and when the protrusion 310 of the delivery box 300 is inserted into the hole 410, the lock mechanism fixes the protrusion 310 to the hole 410 and cannot be removed. It is configured so that it will not be removed or stolen by controlling (lock control) the state (including the state where it is difficult to remove). ing.

This locking mechanism is supported by two protrusions 310 of the four protrusions 310 provided on the delivery box 300, and the remaining two protrusions 310 are provided on the delivery box fixture 400. A cylindrical pin having no constriction is provided as a protrusion that fits into the upper circular portion of the formed hole portion 410 so as to prevent the delivery box from being lifted upward and fixing the delivery box.

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

If the child car 200 cannot fix the delivery box 300 to the delivery box fixture 400 due to a delivery to the delivery destination 20 where the delivery box fixture 400 is not installed, or if there is some kind of failure, register in advance. It is possible to notify the arrival of the parcel to the contact information of the recipient, and to deliver the parcel at a predetermined position (standby position) near the delivery destination 20 where the child car 200 is on standby.

However, in the case where the child car 200 cannot fix the delivery box 300 to the delivery box fixing tool 400 and the arrival information of the parcel is notified to the contact information of the recipient registered in advance, the absence is present. When it is confirmed by a means such as telephone, mail or various SNS (Social Networking Service) that there is no reply for some reason or it is difficult or impossible to receive for some reason, the child car 200 is After returning to 100 and confirming the time at home, redelivery is performed.

Next, the process after the delivery is completed will be described.

When the delivery of the delivery box 300 is completed by the above-described processing, the child car 200 adds the contact information (email or various SNS) included in the information about the recipient of the delivery box 300 stored in the storage device. Notify the arrival of luggage.

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

The delivery box 300 has an information input unit such as a touch panel, a button, a camera (imaging device), etc., and can accept an input of an unlock key code described later. When a regular unlocking key code is input from this information input unit and authentication is performed, the delivery box 300 is in a state (opened) in which the door of the delivery box 300 (also referred to as “BOX door” or “lid part”) can be opened. State) lock control. When the recipient takes out the package and closes the door while the door is locked and locked, the delivery box 300 locks the door of the delivery box 300 to a restricted state (closed state). To do.

The recipient of the parcel (if the person who wants to purchase the product and the person who wants to purchase the goods are the same as the person who wants to purchase the goods) inputs predetermined information into the information input section of the delivery box 300, and the delivery box 300 has the correct predetermined information. When the delivery box 300 is authenticated as the unlock key code, the delivery box 300 performs the lock control in the openable state (open state). As a result, the recipient can open the door of the delivery box 300 and take out the package.

When the door of the delivery box 300 is closed (or the door is closed by the recipient) after the package is taken out, the delivery box 300 locks the door, but the correct unlock key code is again provided. It can be unlocked any number of times by authenticating that it has been entered.

With the above-described processing, the delivery system 1 can take out the package whose delivery has been completed.

Then, when the delivery box 300 detects that the parcel is taken out by the sensor or the like and that the door is locked, the delivery box 300 transmits the status information to the center 10. At this time, the center 10 transmits a “BOX collection inquiry notification” to the mother vehicle 100, which is delivering the package to any delivery destination 20, to inquire whether the delivery box 300 can be collected.

In the mother vehicle 100 that has received the “BOX collection inquiry notification”, it is determined whether or not there is a child vehicle 200 in which the delivery box 300 can be loaded (child vehicle 200 in which the delivery box 300 is not loaded), and the center 10 Is answered whether the delivery box 300 can be collected.

After that, the mother car 100 that has received the “BOX collection instruction (collection instruction information)” 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 movement based on the route is performed. Then, the delivery box 300 is collected.

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

Further, 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 carries out delivery and collection along the new delivery route (delivery collection route). It will be. Of course, the collection route may be searched and stored separately from the existing delivery route, and the delivery box 300 may be collected based on the collection route after the delivery of the delivery box 300 by the delivery route is completed. The delivery box 300 may be collected based on the collection route before the delivery box 300 is delivered by the route.

A state in which the delivery box 300 is delivered and collected by a new “delivery collection route” in which the collection route for collecting the delivery box 300 at this time is incorporated into the existing delivery route is shown in FIG. 2 and 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 collection route for collecting the delivery box 300 is incorporated in the delivery route in the delivery system 1 as shown in FIG.

The delivery collection route shown in FIG. 2 is a delivery box for the delivery route shown in FIG. This is to newly incorporate 300 “collection destination 1” (also referred to as “delivery destination”).

Specifically, the delivery route of the mother vehicle 100 from the "delivery destination 3" to the center 10 is changed to ""delivery destination 3"→"collection destination 1"→"center"".

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

Similar to each delivery destination 20, a "relay point 4", which is the stop position of the mother vehicle 100 with respect to the "recovery destination 1", is also provided for this "recovery destination 1". The child car 200 gets off and the child car 200 moves to the "collection destination 1". At this time, the child vehicle 200 heading for recovery is a delivery vehicle that does not have the delivery box 300 loaded on its carrier.

In the “recovery destination 1”, the slave vehicle 200 performs a process of loading the delivery box 300 on the platform using the arm. At this time, the child vehicle 200 has 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 an unlock key. Check (check) the code etc., and the unlocking key code etc. are the same as the "box identification information" and "unlocking key code" of the information regarding the collection destination included in the "BOX collection instruction (collection instruction information)". On condition that the delivery box 300 exists, the child car 200 releases the delivery box 300 from the delivery box fixture 400. Then, the child car 200 loads and collects the delivery box 300 that has been fixed.

With the above processing, the delivery system 1 can collect the delivery box 300 fixed to the delivery box fixture 400 of the delivery destination 20.

By such processing, the delivery can be completed without the recipient directly receiving the parcel stored in the delivery box 300 at the delivery destination 20. That is, the number of times that the recipient needs to be redistributed due to the absence etc. can be significantly reduced.

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

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

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

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

This "BOX delivery step" includes an order receiving step (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.

When an order is accepted in the order acceptance step, subsequently, there is a storage step (A2) in which the ordered product is stored (stored) in the delivery box 300 as a package.

In this storing step, a delivery box 300 suitable for delivering the package is selected from the 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 and store your luggage.

Subsequently, in the storing step, a child vehicle 200 that is a delivery vehicle that loads the delivery box 300 that stores the luggage is determined, and a vehicle determining step (A3) that determines the mother vehicle 100 that is the delivery vehicle that has the child vehicle 200 mounted therein. ).

When the delivery vehicle is determined in this vehicle determination step, there is subsequently an information setting step (A4) that sets (stores) predetermined information in the storage devices of the delivery box 300, the child car 200, and the mother car 100, respectively.

In the information setting step, first, in the storage device of the delivery box 300, child vehicle identification information (child vehicle ID) that identifies the child vehicle 200 that loads the delivery box 300 and delivery information that specifies the delivery destination 20 are stored. At least remember. Secondly, in the storage device of the child car 200, box identification information for identifying the delivery box 300 loaded on the child car 200, authentication information, and mother car identification information for identifying the mother car 100 on which the child car 200 is mounted (mother car) At least the delivery information specifying the delivery destination 20 is stored. Thirdly, in the storage device of the mother car 100, a subsidiary car ID for identifying the subsidiary car 200 mounted on the mother car 100, delivery information designating the delivery destination 20, and arrangement of the delivery box 300 in the mother car 100. Set the box management information for managing.

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

When the departure preparation is completed in the departure preparation step, subsequently, there is a delivery instruction step (A6) of issuing a "BOX delivery request" to the mother vehicle 100 to issue a delivery instruction.

Through such steps, the mother vehicle 100 can depart from the center 10 toward the delivery destination 20.

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

As the “BOX collecting process”, first, after the center receives a “removal completion notification” indicating that the package has been taken out from the delivery box 300, the center 10 sends a “BOX recovery inquiry notification” to a predetermined mother vehicle 100. There is an inquiry step (B1) to send.

In the inquiry step (B1), when the center 10 transmits a “BOX collection inquiry notification” to a predetermined mother car 100, subsequently, the delivery box 300 is not loaded from the mother car 100 that has received this notification. It indicates that the delivery box 300 can be collected because the child vehicle 200 is installed, or that the delivery box 300 cannot be collected because there is no child vehicle 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 mother car 100 sends the "BOX inquiry response notice" including information necessary for the center 10 to determine the mother car 100 for collecting the delivery box 300, such as the current location and the number of remaining deliveries. May be.

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

In the mother car determining step (B3), the distance to the destination 20 where the delivery box 300 to be collected is installed, the moving route, and the like of the mother car 100 having the child car 200 on which the delivery box 300 is not loaded are set. In consideration of this, the mother car 100 that collects the delivery box 300 is determined.

Subsequently, in this mother vehicle determining step (B3), when the mother vehicle 100 to be collected in the delivery box 300 is determined, there is a collecting instruction step (B4) for transmitting a "BOX collecting instruction" to the mother vehicle 100.

Upon receiving the “BOX collection instruction” transmitted in the collection instruction step (B4), the mother vehicle 100 searches the collection route of the delivery box 300 for the delivery route and collects the delivery box 300.

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

[3. Detailed composition of mother car]
FIG. 4 is a diagram showing an electrical configuration of the mother carriage 100 according to the first embodiment of the present invention. FIG. 5: is a figure which shows the external appearance structure of the mother car 100 in Embodiment 1 of this invention. FIG. 6 is a diagram showing an internal configuration of the storage case 120 included in the automated warehouse 110 according to the first embodiment of the present invention, and is a view of the inside of the storage case 120 as viewed from above. 7: is a figure which shows the internal structure of the storage shed 120 contained in the automatic warehouse 110 in Embodiment 1 of this invention, and shows A- when the storage shed 120 is cut|disconnected by the AA' line shown in FIG. It is an A'arrow view. FIG. 8: is a figure which shows the conveyor 131 which comprises the conveyance control mechanism 130 contained in the automatic warehouse 110 in Embodiment 1 of this invention. FIG. 8A shows a first conveyor 132 which is one of the conveyors 131. FIG. 8B shows the 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 automated warehouse 110.

The control unit 101 is a control unit that integrally controls the entire functions of the mother vehicle 100 including the automatic driving control mechanism and the delivery control mechanism 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 vehicle 200. The communication device 102 can also perform mutual communication with another mother car 100.

The detection device 103 recognizes the surroundings of the mother car 100 including the traffic lane defined by other vehicles and pedestrians, animals, falling objects, grooves, irregularities, centerlines, and the like around the mother vehicle 100. Of various radars and sensors. The various radars and various sensors forming the detection device 103 are, for example, laser sensors, infrared sensors, ultrasonic sensors, pyroelectric sensors, 3D-LiDAR (3D Light Detection and Ranging), and the like. The various sensors include cameras. The detection device 103 compositely recognizes the situation around the mother car 100 based on the information obtained by the face recognition system using a camera and the 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 automatic driving control mechanism and the delivery control mechanism as described above. The storage device 104 stores various kinds of information transmitted and received through mutual communication with the center 10 and the child vehicle 200, and various kinds of information for traveling on a delivery route by automatic driving. In the storage device 104, for example, delivery information that is information about the delivery destination 20, map information that is used to determine a delivery route to the delivery destination 20 of the package, and a travel route (travel route, delivery route) of the mother vehicle 100. The road information about the road, traffic information, etc. are stored. Further, the storage device 104 stores “box management information” for managing the arrangement of the delivery boxes 300 stored in the automated 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, driving 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, drive wheels 106a for the mother vehicle 100 to travel on a road.

By controlling the drive of the traveling mechanism 106, the operation control device 105 performs not only movement (operation) such as driving and stopping of the mother vehicle 100, but also parallel parking and direction change in a narrow place (alley, etc.). Therefore, it is possible to perform not only the forward/backward movement but also operation control such as left/right parallel movement, rotation on the spot, and parallel movement in an oblique direction.

The operation control device 105 also includes a GPS (Global Positioning System) device 105a capable of specifying (positioning) the position on the map information. Further, the operation control device 105 includes a receiver connectable 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 car 100, the operation control device 105 uses the respective information (map information, road information, traffic information, etc.) stored in the storage device 104 and the GPS device 105a from the current position (current position) to the delivery destination 20. The delivery route (moving route) is searched and stored, and the operation (moving) is performed based on this delivery route. Of course, the operation control device 105 can also 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 a worker's work. The automated warehouse 110 transports the delivery box 300 to a predesignated position (“reception storage position” described later) in the automated warehouse 110 based on a command from the control unit 101. The delivery box 300 transported to the predesignated position is received by the arm of the child car 200 and loaded on the child car 200.

The automated warehouse 110 includes a storage 120 and a transfer control mechanism 130.

The storage 120 is a warehouse for storing one or a plurality of delivery boxes 300. The storage case 120 forms the passenger compartment of the mother car 100, as shown in FIG. That is, since the mother car 100 is an unmanned self-driving delivery vehicle that does not require a driver's riding space, the compartment of the mother car 100 can be formed by the storage case 120.

A door 125 serving as an entrance/exit for the child car 200 is provided at the rear side portion of the storage case 120. The door 125 functions as a storage path and a storage path when the child vehicle 200 moves in and out (in/out).

A storage space 121 in which the child car 200 is mounted and a main space 122 in which the delivery box 300 is stored are provided in the storage 120.

The mounting space 121 is a waiting place for the child car 200 to stand by, and is also a work place for loading the delivery box 300 on the child car 200 and preparing for delivery. That is, it can be said that the storage 120 stores the child car 200 in addition to the delivery box 300.

The main space 122 is provided with a rack (not shown) capable of three-dimensionally storing a plurality of delivery boxes 300, 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. The respective positions of the plurality of storage spaces 123 correspond to the storage positions of the delivery box 300.

As shown in FIG. 6, the plurality of storage spaces 123 are arranged adjacent to each other in a matrix along the floor surface of the storage cabinet 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 case 120 (vehicle height direction of the mother carriage 100). However, the space near the door 125 is defined as a mounting space 121 in which the slave 200 is mounted. In other words, if the plurality of storage spaces 123 and the mounting space 121 arranged along the floor surface of the storage cabinet 120 form one layer (tier), the internal space of the storage cabinet 120 has a plurality of layers (plurality). It can be said that it is configured by stacking.

The space adjacent to the mounting space 121 among the plurality of storage spaces 123 is a storage space where the child vehicle 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. It is the 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 will be referred to as a “reception storage space 124”. The position of the receiving/storing space 124 is referred to as a “receiving/storing position”.
A plurality of receiving and storing 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 mother car 100 are arranged in the storage box 120 in three rows in the vehicle width direction of the mother car 100 per floor. The spaces are arranged. Then, the 24 spaces arranged in a matrix along the floor surface of the storage 120 are set as 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 case 120. In other words, in the example shown in FIGS. 6 and 7, 72 spaces are provided in the storage box 120.

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

Of the plurality of spaces provided in the storage 120, the 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 ( The nine spaces (15, G), (15, O) and (15, W) correspond to the receiving and storing space 124.

In addition, some of the plurality of storage spaces 123 are 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, of the 69 storage spaces 123, only one storage space 123 is in a blank state in any of the layers. For example, in the example shown in FIG. 6 and FIG. 7, the storage space 123 of (15, G), which is one of the receiving storage spaces 124 in the upper layer, is blanked in advance. Therefore, in the example shown in FIGS. 6 and 7, the storage box 120 can store a maximum of 68 delivery boxes 300. It should be noted that the layer without the blank storage space 123 is also referred to as a “layer full of delivery boxes 300”.

The transport control mechanism 130 is a mechanism that controls a layout change of the delivery box 300 in the automated warehouse 110. Specifically, the transfer control mechanism 130 is a mechanism that controls the transfer 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 that conveys 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, 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 cabinet 120. The plurality of conveyors 131 and 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 conveyor 131. The mother car 100 can acquire the identification information of the delivery box 300 arranged in each of the plurality of storage spaces 123 based on the information detected by these sensors.

Further, each of the plurality of conveyors 131 is provided with a restraint tool that restrains the delivery box 300 placed on each of the conveyors 131. The mother carriage 100 can restrain the delivery box 300 with these restraints during traveling to prevent the delivery box 300 from being displaced.

The plurality of conveyors 131 includes at least two types of conveyors. In the following, one of the at least two types of conveyor 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 capable of carrying the delivery box 300 in the front-rear direction and the vehicle width direction of the mother car 100. The first conveyor 132 is provided for at least the receiving storage space 124 among the plurality of storage spaces 123.

White arrows in FIGS. 6 and 7 indicate directions in which the first conveyor 132 and the second conveyor 133 carry the delivery box 300, respectively.

In the example shown 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 and storing spaces 124 located at (15, G), (15, O) and (15, W). Further, the first conveyor 132 includes (7, G), (7, O) and (7, W), (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 is composed of a motor roller 132a with a pulley and a free roller 132b with a pulley, a motor roller 132c with a pulley, and a free roller 132d with a pulley. There is.

The motor roller 132a and the free roller 132b are conveyors for carrying the delivery box 300 in the front-back direction of the mother car 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 wheel 100.

The motor roller 132c and the free roller 132d are conveyors for carrying the delivery box 300 in the vehicle width direction of the mother car 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 wheel 100.

Further, on the first conveyor 132, the motor roller 132a, the free roller 132b, and the motor roller 132c and the free roller 132d are moved up and down in the vehicle height direction of the mother car 100 to bring the contact state with the delivery box 300 into a non-contact state. A switching mechanism is provided. For example, when the first conveyor 132 conveys the delivery box 300 in the front-rear direction of the mother car 100, the contact state of 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 car 100, the contact state between the motor roller 132a and the free roller 132b and the delivery box 300 is switched to the non-contact state. Accordingly, the first conveyor 132 can convey the delivery box 300 in both the front-rear direction and the vehicle width direction of the mother car 100.

The second conveyor 133 is a conveyor 131 capable of carrying the delivery box 300 in the front-rear direction of the mother car 100. The second conveyor 133 is provided in 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 is indicated by white arrows extending only in the front-rear direction of the mother car 100, such as (2, B), (2, J), and (2, R). It is provided for the storage space 123 at the closed position.

As shown in FIG. 8B, the second conveyor 133 is composed of 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 carrying the delivery box 300 in the front-back direction of the mother car 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 wheel 100.

The transport control unit 135 is a control unit that controls the plurality of conveyors 131. For example, the transfer control unit 135 sets the plurality of conveyors 131 so that the delivery box 300 arranged in the storage space 123 in the storage box 120 is transferred to the reception storage space 124 (reception storage position) in the storage box 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 car 100 includes a monitoring camera capable of monitoring the surroundings of the mother car 100, and also includes a microphone and a speaker at a predetermined portion. When an emergency or trouble occurs in the mother car 100, the maintenance and monitoring staff of the monitoring center communicates with the center 10 (particularly, the monitoring center) by using the monitoring camera mounted on the mother car 100 to monitor the surrounding conditions. In addition to being able to talk to people around him while checking, the maintenance supervisor can operate the vehicle by remote control while checking the safety of the surroundings with a camera or the like.

[4. Detailed composition of child car]
FIG. 9 is a diagram showing an electrical configuration of the slave wheel 200 according to the first embodiment of the present invention. FIG. 10 is a diagram showing an external configuration of the slave wheel 200 according to the first embodiment of the present invention. FIG. 10A shows a state in which the delivery box 300 is not loaded on the child car 200. FIG. 10A shows a state in which the delivery box 300 is loaded on the child car 200.

As shown in FIG. 9, the child vehicle 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 the entire functions of the child vehicle 200 including the automatic driving control mechanism and the delivery control mechanism as described above. The control unit 201 may be, for example, an ECU (Electronic Control Unit).

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

The detection device 203 is for recognizing the surrounding circumstance of the child car 200 such as a traffic lane defined by other vehicles and pedestrians, animals, falling objects, grooves, unevenness, centerlines, etc. Of various radars and sensors. The various radars and various sensors constituting the detection device 203 are, for example, laser sensors, infrared sensors, ultrasonic sensors, pyroelectric sensors, 3D-LiDAR, electromagnetic wave sensors, and the like. The various sensors include cameras. The detection device 203 compositely recognizes the situation around the child car 200 based on the information obtained by the face recognition system using a camera and the human body detection system. Accordingly, the child vehicle 200 can safely and automatically drive (move) to the delivery destination 20 or its vicinity while avoiding various dangers on the road. The detection device 203 is also used when confirming the position of the hole 410 in the delivery box fixture 400.

The storage device 204 is a storage device that stores various kinds of information necessary for executing various control processes performed by the automatic driving control mechanism and the delivery control mechanism as described above. The storage device 204 stores various information transmitted and received through mutual communication with the center 10, the mother car 100, and the delivery box 300, and various information for traveling on a delivery route by automatic driving. The storage device 204 stores, for example, delivery information that is information about the delivery destination 20, map information that is used to determine a delivery route to the delivery destination 20 of the package, and a travel route (travel route, delivery route) of the child vehicle 200. The road information about the road, traffic information, etc. are stored.

The operation control device 205 is a control unit that controls the traveling mechanism 206 of the child vehicle 200. The traveling mechanism 206 is a vehicle mechanism related to traveling of the child vehicle 200. The traveling mechanism 206 corresponds to an engine, drive 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 allowing the child vehicle 200 to travel on a road. The drive wheel 206a is composed of a crawler capable of running over a step or uneven terrain.

By controlling the drive of the traveling mechanism 206, the driving control device 205 performs not only movement (driving) such as driving and stopping of the child vehicle 200, but also parallel parking and direction change in a narrow place (alley or the like). Therefore, it is possible to perform not only the forward/backward movement but also operation control such as left/right parallel movement, rotation on the spot, and parallel movement in an oblique direction.

Further, the operation control device 205 has a balance control function for preventing a fall when the stairs or the like is raised or lowered and when the slope or the like is inclined. This balance control function is a function of detecting the position of the center of gravity based on the child vehicle 200 and the delivery box 300 one by one, and automatically adjusting the position of the center of gravity by using the center of gravity position adjusting device 205b (balancer). For example, the operation control device 205 controls the balance of the slave wheel 200 by keeping the momentum at the position of the center of gravity at a constant value by using the center of gravity position adjusting device 205b. The center-of-gravity position adjusting device 205b can prevent the child vehicle 200 from rolling over or falling down due to collision or contact with an obstacle.

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

The slave vehicle 200 is controlled by the operation control device 205 from the current position (current position) to the delivery destination 20 by using each information (map information, road information, traffic information, etc.) stored in the storage device 204 and the GPS device 205a. The delivery route (moving route) is searched and stored, and the operation (moving) is performed based on this delivery route. Of course, the operation control device 205 can also 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 slave vehicle 200 based on a command from the control unit 201. Specifically, the stacking control mechanism 210 receives the delivery box 300 that is transport-controlled to the receiving storage space 124 in the storage 120 by the transport control mechanism 130 of the automatic warehouse 110, and controls to load the delivery box 300 on the slave vehicle 200. It is a mechanism. The child vehicle 200 delivers the delivery box 300, which is in a state of being loaded on the child vehicle 200 under the loading control by the loading control mechanism 210, to the delivery destination 20 as the delivery box 300 to be 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, a holding unit, a lifting unit 222, a translation unit 223, and a loading platform 224.

The arm 221 is a means for realizing the delivery control mechanism of the child vehicle 200 as described above, and as shown in FIG. 10B, holds the delivery box 300 loaded on the child vehicle 200 at the time of delivery and delivers the delivery box. The fixture 400 is fixed.

Further, the arm 221 receives the delivery box 300 arranged in the receiving storage space 124 in the storage 120 and mounts it on the loading platform 224 when the slave vehicle 200 is mounted in the mounting space 121 in the storage 120. be able to. Then, the arm 221 can hold the delivery box 300 placed on the platform 224. As a result, the child car 200 is in a state in which the delivery box 300 is loaded. That is, the state in which the delivery box 300 is loaded on the child vehicle 200 may be a state in which the delivery box 300 placed on the platform 224 is held by the arm 221.

The elevating part 222 is a mechanism that elevates and lowers the arm 221 in the vehicle height direction of the child car 200. The arm 221 and the elevating/lowering unit 222 function as a lifter of the slave wheel 200.

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

The loading platform 224 is configured by a flat pedestal so that the bottom surface of the delivery box 300 is in contact therewith. Further, the loading platform 224 includes a mechanism for rotating the placed delivery box 300, and is configured so that the orientation of the delivery box 300 can be changed.

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 slave vehicle 200, each component of the loading mechanism 220 Drive in a linked manner.

That is, the stacking control unit 230 drives the elevating unit 222 and the translation unit 223 to move the arm 221 to the receiving and storing space 124. Then, the stacking control unit 230 drives the arm 221 that has moved to the receiving and storing space 124, and causes the arm 221 to hold the delivery box 300 arranged in the receiving and storing space 124. Then, the loading control unit 230 drives the elevating unit 222 and the translation unit 223 to move the arm 221 holding the delivery box 300 to the loading platform 224 and place the delivery box 300 on the loading platform 224.

In addition, the stacking control unit 230 drives each component of the stacking mechanism 220 so that the delivery box 300 arranged in the storage space 123 of the specific storage layer in the storage 120 is different from the specific storage layer. Can be controlled. Hereinafter, the control process of transferring the delivery box 300 between the respective layers of the storage case 120 is referred to as “inter-layer transfer control process”. Further, among the functions of the stacking control unit 230 that controls the stacking mechanism 220, the function of executing the inter-tier transfer control process is referred to as an “inter-tier 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 as the arm 221 moves.

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

In addition, the slave car 200 includes a monitoring camera that can monitor the surroundings of the slave car 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 monitoring center uses the monitoring camera mounted on the child car 200 to communicate with the center 10 (particularly, the monitoring center) by mutual communication. In addition to being able to talk to people around him while checking, the maintenance supervisor can operate the vehicle by remote control while checking the safety of the surroundings with a camera or the like.

In addition, the child vehicle 200 can stop the traveling of the child vehicle 200 by pressing (or contacting) the emergency stop button when a person in the vicinity feels a danger. It is possible to have a conversation with surrounding people by checking the surroundings with the surveillance camera mounted on the child car 200.

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

In FIG. 11, a roadway, a sidewalk provided along the roadway, a delivery destination passage intersecting the sidewalk substantially perpendicularly, and a step provided between the delivery destination passage and the delivery box fixture 400 of the delivery destination 20. (Stairs) is shown. Further, in FIG. 11, there is a space where the arm 221 can be moved to install the delivery box 300 on the delivery box fixture 400 beyond the step, and the delivery destination specified for each delivery destination 20 is shown. 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 in a state of being stopped at the end of the road as the relay point 21 (for example, “relay point 1”) corresponding to the delivery destination 20. The child vehicle 200 getting off from the mother vehicle 100 at the relay point 21 leaves the door 125 of the mother vehicle 100 as a leaving path and then crosses a sidewalk to move on a delivery destination passage.

After moving through this delivery destination passage, when the child vehicle 200 crosses over the step and arrives at the delivery destination designated space, the child car 200 confirms the position of the hole portion 410 of the delivery box fixing tool 400 and then the delivery box 300 in the hole portion 410. Fixed to.

12 to 14 are views showing a state in which the delivery box 300 is fixed to the delivery box fixture 400 by the movement of the arm 221 of the child car 200 in the delivery destination designated space provided in the delivery destination 20. ..

The delivery destination designating space is provided in the front position of the delivery box fixture 400, and is a work area having a certain range in which the delivery box 300 is fixed by moving the arm 221 of the child car 200.

When the child car 200 belongs to this delivery destination designated space (see FIG. 12 ), the child car 200 confirms (position recognition) the position of the hole 410 provided in the delivery box fixture 400.

Next, as shown in FIG. 13, the child car 200 lifts the delivery box 300 from the loading platform 224 and moves it to the front of the child car 200 by controlling the movement of the arm 221.

Then, as shown in FIG. 14, the child car 200 hooks the delivery box 300 by inserting (penetrating) the protrusion 310 of the delivery box 300 into the hole 410 whose position is recognized.

At this time, the delivery box fixture 400 shown in FIGS. 12 to 14 has four holes 410 (first hole 410a, second hole 410b, third hole 410c, fourth hole 410d). The delivery box 300 has four protrusions 310 (first protrusion 310a, second protrusion 310b, third protrusion 310c, fourth protrusion 310d) that are provided and are inserted into the respective holes 410. doing.

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

That is, the numbers of engaging portions (protrusions 310, holes 410) of the delivery box fixture 400 and the delivery box 300 do not necessarily have to be the same.

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

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

With the hinge 304 as a fulcrum, the delivery box 300 has the lid portion 301 that opens, and the damper 303 can maintain the open state and slowly close it.

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

FIG. 15C is a diagram showing the back surface on which the protrusion 310 is provided by rotating FIG. 15A. The protrusions 310 are provided in a positional relationship corresponding to holes 410 provided in the delivery box fixture 400 described later.

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

FIG. 16: is a figure which shows the detailed structure of the delivery box fixing tool 400 in Embodiment 1 of this invention.

The delivery box fixture 400 shown in FIG. 16 is provided with four hole portions (first hole portion 410a, second hole portion 410b, third hole portion 410c, fourth hole portion 410d), and the delivery box 300 is provided. It is a portion to which the protrusion 310 provided on the can be engaged.

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

The hole portion 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 of the upper circular portion and the lower circular portion. It should be noted that the cylindrical portion of the protrusion 310 protrudes from the delivery box 300, and is provided so as to prevent the delivery box 300 from being lifted upward and to fix it.

17: is a figure which shows the engagement state of the delivery box 300 and the delivery box fixing tool 400 in Embodiment 1 of this invention.

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

In the hole portion 410 provided in the delivery box fixture 400, a large hole (first hole shape) and a hole smaller than the large hole (second hole shape) are combined to form one hole.

After the protrusion 310 of the delivery box 300 is inserted into the large hole and then the protrusion 310 is moved to the smaller hole, the delivery box 300 is engaged with the delivery box fixture 400 and fixed.

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

The content of the mail shown in FIG. 18 is the content in the transmission means by which the child car 200 notifies the recipient of the delivery box 300.

This e-mail has header information such as destination (TO:xxx@yyy.jp), delivery origin (FROM: (delivery person or sender of parcel)), subject (SUBJECT: notification of delivery completion), etc. Further, the contents of the message, 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 email contents, identifies the delivery box 300, unlocks the identified delivery box 300, and takes out the package. It becomes possible.

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

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

This delivery information includes, in addition to the address and name of the delivery destination 20, a "fixture number" for identifying the delivery box fixture 400 and "box identification information" for identifying the delivery box 300 to be delivered. Is.

Further, the collection information includes information such as the address and name of the collection destination, a “fixing device number” for identifying the delivery box fixing device 400, and “box identification information” for identifying the delivery box 300 to be collected. Is.

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

Then, the mother car 100 (control unit 101) determines whether or not a delivery start condition, which is a condition for starting delivery from the current location (for example, the center 10), is satisfied (S1904). The delivery start condition is that the mother car 100 has departed from the center 10 in the order of departure and the set departure time has come.

The mother vehicle 100 (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 the mother vehicle 100 (control unit 101) determines that the delivery start condition is satisfied (YES in S1904), the mother car 100 performs operation control processing (S1905).

This operation control process is a process of moving the delivery route from the current position (current position) to the delivery destination 20 by 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 carriage 100 is careful about the driving lanes, signals, etc. defined by surrounding other vehicles, pedestrians, animals, falling objects, grooves, irregularities, centerlines, etc. It will move (run) 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 (control unit 101) performs automatic warehouse control processing (S1906).

In this automatic warehouse control process, the delivery box 300 delivered to the delivery destination 20 is arranged in the receiving storage space 124 in the storage 120 before the child vehicle 200 is dismounted at the relay point 21 on the delivery route. , A process of controlling the transfer control mechanism 130 of the automated warehouse 110. Thereby, the child vehicle 200 can receive and load the delivery box 300 arranged in the receiving and storing space 124 before getting off the child vehicle 200 at the relay point 21.

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

Then, the mother vehicle 100 (control unit 101) determines whether or not it 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 (control unit 101) continues the operation control process and the automatic warehouse control process until it arrives at these points (the relay point 21 or the vicinity thereof) by the operation control process (NO in S1907).

On the other hand, when the mother car 100 (control unit 101) arrives at the relay point 21 for the delivery destination 20 indicated by the “delivery information” or in the vicinity thereof (YES in S1907), the delivery box from the relay point 21 to the delivery destination 20 is delivered. The child car 200 that delivers 300 is controlled to be unloaded from the mother car 100 (S1908).

The mother car 100 (control unit 101) determines whether or not the child car 200 has exited from the mother car 100 by this leaving control process (S1909) until the child car 200 completes the leaving from the mother car 100 ( In S1909 (NO), the delivery control process is performed (S1909).

When the leaving control process is completed and the child car 200 leaves the mother car 100 (YES in step S1909), the mother car 100 (control unit 101) continues the communication control process with the leaving car 200. Then, the delivery status of the child vehicle 200 is continuously managed (S1910). As a result, the mother car 100 and the child car 200 can grasp the current location and delivery status of each other one by one.

Based on this management status, the mother car 100 (control unit 101) determines whether the child car 200 has completed delivery and has belonged to a predetermined position (S1911). That is, the mother car 100 (the control unit 101) has a predetermined position related to the mother car 100 (the mother car 100 for storing the mother car 100 after the completion of the delivery by fixing the delivery box 300 to the delivery destination 20 by the child car 200). It is determined whether or not the position has returned to the position specified in the relation (1).

Until the child vehicle 200 belongs to this predetermined position (NO in S1911), the mother vehicle 100 (control unit 101) continues to manage the situation of the child vehicle 200 by performing communication control processing with the child vehicle 200 (S1910). ..

The communication control process performed between the mother car 100 and the child car 200 includes direct communication performed directly between the mother car 100 and the child car 200, as well as communication between the mother car 100 and the child car 200 via the center 10. May be a control process of indirect communication performed indirectly by the. Further, all the control processes performed by the mother car 100 and the child car 200 may be performed by the communication control instruction from the center 10.

On the other hand, when the child vehicle 200 belongs to the predetermined position (YES in S1911), the mother vehicle 100 (control unit 101) performs a control process of storing the child vehicle 200 in the mother vehicle 100 (S1912). This warehousing control process is a control process in which the door 125 of the mother car 100 is opened, and the door 125 serves as a warehousing path to store the slave car 200 and stop the mother car 100 at a predetermined stop position.

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

Then, the mother vehicle 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). , This process ends.

Also, 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 for delivering the delivery boxes 300 in the set delivery route. (S1905).

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

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

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

Similar to the “collection information” set in the mother car 100, the collection information includes the address and name of the collection destination, the “fixing tool number” for identifying the shipping box fixing tool 400, and the shipping box to be collected. This is information including "box identification information" for identifying 300.

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

Then, the child vehicle 200 (control unit 201) determines whether or not a child vehicle delivery start condition, which is a condition for starting delivery from the current location (for example, the relay point 21), is satisfied (S2004). .. The child vehicle delivery start condition is a condition in which the child vehicle 200 can be delivered in consideration of the surrounding road conditions and the like because the door 125 of the mother vehicle 100 is opened.

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

On the other hand, when the slave vehicle 200 (control unit 201) determines that the delivery start condition is satisfied (YES in S2004), the slave vehicle 200 (control unit 201) performs operation control processing regarding delivery to the delivery destination 20 based on the set delivery route. Perform (S2005).

Then, the child vehicle 200 (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 operation control processing (S2006).

The child vehicle 200 (control unit 201) continues the operation control process until it arrives at the delivery destination 20 by this operation control process (NO in S2006).

On the other hand, when the child vehicle 200 (control unit 201) arrives at the delivery destination 20 indicated by the "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) of hooking and fixing to the tool 400 is performed (S2007).

When the delivery box 300 is fixed to the delivery box fixture 400 by this BOX fixing control process, the child car 200 (control unit 201) transmits an “attachment completion notice” to the mother car 100 and the center 10 (S2008). ).

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

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

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

Then, the child vehicle 200 (control unit 201) determines whether or not all deliveries based on the set “delivery route” in the child vehicle 200 have been completed (S2014). By this determination process, until all deliveries are completed (NO in S2014), the child vehicle 200 (control unit 201) continues to perform operation control based on the "return route" (S2013).

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

FIG. 21 is a flowchart showing a detailed flow of lock control processing 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” by an information input unit provided in the delivery box 300 by an operation of the recipient of the stored package (S2101). This information input unit is provided in the delivery box 300, and is a touch panel, a button, a camera (imaging device), or 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 child vehicle 200 (S2102). The slave car 200 (control unit 201) receives the authentication request including the “predetermined information” from the delivery box 300, and thus the “predetermined information” is a normal “unlock” for the delivery box 300. It is determined whether or not it is the "unlocking key code".

This authentication request includes information that identifies the delivery box 300 in addition to the “predetermined information”. The slave 200 (control unit 201) determines whether the “predetermined information” is an “unlocking key code” corresponding to the “authentication information” specified for the information for identifying the delivery box 300. It judges and responds to the delivery box 300. That is, in the storage device 204 of the child car 200, is the “authentication information” corresponding to the information for identifying the delivery box 300 stored, and is it the “unlocking key code” corresponding to the “authentication information”? A judgment program or the like for judging whether or not it is stored.

Then, the delivery box 300 determines whether the response from the child vehicle 200 is the authenticated “unlock key code” (S2103). When the slave 200 (control unit 201) determines that the “predetermined information” is authenticated as a normal “unlocking key code”, the delivery box 300 unlocks the locked BOX door. Is performed (S2104).

As a result, the package receiver can open the BOX door and take out the package. The delivery box 300 determines whether or not it is detected that the recipient takes out the package and then 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 to lock the BOX door (S2106).

This locking process is a process that prevents the recipient from unlocking the BOX door without inputting the "unlocking key code", and if the recipient inputs the normal "unlocking key code" again. This is a process for making the release possible.

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 is taken out by the recipient. (S2107).

The delivery box 300 can accept the input of “predetermined information” in the information input unit until it detects that the parcel is taken out by the recipient (NO in S2107), that is, when the parcel is not taken out. To do.

Further, when the delivery box 300 detects that the parcel is taken out by the recipient (YES in S2107), the delivery box 300 indicates to the center 10 that the parcel has been taken out, and includes a “delivery completion notification (including BOX identification information). )” is transmitted (S2108), and this processing ends.

In the above process, the delivery box 300 determines whether the parcel is taken out by the recipient after the locking process is performed, but the present invention is not limited to this. That is, the delivery box 300 detects that the package has been taken out by the recipient with the BOX door open by a package sensor or the like, and the lock process is performed, so that the package is delivered to the center 10. A “takeout completion notification (including BOX identification information)” indicating that the takeout has been performed may be transmitted.

FIG. 22 is a flowchart showing 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 car 100 (control unit 101) moves (travels) along the delivery route to the delivery destination 20 and uses the operation control device 105 and the detection device 103 to check road information, traffic information, etc. of the delivery route at any time. (S2201).

Subsequently, the mother vehicle 100 (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 in accordance with the preset delivery order included in the delivery information. At this time, an unforeseen situation such as traffic jam and traffic closure may occur on the delivery route, and it may be inefficient to deliver the delivery box 300 according to a preset delivery order.

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

On the other hand, when the mother car 100 (control unit 101) determines that the delivery destination 20 does not need to be changed (NO in S2202), the process proceeds to S2208 to deliver the delivery destination 20 set in advance.

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

Subsequently, the mother vehicle 100 (control unit 101) searches the 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. Yes (S2206).

When the mother car 100 (control unit 101) determines that more efficient delivery is possible by changing the relay point 21 due to the change of the delivery destination 20 (YES in S2206), the relay point 21 To be set as the delivery route (S2207). Then, the mother car 100 (control unit 101) transmits information on the changed relay point 21 to the center 10 and the child car 200, respectively.

On the other hand, when the mother vehicle 100 (control unit 101) does not need to change the preset relay point 21 even when the delivery destination 20 is changed (NO in S2206), the delivery is performed from the preset relay point 21. In order to perform

The mother vehicle 100 (control unit 101) performs a traveling control process regarding delivery based on the set delivery route (S2208). After that, the mother car 100 (control unit 101) moves to S1906 in FIG.

FIG. 23 is a flowchart showing 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 mother car 100 (control unit 101) confirms the stored delivery information and determines whether or not it is recorded that the delivery destination 20 has been changed (S2301).

When the delivery information is recorded in the delivery information (YES in S2301), the mother car 100 (control unit 101) confirms the stored “box management information” (S2302).

On the other hand, if the fact that the delivery destination 20 has been changed is not recorded in the delivery information (NO in S2301), the mother vehicle 100 (control unit 101) is preset in the information setting step (A4) of FIG. 3, for example. In order to perform the transport control process of the delivery box 300 based on the "box management information", the process proceeds to S2305.

The box management information is information for managing the arrangement of the delivery boxes 300 stored in the storage 120 of the automated warehouse 110. The box management information includes position information of each space (the storage space 123 and the mounting space 121) provided in the storage 120, box identification information of the delivery box 300 arranged in these spaces, and these delivery boxes. Conveyance order information indicating the order of conveying 300 to the receiving and storing space 124 is recorded in association with each other.

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

If there is no need to change the arrangement of the delivery box 300 in the storage 120 (NO in S2303), the mother car 100 (control unit 101) moves to S2305.

On the other hand, when the mother car 100 (control unit 101) needs to change the arrangement of the delivery box 300 in the storage 120 (YES in S2303), the delivery order information included in the box management information is changed to delivery information. In order to reflect the included delivery order information, the process proceeds to S2304.

Subsequently, the mother car 100 (control unit 101) updates the box management information including the transfer order information so that the delivery box 300 is transferred to the receiving storage space 124 according to the changed delivery order (S2304).

Subsequently, the mother vehicle 100 performs a box transportation control process (S2305). Specifically, the control unit 101 of the mother vehicle 100 transmits a command instructing execution of the box transfer control process to the transfer control unit 135. This command includes delivery information and box management information. The transfer control unit 135 executes the box transfer control process based on the instruction from the control unit 101. After the box transfer control process is executed by the transfer controller 135, the controller 101 moves to S1907 in FIG.

This box transportation control processing controls the transportation of the delivery box 300 delivered to the delivery destination 20 to the receiving storage space 124 based on the delivery information and the box management information, and also loads the delivery box 300 on the slave vehicle 200. This is a process for controlling. As a result, in the child vehicle 200, the delivery box 300 to be delivered to the delivery destination 20 is loaded and the delivery preparation for loading the delivery box 300 is completed.

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

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

The mother vehicle 100 (transportation control unit 135) transmits a notification indicating that execution of the box transportation control process is started to the slave vehicle 200 (S2401). When this notification is received by the child vehicle 200, the child vehicle 200 (loading control unit 230) activates the loading mechanism 220 and executes necessary initial setting (S2402).

Subsequently, the mother vehicle 100 (transport control unit 135) confirms the delivery information and the box management information (S2403). Then, the mother vehicle 100 (transport control unit 135) uses the delivery information to identify the delivery destination 20 and the delivery box 300 to be delivered to the delivery destination 20 (S2404).

In addition, the mother vehicle 100 (transport control unit 135) uses the box management information, and the positional information of the space (the storage space 123 and the mounting space 121) in the storage box 120 in which the identified delivery box 300 is arranged. Specify. Then, the mother vehicle 100 (transport control unit 135) searches the storage box 120 for the specified delivery box 300 (S2405), and the specified delivery box 300 is stored in the storage box 120 indicated by the specified positional information. Make sure it is actually placed in the space.

Subsequently, the mother car 100 (transport control unit 135) determines whether the identified delivery box 300 is placed in the receiving storage space 124 (S2406).

If the specified delivery box 300 is placed in the receiving storage space 124 (YES in S2406), the mother car 100 (transport control unit 135) proceeds to S2413 to notify the slave car 200 of that fact.

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

In the case where the delivery box 300 is stored in the fully loaded layer, when any of the delivery boxes 300 accommodated in this fully loaded layer is transferred to another layer, the delivery box in the fully loaded layer is delivered. The arrangement of 300 can be changed. In other words, when the delivery box 300 is stored in a non-full tier that has the blank storage space 123, the placement of the delivery box 300 can be changed in this non-full tier, so inter-tier transfer control is possible. The processing does not have to be executed.

Therefore, if the specified delivery box 300 is not stored in the full-fledged layer (NO in S2407), the mother vehicle 100 (transport control unit 135) issues a notification indicating that the inter-layer transfer control process will not be executed. It transmits to S200 (S2408) and moves to S2412.

On the other hand, when the specified delivery box 300 is stored in the full-packed layer (YES in S2407), the mother vehicle 100 (transportation control unit 135) issues a notification indicating that the inter-layer transfer control process is to be performed. Then, the inter-layer transfer control process is executed (S2411).

The child vehicle 200 (loading control unit 230) determines whether or not to execute the inter-tier transfer control process in response to the notification from the mother vehicle 100 regarding whether or not to perform the inter-tier transfer control process (S2410). Specifically, when the child vehicle 200 receives the notification indicating that the inter-layer transfer control processing is to be executed (YES in S2410), the child vehicle 200 (loading control unit 230) executes the inter-layer transfer control processing. Yes (S2411). On the other hand, when the child vehicle 200 receives the notification indicating that the inter-tier transfer control process is not executed (NO in S2410), the child vehicle 200 (loading control unit 230) has the specified delivery box 300 arranged therein. The system waits until information indicating the position of the receiving and storing space 124 and the position of the floor in which the receiving and storing space 124 is located is transmitted from the mother vehicle 100, and then proceeds to S2414.

This inter-tier transfer control process is a control process for transporting the delivery box 300 between the respective layers of the storage box 120. Specifically, the child vehicle 200 (loading control unit 230) replaces the delivery box 300 arranged in the receiving storage space 124 of the full tier with the receiving storage space 124 of the non-full tier including the storage space 123 in the blank state ( The process of transferring to the receiving/receiving space 124) of the transfer destination is performed. During this time, the mother vehicle 100 (transport control unit 135) changes the arrangement of the delivery box 300 in the layer in which the receiving storage space 124 of the transfer destination is in a blank state so that the receiving storage space 124 of the transfer destination is in a blank state. I do. That is, in the delivery system 1, even when the stacker crane or the like is not provided in the storage box 120, the child vehicle 200 delivering the delivery box 300 cooperates with the mother vehicle 100 to deliver the storage boxes 120 between the respective layers of the storage box 120. The box 300 can be transferred.

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

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

The slave vehicle 200 (loading control unit 230) determines whether to move the arm 221 of the loading mechanism 220 up and down based on the notification indicating the position of the receiving storage space 124 in which the identified delivery box 300 is placed and its hierarchy. It is determined (S2414).

The slave car 200 (loading control unit 230) prepares the arm 221 for receiving the delivery box 300 from the mother car 100 unless it is necessary to move the arm 221 up and down (NO in S2414). Then, the child vehicle 200 (loading control unit 230) transmits, to the mother vehicle 100, a notification indicating that the child vehicle 200 is on standby to receive the delivery box 300 (S2416).

On the other hand, if it is necessary to move the arm 221 up and down (YES in S2414), the child vehicle 200 (loading control unit 230) drives the up-and-down unit 222 to receive and store the space 124 in which the identified delivery box 300 is placed. The arm 221 is moved up and down to the hierarchy (S2415). Then, the child vehicle 200 (loading control unit 230) prepares the arm 221 and transmits a notification indicating that the arm 221 is in the reception standby state to the mother vehicle 100 (S2416).

When the mother vehicle 100 receives the notification indicating that the delivery box 300 is in the receiving standby state, the mother vehicle 100 (transport control unit 135) determines that the delivery box 300 placed in the receiving storage space 124 by the transport in S2412 causes the arm 221 to move. The conveyor 131 is controlled so that it is conveyed to the (S2417).

The slave vehicle 200 (loading control unit 230) drives the arm 221 and causes the arm 221 to hold the delivery box 300 arranged in the receiving and storing space 124. Accordingly, the child car 200 can receive the delivery box 300 (S2418).

Then, the child vehicle 200 (loading control unit 230) drives the elevating unit 222 and the translation 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. .. Then, the child vehicle 200 (loading control unit 230) causes the arm 221 to hold the placed delivery box 300. As a result, the child car 200 is in a state in which the delivery box 300 is loaded.

Then, the child vehicle 200 (loading control unit 230) gives a notification indicating that the specified delivery box 300, that is, the delivery box 300 delivered to the delivery destination 20, is loaded on the child vehicle 200. The data is transmitted to the mother car 100 (S2419), and this processing ends.

When the mother vehicle 100 receives the notification indicating that the delivery box 300 is in the loaded state, the transport control unit 135 notifies that the delivery box 300 delivered to the delivery destination 20 has been loaded on the child vehicle 200. The notification (loading completion notification) shown is transmitted to the control unit 101 of the mother car 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 box 120 is reflected in the box management information, and ends this processing.
Upon receiving the stacking completion notification, the control unit 101 moves to S1907 in FIG.

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

The mother car 100 (transport control unit 135) selects the delivery box 300 to be transferred to another non-full tier among the delivery boxes 300 arranged in the receiving and storing space 124 in the full tier (S2501). Then, the mother vehicle 100 (transport control unit 135) is arranged such that the position of the receiving storage space 124 in which the selected delivery box 300 is arranged, the position of the hierarchy in which the receiving storage space 124 is located, and the selected delivery box 300 are Information indicating the position of the receiving storage space 124 of the transfer destination to be transferred and the position of the floor in which the receiving storage space 124 of the transfer destination is located is transmitted to the child vehicle 200 (S2502).

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

While the child vehicle 200 is driving the arm 221 (S2503 and S2504), the mother vehicle 100 (the transfer control unit 135) is provided with the delivery box 300 in the receiving storage space 124 of the transfer destination (S2505). If the answer is YES, the conveyor 131 is controlled so that the receiving and storing space 124 is in a blank state (S2506). On the other hand, when the delivery box 300 is not arranged in the receiving storage space 124 of the transfer destination (NO in S2505), the mother vehicle 100 (transport control unit 135) issues a notification from the child vehicle 200 that the standby state is in the receiving state. It waits until it is transmitted and moves to S2507.

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

The slave vehicle 200 (loading control unit 230) drives the arm 221 to hold the selected delivery box 300 by the arm 221. Thereby, the child car 200 can receive the delivery box 300 (S2508).

Then, the child vehicle 200 (loading control unit 230) drives the elevating unit 222 to move the arm 221 holding the delivery box 300 up and down to the floor where the receiving and storing space 124 of the transfer destination is present (S2509). Then, the child vehicle 200 (loading control unit 230) drives the arm 221 and arranges the delivery box 300 held by the arm 221 in the receiving storage space 124 of the transfer destination (S2510). As a result, the selected delivery box 300 is transferred to the receiving storage space 124 of the transfer destination.

The child vehicle 200 (loading control unit 230) transmits a notification indicating that the selected delivery box 300 is placed in the receiving storage space 124 of the transfer destination to the mother vehicle 100 (S2511), and ends this processing.

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

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

In FIG. 26, the positions of a plurality of spaces (the storage space 123 and the mounting space 121) provided in the storage case 120 are specified using the same notation as in the examples shown in FIGS. 6 and 7. The gray delivery box 300 in FIG. 26 indicates the delivery box 300 delivered to the delivery destination 20. The broken line in FIG. 26 indicates the storage space 123 in the blank state.

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

First, the mother carriage 100 conveys the delivery box 300, which is arranged at (14, F) adjacent to the blank state (15, G) in advance, to the blank state (15, G). As a result, (14, F) becomes blank. Subsequently, the mother car 100 conveys 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 placed is in a blank state. 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 mother carriage 100 sets the delivery box 300 arranged in (18, B) adjacent to (17, A) in the blank state in this blank state ( 17, A). As a result, (18, B) becomes blank. Subsequently, the mother car 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 transportation is repeated, as shown in FIG. 26C, the delivery box 300 delivered to the delivery destination 20 is the receiving storage space 124 in the same floor as (17, A) which is arranged in advance. Can be transported to (15, G).

In this way, the mother car 100 repeats transporting the delivery box 300 arranged in the storage space 123 adjacent to the storage space 123 in the blank state to the storage space 123 in the blank state, thereby obtaining a certain storage space 123. It is possible to circulate the delivery boxes 300 arranged in the same hierarchy. Hereinafter, the control process of transporting the delivery boxes 300 arranged in the storage space 123 of a specific layer so as to circulate in the same layer is referred to as “circulation transport control process”.

Then, in the mother car 100, as shown in FIG. 26D, the delivery box 300 arranged in the receiving and storing space 124 of (15, G) is attached to the arm 221 of the child car 200 in (16, H). Transport. The delivery box 300 delivered to the delivery destination 20 can be received by the arm 221 of the child vehicle 200, and can be lowered to (16, X) in the floor where the loading platform 224 is located, as shown in FIG.

In this way, the mother vehicle 100 can convey the delivery box 300 delivered to the delivery destination 20 to the arm 221 of the child vehicle 200.

FIG. 27 is a diagram schematically showing how the arrangement of the delivery boxes 300 in the storage case 120 according to the first embodiment of the present invention is changed, and shows a case where inter-tier transfer control processing is executed.

In FIG. 27, the positions of a plurality of spaces provided in the storage case 120 are specified using the same notation as in FIG. 26. The gray delivery box 300 in FIG. 27 also shows the delivery box 300 delivered to the delivery destination 20, as in FIG. 26. The broken line in FIG. 27 also shows the storage space 123 in a blank state, as in FIG.

FIG. 27A shows the layout of the delivery box 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 fully loaded layer.

First, in the mother car 100, since the delivery box 300 to be delivered to the delivery destination 20 is placed at (23, W) in the full-fledged layer, the delivery box placed in the receiving storage space 124 in the full-fledged layer. Of the 300, the delivery box 300 to be transferred to another tier that is not full is selected. In the example of FIG. 27, it is assumed that the delivery box 300 arranged in the shaded area (15, W) of FIG. 27A is selected as the delivery box 300 to be transferred to another tier that is not full.

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

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

As shown in FIG. 27( d ), the child vehicle 200 raises the arm 221 holding the selected delivery box 300 to the transfer destination layer, and transfers the selected delivery box 300 to the blank state. It is transferred to the receiving and storing space 124 (15, G).

As a result, in the initially fully loaded layer, the (15, W) receiving and storing space 124 in which the delivery box 300 is placed can be in a blank state as shown in FIG. 27(d).

Subsequently, as shown in FIG. 27E, the mother car 100 conveys the delivery box 300 delivered to the delivery destination 20 to the blank receiving storage space 124 (15, W). Then, when the arm 221 of the child car 200 descends to (16, X), the mother car 100, as shown in FIG. 27(f), the delivery box 300 arranged in the receiving and storing space 124 of (15, W). To the arm 221 at (16, X).

As described above, when the delivery box 300 to be delivered to the delivery destination 20 is arranged in the full-fledged layer, the mother vehicle 100 is arranged in the receiving storage space 124 in the full-fledged layer in cooperation with the child vehicle 200. The shipping box 300 is transferred to another tier that is not full. Thereby, the mother car 100 can convey the delivery box 300 delivered to the delivery destination 20 to the arm 221 of the child car 200.

FIG. 28 is a diagram schematically showing how the arrangement of the delivery boxes 300 in the storage case 120 according to the first embodiment of the present invention is changed, and the delivery of the delivery boxes 300 according to the change of the delivery destination 20. The case where the order is changed is shown.

In FIG. 28, the positions of a plurality of spaces provided in the storage case 120 are specified using the same notation as in FIG. 26. The gray delivery box 300 in FIG. 28 also shows the delivery box 300 delivered to the delivery destination 20, as in FIG. 26. The broken line in FIG. 28 also shows the storage space 123 in the blank state, as in FIG.

FIG. 28A shows the 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 previously arranged at (14, F). It is assumed that the delivery box 300 delivered to the delivery destination 20 next to the delivery box α is the delivery box β arranged in advance in (13, E).

When the delivery destination 20 is changed, 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. 28B. To do. That is, the delivery box 300 delivered this time is the delivery box β shown in gray.

In this case, the mother car 100 performs the above-described circulation transfer control process as shown in FIG. 28(c), and as shown in FIG. 28(d), sets the delivery box β to be delivered this time to (15, G ) To the receiving and storing space 124. The delivery box α to be delivered next time may be transported to (23, G).

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

The delivery box β can be received by the arm 221 of the child vehicle 200, and can be lowered to (16, X) in the floor in which the loading platform 224 is located, as shown in FIG. 28(f).

Then, as shown in FIG. 28F, the mother car 100 conveys the delivery box α arranged at (23, G) to the receiving and storing space 124 at (15, G). As a result, 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).

Thus, even if the delivery order of the delivery box 300 is changed due to the delivery destination 20 being changed, the mother vehicle 100 sets the delivery box 300 to the arm of the child vehicle 200 according to the changed delivery order of the delivery box 300. 221 can be carried.

Note that FIG. 28 shows a case where the inter-tier transfer control process is not executed when the delivery order of the delivery box 300 is changed and the arrangement of the delivery box 300 is changed, but the inter-tier transfer control process is performed. Even if it does, the mother car 100 conveys the delivery box 300 to the arm 221 of the child car 200 in accordance with the changed delivery order of the delivery box 300 by appropriately combining the processes shown in FIG. 27. You can

Even when the child car 200 collects the delivery box 300 from the delivery destination 20 and stores the delivery box 300 in the storage box 120 of the mother car 100, the mother car 100 performs the same process as the process illustrated in FIGS. 26 to 28. By doing so, the collected delivery box 300 can be stored in the storage box 120.

For example, first, the mother vehicle 100 searches the storage space 123 in a blank state and its layer in the storage box 120 to determine the layer and the storage space 123 in which the collected delivery box 300 is stored. At this time, the mother car 100 may determine the floor and the storage space 123 for storing the collected delivery box 300 as follows.

That is, in the mother car 100, the storage space 123 located as far as possible from the loading platform 224 of the child car 200 is changed to the storage space 123 for storing the recovered delivery box 300 in the hierarchy having the blank storage space 123. You may decide. The storage space 123 located as far as possible from the loading platform 224 of the child car 200 is, for example, the storage space 123 located at (1, A) or (17, A) shown in FIG. As a result, the delivery box 300 that is subsequently delivered to the delivery destination 20 is easily transported to the receiving storage space 124, and thus the delivery system 1 can perform more efficient delivery.

When the storage space 123 in which the collected delivery box 300 is stored is determined, the mother vehicle 100 performs the above-described circulation transfer control process to set the receiving storage space 124 of the floor in which the determined storage space 123 is present in a blank state. .. Then, the child vehicle 200 raises and lowers the arm 221 up to the layer where the determined storage space 123 is present, and arranges the recovered delivery box 300 in the receiving storage space 124 in the blank state. Then, the mother vehicle 100 carries out the above-described circulation transfer control process and transfers the recovered delivery box 300 to the determined storage space 123.

In this way, the mother car 100 can store the recovered delivery box 300 in the storage box 120 by performing the same processing as the processing shown in FIGS. 26 to 28.

With the above processing, in the delivery system 1 of the first embodiment, the child vehicle 200 delivering the delivery box 300 cooperates with the mother vehicle 100 even if the storage crane 120 is not provided in the storage box 120. The arrangement of the delivery box 300 in the storage box 120 can be changed.

In a general automatic warehouse system, a stacker crane or the like carries a parcel in the warehouse, and a worker uses a cart or the like to deliver the parcel to the outside of the warehouse. That is, in a general automatic warehouse system, a dedicated means such as a stacker crane for carrying luggage in the warehouse is required in the warehouse, so that the amount of luggage that can be stored is limited. Furthermore, in a general automated 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 the worker, the cost of delivery is reduced, the speed is increased, and the efficiency is improved. In that respect, there is room for improvement. Since the number of times that redelivery is required depends on the convenience of the recipient, it is difficult to deliver the package efficiently.

On the other hand, in the delivery system 1 according to the first embodiment, the child car 200 delivering the delivery box 300 changes the arrangement of the delivery box 300 in the storage box 120 in cooperation with the mother vehicle 100. A dedicated means for carrying the delivery box 300 inside is unnecessary. For this reason, the delivery system 1 according to the first embodiment can increase the amount of luggage stored in the storage box 120, so that the luggage can be efficiently delivered and the delivery cost can be reduced. ..

Further, in the delivery system 1 according to the first embodiment, the delivery of the package to the delivery destination 20 is performed by the slave vehicle 200 of the unmanned automatic driving delivery vehicle, so that the delivery of the package by the worker is not necessary. Therefore, the delivery system 1 according to the first embodiment can suppress human error and work variations among workers, and thus 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 fixing the delivery box 300 to the delivery box fixture 400, so that delivery of the package can be completed without being affected by the convenience of the recipient. Therefore, in the delivery system 1 according to the first embodiment, it is possible to reduce the number of times that redelivery is required, so that it is possible to reduce the cost, speed up, and improve the efficiency of delivery of packages.

Further, in the delivery system 1 according to the first embodiment, the delivery box 300 delivered to the delivery destination 20 is arranged in the receiving storage space 124 before the child vehicle 200 is dismounted at the relay point 21. Therefore, in the delivery system 1 according to the first embodiment, when the mother vehicle 100 arrives at the relay point 21, the child vehicle 200 can immediately dismount and deliver the delivery box 300 to the delivery destination 20. The cost can be reduced, the speed can be increased, and the efficiency can be improved.

[9. Other Embodiments]
FIG. 29 is a diagram showing a delivery box 300 and its layout change according to the second embodiment of the present invention. FIG. 30: is a figure which shows the child vehicle 200 with which the delivery box 300 in Embodiment 2 of this invention was 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 the size of one storage space 123 or less.

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 equal to or smaller than the size.

In the example illustrated in FIG. 29A, the delivery box 300 according to the second embodiment has a rectangular parallelepiped shape. The delivery box 300 according to the second embodiment has a length of one side along the front-rear direction of the mother car 100 that is twice the length of the delivery box 300 according to the first embodiment.

Even in such a case, as shown in FIGS. 29A to 29E, the mother car 100 according to the second embodiment changes the arrangement of the delivery box 300 in the storage box 120 and performs delivery. The delivery box 300 delivered to the destination 20 can be transported to the arm 221 of the child vehicle 200.

Also in the slave vehicle 200 according to the second embodiment, as shown in FIG. 30(a), the delivery box 300 according to the second embodiment can be held and received by the arm 221, and as shown in FIG. 30(b). Further, the delivery box 300 according to the second embodiment can be loaded.

Further, in the slave vehicle 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 loading platform 224 to change the orientation of the delivery box 300. is there.

FIG. 31 is a flowchart showing 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. Of 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 estimated arrival time is the time when the mother car 100 is expected to arrive at the relay point 21. The mother car 100 (control unit 101) calculates the distance from the current position to the relay point 21 using the map information and the GPS device 105a, and arrives based on the traveling information such as the traveling speed, the road information, and the traffic information. Scheduled time can be calculated.

The required loading time is the time required for the delivery box 300 delivered to the delivery destination 20 to be loaded on the slave vehicle 200. The required loading time includes the time required to change the layout of the delivery box 300 in the storage box 120, the time required to receive and load the delivery box 300 in the child vehicle 200, and the like. The mother car 100 can calculate the required loading time based on the delivery information, the box management information, and the like.

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

On the other hand, if the estimated arrival time is shorter than the required loading time (NO in step S3106), the mother vehicle 100 (control unit 101) controls the box conveyance after the arrival at the relay point 21 and before the child vehicle 200 is dismounted. In order to perform the processing, travel control processing regarding delivery based on the set delivery route is performed (S3109).

After that, the mother vehicle 100 (control unit 101) arrives at the relay point 21 or the vicinity thereof (YES in S3110), confirms the box management information (S3111), and determines whether the box transportation control process has been executed. Is determined (S3112).

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

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

Here, if the box transportation control process is executed while the mother vehicle 100 is traveling, problems such as a transportation error of the delivery box 300 and damage to the parcel in the delivery box 300 may occur.
If the estimated arrival time is equal to or longer than the required loading time, the mother vehicle 100 according to the third embodiment performs the box transportation control process before the arrival at the relay point 21. On the other hand, if the estimated arrival time is shorter than the required loading time, the mother vehicle 100 according to the third embodiment performs the box transportation control process after the arrival at the relay point 21 and before the child vehicle 200 is dismounted. As a result, the mother vehicle 100 according to the third embodiment can reduce the possibility that the above-described problems will occur.

[10. Other]
It will be apparent to those skilled in the art that the embodiments described above can be applied to each other's technology 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 can be made to the embodiments of the present invention without departing from the scope of the appended claims.

The terms used throughout this specification and the appended claims should be construed as "non-limiting." For example, the terms "comprising" or "including" should be construed as "not limited to what is described as being included." The term "comprising" should be interpreted as "not limited to what has been described as having."

10 Center 20 Delivery Destination 21 Relay Point 100 Mother Car 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 Cabinet 121 Mounting Space 122 Main Space 123 Storage Space 124 Receiving and storing space 125 Door 130 Transfer control mechanism 131 Conveyor 132 First conveyor 133 Second conveyor 135 Transfer control unit 200 Slave car 201 Control unit 202 Communication device 203 Detection device 204 Storage device 205 Operation control device 205a GPS device 205b Center of gravity position Adjusting device 206 Traveling mechanism 206a Drive wheel 210 Loading control mechanism 220 Loading mechanism 221 Arm 222 Elevating part 223 Translation part 224 Loading platform 230 Loading control part 231 Transfer control part between layers 300 Delivery box 301 Lid part 302 Luggage storage part 303 Damper 304 Hinge 310 Projection portion 310a First projection portion 310b Second projection portion 310c Third projection portion 310d Fourth projection portion 400 Delivery box fixing tool 410 Hole portion 410a First hole portion 410b Second hole portion 410c Third hole portion 410d Fourth hole portion

Claims (1)

A delivery vehicle carrying a delivery box to be delivered to a delivery destination; and a mother vehicle carrying the delivery vehicle,
The mother vehicle is
An automated warehouse configured to store a plurality of the delivery boxes and change the arrangement of the plurality of delivery boxes;
The delivery box to be delivered to the delivery destination is a receiving/storing position where the delivery vehicle can receive the delivery box before the delivery vehicle is dismounted at a relay point on the delivery route from the delivery source to the delivery destination. And a control unit that controls the automated warehouse so that
The delivery vehicle is
By receiving the delivery box arranged at the receiving and storing position, the delivery box to be delivered to the delivery destination is loaded,
Traveling from the relay point to the delivery destination on the delivery route to deliver the delivery box loaded on the delivery vehicle to the delivery destination,
The control unit is
If the time until the mother vehicle arrives at the relay point is shorter than the time required to bring the delivery box to be delivered to the delivery destination to the loaded state on the delivery vehicle, the mother vehicle is A delivery system that controls the automated warehouse so that the delivery box delivered to the delivery destination is located at the receiving and storing position after arriving at the relay point.