JP6773885B2 - 配達場所をベースとする自律陸上車両 - Google Patents
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Description
本願は、「Autonomous Ground Vehicles Based At Delivery Locations」と題する2016年7月25日付け米国出願第15/218,943号の利益を主張しており、その全体は参照することにより、本明細書に組み込まれる。
本明細書は、自律陸上車両(「AGV」)を利用して、輸送車両(例えば、配達トラック)からアイテムを取り出し、特定の場所(例えば、ユーザの住居)に配達するシステムを記載する。種々の実施態様では、AGVは、個々のユーザが所有してもよく、及び/または、所定領域(例えば、アパート内、近隣等)におけるユーザのグループにサービスを提供してもよい。種々の実施態様では、AGVは、種々のタイプの場所(例えば、ユーザの住居の内側または外側、共有領域等)に配置してもよく、アイテムを搬送している輸送車両(例えば、配達トラック)と会合するために出向いて(例えば、路上に)もよい。例えば、輸送車両が指定された会合場所(例えば、路上)に特定時間に到着することの見込みを示す通知を受け取ってもよい。他の例として、種々のタイプのセンサ(例えば、画像センサ、音響センサ等)を利用して、輸送車両がある領域に近づいているときを判断してもよい(例えば、アイスクリームトラックが、近づいているとき等に音を演奏してもよい。)。輸送車両の接近に応じて、1つまたは複数のAGVが会合場所に出向き、輸送車両からアイテムを受け取ってもよい。1つの構成では、AGVが輸送車両よりも先に到着し得るように、AGVについて移動開始時間を設定し、会合場所に向けて移動を始めてもよい。移動開始時間の決定は、少なくとも一部が、会合場所に輸送車両が到着する推定時間に基づいてもよい。
Claims (15)
- 注文したアイテムを輸送するシステムであって、
第1ユーザの住居における第1ホームベース場所に配置される第1自律陸上車両(AGV)と、
コンピューティングシステムであって、
1つまたは複数のプロセッサと、
前記1つまたは複数のプロセッサに連結され、プログラム命令を記憶するメモリであって、前記プログラム命令は、前記1つまたは複数のプロセッサにより実行されたときに、少なくとも、
前記第1AGVと会合するために第1アイテムを搬送する輸送車両が移動する会合場所を決定し、
前記輸送車両が前記会合場所に到着することが予想される推定時間に基づき、前記第1AGVが前記会合場所に移動を始める移動開始時間を決定し、
前記第1ホームベース場所から前記会合場所に移動し、前記輸送車両と会合して前記第1アイテムを受け取るように前記第1AGVに命令し、
前記会合場所から前記第1ユーザの住居に移動して前記第1アイテムを配達するように第1AGVに命令する、
前記メモリと、
を備える、前記コンピューティングシステムと、
を具備する、前記システム。 - 前記メモリは、前記1つまたは複数のプロセッサにより実行されたときに、前記1つまたは複数のプロセッサに少なくとも、
前記会合場所に第2AGVが存在していることを判断させ、
指定された順番にしたがって前記会合場所において、前記第2AGVに対して位置決めするように前記第1AGVに命令する、プログラム命令を更に含む請求項1に記載のシステム。 - 前記メモリは、前記1つまたは複数のプロセッサにより実行されたときに、前記1つまたは複数のプロセッサに少なくとも、
前記輸送車両が前記会合場所に到着する前に、前記第1AGVが前記会合場所に到着できるようにするため前記移動開始時間を決定する、プログラム命令を更に含む請求項1に記載のシステム。 - 自律陸上車両(AGV)であって、
推進システムと、
施錠機構を有する保管区画と、
コンピューティングシステムであって、
1つまたは複数のプロセッサと、
前記1つまたは複数のプロセッサに連結され、プログラム命令を記憶するメモリであって、前記プログラム命令は、前記1つまたは複数のプロセッサにより実行されたときに、少なくとも、
前記輸送車両が前記会合場所に到着することが予想される推定時間に基づき、前記AGVが前記会合場所に移動を始める移動開始時間を決定し、
前記輸送車両が会合するために、前記会合場所に前記AGVをナビゲートするように前記推進システムを制御し、
前記AGVが、前記会合位置にいるときに、前記保管区画内にアイテムが配置されていることを判断し、
前記保管区画を施錠する前記施錠機構を制御し、
前記アイテムを配達する前記会合場所から配達場所への移動路に沿って前記AGVをナビゲートするように前記推進システムを制御し、
前記配達場所において前記保管区画から前記アイテムの取り出しを可能とするために、前記配達場所において前記保管区画を解錠するように前記施錠機構を制御する、
前記メモリと、
を備える、前記コンピューティングシステムと、
を具備する、前記AGV。 - 前記配達場所は、ユーザの住居にある、請求項4に記載のAGV。
- 前記メモリは、前記1つまたは複数のプロセッサにより実行されたときに、前記1つまたは複数のプロセッサに少なくとも、
前記推進システムを制御し、前記アイテムが前記保管区画内に配置される前に、前記AGVが配置されるホームベース場所から前記会合場所に前記AGVをナビゲートさせるプログラム命令を更に包含する、請求項5に記載のAGV。 - 前記配達場所への前記移動路に沿って前記AGVが出会うアクセス障壁を開くために使用するアクセス機構を更に備える、請求項4に記載のAGV。
- 前記会合場所において前記保管区画に前記アイテムを配置するために使用するアイテム係合機構を更に備える、請求項4に記載のAGV。
- 前記保管区画内に配置されている前記アイテムの存在を検出する存在検出センサと、
前記保管区画内に前記アイテムが配置されるときに移動を検出するモーションセンサと、
前記保管区画内に配置されている前記アイテムの画像を取り込む画像取込センサと、
前記保管区画内に配置されている前記アイテムの識別を判断するために使用されるアイテム識別センサと、
前記保管区画内の温度を検出する温度センサとの少なくとも1つを更に備える、請求項4に記載のAGV。 - アイテムを輸送する方法であって、
輸送車両が第1自律陸上車両(AGV)及び第2AGVと会合するように移動する会合場所を決定することと、
前記輸送車両が前記会合場所に到着することが予想される推定時間に基づき、前記第1AGVが前記会合場所に移動を始める第1移動開始時間を決定し、
前記輸送車両が前記会合場所に到着することが予想される推定時間に基づき、前記第2AGVが前記会合場所に移動を始める第2移動開始時間を決定し、
前記会合場所において前記輸送車両から第1アイテムを受け取るように前記第1AGVに命令することであって、前記第1アイテムは前記第1AGVにより前記会合場所から第1配達場所に配達される、前記命令することと、
前記会合場所において前記輸送車両から第2アイテムを受け取るように前記第2AGVに命令することであって、前記第2アイテムは前記第2AGVにより前記会合場所から第2配達場所に配達される、前記命令することと、
を備える、前記方法。 - 前記第1配達場所及び前記第2配達場所は、それぞれ第1のユーザの住居及び第2のユーザの住居である、請求項10に記載の方法。
- 前記会合場所において第3アイテムを前記輸送車両から受け取るように前記第2AGVに命令することを更に備え、
前記第3アイテムは、前記第2AGVにより前記会合場所から第3配達場所に配達され、前記第2AGVは、前記第2アイテム及び前記第3アイテムを保持する別個の保管区画を含む、請求項10に記載の方法。 - 前記第1AGV及び前記第2AGVは、それぞれ第1ユーザの住所及び第2のユーザの住所におけるそれぞれ第1ホームベース場所及び第2ホームベース場所から、前記会合場所に移動する、請求項10に記載の方法。
- 前記会合場所における前記第1AGV及び前記第2AGVの位置は、前記第1AGV及び前記第2AGVが前記会合場所において指定された順番に配置されるように調整される、請求項10に記載の方法。
- 前記第1AGVが前記第1アイテムをいつ受け取ったか及び前記第1アイテムの識別を示すメッセージを第1ユーザに送信すること、を更に備える、請求項10に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US15/218,943 US10216188B2 (en) | 2016-07-25 | 2016-07-25 | Autonomous ground vehicles based at delivery locations |
US15/218,943 | 2016-07-25 | ||
PCT/US2017/043401 WO2018022468A1 (en) | 2016-07-25 | 2017-07-21 | Autonomous ground vehicles based at delivery locations |
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JP2019531991A JP2019531991A (ja) | 2019-11-07 |
JP6773885B2 true JP6773885B2 (ja) | 2020-10-21 |
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EP (1) | EP3488398A1 (ja) |
JP (1) | JP6773885B2 (ja) |
CN (1) | CN109716368A (ja) |
WO (1) | WO2018022468A1 (ja) |
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