JP7346832B2 - delivery system - Google Patents

Description

The present invention relates to a delivery system for delivering packages to a destination.

For example, as described in Patent Document 1 below, there is a known delivery system that uses autonomously movable vehicles to deliver packages to destinations. This delivery system includes, in addition to a mobile object, a server (delivery control means) that manages information regarding delivery of packages. In this delivery system, information representing the status of mechanical components (electric motors, transmissions, etc.) of the mobile body is sequentially transmitted from the mobile body to the server. The server determines whether there is a failure in the mobile body based on the information received from the mobile body. This saves the worker the trouble of checking whether there is a malfunction in the moving body.

JP2018-58656A

The moving body of the delivery system of Patent Document 1 autonomously travels according to a predetermined computer program. That is, the computer program predefines avoidance behavior modes (behavior patterns) for various situations that impede the movement of the mobile object. However, the environment (road conditions) in which a mobile object travels has different characteristics depending on the region, and the environment changes frequently. Therefore, when a mobile object encounters a situation that is not envisaged in the computer program, the mobile object cannot autonomously avoid the situation and cannot continue delivery any longer. In this case, for example, a worker needs to collect the moving body, take out the luggage from the moving body, and bring the luggage to the destination. Note that the worker may collect the mobile object, set another delivery route, and make the mobile object run autonomously again. There is a possibility that you will encounter it. In these cases, there is a risk that the arrival time of the package at the destination may deviate significantly from the scheduled time. Therefore, there is no choice but to make the time period (time width) that consumers can specify as the time for receiving their parcels relatively large. Therefore, in reality, it is difficult to introduce the delivery system of Patent Document 1, and it is difficult to realize labor saving and quality improvement in delivery operations.

The present invention has been made to address the above-mentioned problems, and its purpose is to provide a delivery system that can save labor and improve the quality of delivery operations. In addition, in the following description of each component of the present invention, in order to facilitate understanding of the present invention, the reference numerals of corresponding parts in the embodiment are written in parentheses, but each component of the present invention is as follows: It should not be interpreted as being limited to the configuration of corresponding parts indicated by the reference numerals in the embodiments.

In order to achieve the above object, a delivery system (1) according to the present invention includes a server (10) that generates delivery route information (RD) regarding the delivery route of a package (P), and a mobile body (10) that transports the package (P). 20), comprising an environmental information acquisition means (273) for acquiring environmental information representing the surrounding situation and a communication means (273) for acquiring the delivery route information from the server; A moving object that can autonomously travel toward a destination (DP) based on a behavior pattern defined by a computer program and encounters a situation (OB, BA, SG) that the moving object cannot autonomously avoid. A delivery system comprising: a remote control device (30) for remotely controlling the mobile body; The remote control device is capable of learning a mode of operation and controlling the mobile body based on the learning result, and the remote control device transmits a control element (31) and control operation information representing the operation mode of the control element to the server. A communication means (333) for transmitting data to the mobile body via the communication means (333) detects a transmission time from when the operator operation information is transmitted until it is transmitted to the mobile body, and the longer the transmission time, the more the mobile body control means (332) for setting the maximum speed of the moving body to a small value, the control means calculating a first maximum speed of the moving body according to the detected transmission time, and at the time of remote control, Based on the environmental information, it is determined whether there is an obstacle on the travel route of the mobile object, and when it is determined that there is an obstacle on the travel route, the mobile object is determined based on the distance between the mobile object and the obstacle. calculate a second maximum speed of the moving object, and limit the maximum speed of the moving object to either the first maximum speed or the second maximum speed, or the first maximum speed or the second maximum speed. limit to a lower speed.
In this case, the remote control device controls the mobile body when the mobile body detects that a fluctuation occurring in the vehicle body of the mobile body while the mobile body is autonomously traveling is larger than a predetermined value. Remote control is possible, and the server can learn a new control mode for the mobile body based on the remote control mode, and can control the mobile body based on the learning result.

In the delivery system according to the present invention, cargo is delivered to a destination by a mobile object that can travel autonomously. When a mobile object encounters a situation that prevents it from running autonomously, a worker can manually operate the mobile object using a remote control device. In other words, even if a mobile object encounters a situation that prevents it from running autonomously, there is no need for a worker to retrieve the mobile object, and the mobile object can be manually operated from a remote location to allow the mobile object to run autonomously. It is possible to avoid obstacles and allow the moving object to reach its destination. Therefore, when the delivery system according to the present invention is used, the deviation between the pre-specified delivery date and time of the package and the actual arrival date and time of the package at the destination is small. According to this, it is possible to save labor in delivery operations and improve the quality of delivery operations.

In one aspect of the delivery system of the present invention, the server stores at least information representing the remote control mode associated with the position information of the mobile object and the environment information, and stores information representing the remote control mode. updating the computer program of the mobile body and correcting the delivery route information so that the mobile body learns a new behavior pattern based on the mobile body and can autonomously operate according to the new behavior pattern. Information regarding updating of the computer program or modification of delivery route information can be shared among a plurality of mobile units.

According to this, the behavior patterns of moving objects that are able to autonomously avoid situations that were initially unavoidable will increase, and opportunities for workers to remotely control moving objects will decrease. To go. Therefore, labor saving can be promoted in the delivery system.

In another aspect of the delivery system of the present invention, when the moving object determines that it is unable to travel along the route based on the delivery route information, or the moving object receives sufficient information to determine a behavior pattern according to the computer program. cannot be obtained from the environmental information, it is determined that autonomous travel is not possible, the remote control device is notified of this, and the remote control operation mode is switched to.

According to this, there is no need for the operator to constantly monitor the operation of the moving body.

When remotely controlling a moving object, if the communication speed between the remote control device and the moving object is relatively slow, a lag occurs between the operation timing of the operator and the operation timing of the moving object. Therefore, in the present invention, the traveling speed of the moving object can be limited depending on the communication speed between the remote control device and the moving object. That is, when the communication speed is relatively slow, the control means sets the maximum value of the traveling speed of the moving object to be relatively small. Furthermore, even during remote control, when an obstacle is detected on the travel path by the environmental information acquisition means mounted on the moving object, the control means adjusts the maximum traveling speed of the moving object that is appropriate for the distance to the obstacle. Set. This allows the mobile object to be remotely controlled more safely.

In another aspect of the delivery system of the present invention, the mobile object is equipped with an omnidirectional camera, and the remote control device includes a link between the mobile object and the predetermined destination in an image taken by the omnidirectional camera. A display means (32) is provided for superimposing and displaying characters or figures (AR) representing positional relationships.

According to this, the operator can easily grasp the direction in which the moving object should be moved by looking at the display on the display means. Therefore, it is easy for the operator to remotely control the moving body.

In another aspect of the delivery system of the present invention, the server generates and stores transit point information (TPD) representing possible transit points (TP) of the mobile body based on the points through which the mobile body has passed. However, delivery route information to the new destination can be generated based on the destination information representing the new destination and the transit point information.

According to this, the server can design a complex delivery route using route point information.

In another aspect of the delivery system of the present invention, the route point information includes link information (LPD) indicating another point to which the mobile body can directly travel.

This allows the server to design practical delivery routes along roads.

In another aspect of the delivery system of the present invention, the server converts the way point information obtained from a single or a plurality of moving objects and representing a plurality of points located within a predetermined range into one way point information. The information is aggregated and stored as new route point information.

According to this, it is possible to prevent the storage area of the storage device that stores the route point information from running out, and to design an efficient delivery route.

FIG. 1 is a schematic diagram showing an example of delivering products using a delivery system according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a computer device. FIG. 3 is a perspective view of the moving body as seen diagonally from the front. FIG. 3 is a perspective view of the moving body as seen diagonally from behind. FIG. 2 is a block diagram showing the configuration of a moving body. FIG. 2 is a block diagram showing the configuration of a remote control device. FIG. 2 is a schematic diagram showing a delivery route designed in the delivery system in an initial state. FIG. 2 is a schematic diagram showing a delivery route designed in a delivery system with a sufficient delivery track record. This is an example of a display on a display device when a moving body encounters a situation that cannot be avoided autonomously, and autonomous travel is blocked by an object. 7A is a plan view showing an example of remotely controlling a moving body to avoid an object from the state shown in FIG. 7A. FIG. FIG. 2 is a schematic diagram illustrating an example in which a moving object is remotely controlled from a state where the moving object has entered a dead end to reach a destination. This is an example of a display on a display device when a moving object encounters a situation that cannot be avoided autonomously, and autonomous travel is blocked by a signal. It is a schematic diagram of the delivery system concerning the modification of the present invention.

A delivery system 1 according to an embodiment of the present invention includes a server 10, a plurality of moving bodies 20, and a remote control device 30, as shown in FIG. Here, the outline of the delivery system 1 will be briefly explained. The delivery system 1 executes a delivery operation (or a part of the delivery operation) of a product P (package) in electronic commerce. The delivery system 1 delivers the product P to a specified destination DP using a mobile object 20. The mobile body 20 is equipped with various sensors and can travel autonomously based on information (environmental information) around the mobile body 20 acquired using these sensors. That is, the mobile object 20 travels toward the destination DP while autonomously avoiding obstacles (objects, steps, etc.). When the mobile body 20 encounters a situation that cannot be avoided autonomously, the mobile body 20 can be remotely controlled using the remote control device 30.

Next, the configuration of the delivery system 1 will be explained. The server 10 includes a computer device 11, as shown in FIG. Computer device 11 includes a storage device 111, an arithmetic device 112, and a communication device 113. The storage device 111 stores various computer programs. The arithmetic device 112 operates according to various computer programs stored in the storage device 111. The communication device 113 acquires various data from the arithmetic device 112 and transmits the data to external devices (mobile object 20 and remote control device 30) via a telecommunications line (for example, the Internet). Furthermore, the communication device 113 receives various data from external devices (mobile object 20 and remote control device 30) via a telecommunications line, and delivers the data to the arithmetic device 112.

The moving body 20 is an electric vehicle equipped with wheels 21, an electric motor 22, a battery 23, a steering device 24, a storage 25, a sensor 26, and a computer device 27, as shown in FIGS. 3A, 3B, and 4. The wheels 21 are connected to an electric motor 22 via a speed reduction device (not shown). The electric motor 22 is, for example, a three-phase AC motor, and converts electric power supplied from the battery 23 into rotational driving force. Furthermore, the wheels 21 are connected to a steering device 24 . The electric motor 22 and the steering device 24 are controlled by a computer device 27 . The storage 25 is a substantially rectangular box-shaped portion. The storage 25 includes a cover 25a that can be opened and closed. A locking device is incorporated into the lid portion 25a. The product P is stored in the storage 25 described above. Note that before the product P is stored in the storage 25, an electronic tag TG containing unique identification information ID is attached to the product P. The electronic tag TG includes a wireless communication device that transmits identification information ID of the product P.

The sensor 26 is, for example, a position sensor that detects the current location (latitude and longitude) of the moving object 20, a distance sensor that measures the distance to an object using light, sound waves, etc., or an omnidirectional camera that captures images of the surroundings. Including. Further, the sensor 26 includes an electronic tag reader that receives identification information ID transmitted from the electronic tag TG of the product P.

The configuration of the computer device 27 is the same as that of the computer device 11. That is, the computer device 27 includes a storage device 271, an arithmetic device 272, and a communication device 273 (see FIG. 2). The storage device 271 stores various computer programs. Arithmetic device 272 operates according to various computer programs stored in storage device 271. The communication device 273 acquires various data from the arithmetic device 272 and transmits the data to external devices (server 10 and remote control device 30) via a telecommunications line. Furthermore, the communication device 273 receives various data from external devices (server 10 and remote control device 30) via the telecommunications line, and delivers the data to the arithmetic device 272.

The mobile body 20 has two operation modes (autonomous driving mode and remote control mode). The autonomous driving mode is an operation mode in which the mobile object 20 travels toward the destination DP while autonomously avoiding various situations that hinder its travel. The remote control mode is a mode in which the vehicle runs according to commands from the remote control device 30 (remote control information OD).

The remote control device 30 includes a control element 31, a display device 32, and a computer device 33. The operator 31 includes a lever that specifies the moving direction (steering angle) of the movable body 20 and a lever that specifies the traveling speed of the movable body 20. The operator 31 is connected to a computer device 33.

Display device 32 includes, for example, a liquid crystal display. Display device 32 is connected to computer device 33.

The configuration of the computer device 33 is the same as that of the computer device 11. That is, the computer device 33 includes a storage device 331, an arithmetic device 332, and a communication device 333 (see FIG. 2). The storage device 331 stores various computer programs. The arithmetic device 332 operates according to various computer programs stored in the storage device 331. The communication device 333 acquires various data from the arithmetic device 332 and transmits the data to external devices (server 10 and mobile object 20) via a telecommunications line. Furthermore, the communication device 333 receives various data from external devices (server 10 and mobile object 20) via the telecommunications line, and delivers the data to the arithmetic device 332.

As described above, the arithmetic device 112, the arithmetic device 272, and the arithmetic device 332 are connected to the telecommunication line via the communication device 113, the communication device 273, and the communication device 333, respectively. As a result, various information is exchanged between the server 10 and the mobile object 20 and between the server 10 and the remote control device 30.

Next, the operation of the delivery system 1 will be explained. As shown in FIG. 1, when a consumer C orders a product from a mail order company X, the product P (package) is delivered from the mail order company X to a delivery company Y. The product P is then delivered to the destination DP by the delivery company Y. A part of the delivery work of the product P by the delivery company Y is executed by the delivery system 1.

First, consumer C accesses the homepage of mail order retailer X using a portable information terminal (smartphone), selects product P, pays for it, and sets destination DP and delivery date and time DT. Then, delivery information DD including identification information ID of product P, destination information DPD representing destination DP, and delivery date and time information DTD representing delivery date and time DT is transmitted from consumer C's portable information terminal to mail order retailer X. be done. Mail order company X hands over product P (package) and delivery information DD to delivery company Y. At this time, an electronic tag TG (see FIG. 4) is attached to the product P, and identification information ID is stored in the electronic tag TG. Furthermore, delivery information DD is transmitted to the server 10. The delivery information DD is stored in the storage device 111.

The delivery company Y first delivers the product P to the distribution center DC that has jurisdiction over the destination DP (first delivery service), and then delivers the product P from the distribution center DC to the destination DP (second delivery service). In this example, the first delivery job is performed using a regular delivery system. That is, by a truck TK driven by a driver. Product P is transported from mail order retailer X's warehouse to distribution center DC. Then, at the distribution center DC, the product P is unloaded from the truck TK and is temporarily stored at the distribution center DC. The second delivery service is executed using the delivery system 1, as described below. Note that the delivery center DC may be a business office of delivery company Y, or may be a business partnered with delivery company Y (for example, a convenience store). Note that the distribution center DC includes a plurality of moving bodies 20.

When the product P arrives at the distribution center DC, a worker selects one moving object 20, and the product P is stored in the storage 25 of the selected moving object 20 (hereinafter referred to as moving object 20A). (See Figure 4). Then, the computing device 272 of the mobile body 20A acquires the identification information ID from the electronic tag TG of the product P via the tag reader in the storage 25. Next, the computing device 272 locks the lid 25a of the storage 25. Next, the computing device 272 transmits the identification information ID to the server 10. Thereby, the computing device 112 of the server 10 recognizes that the mobile object 20A can start delivery (driving). Then, the computing device 112 uses e-mail, social networking service, etc. to notify the consumer C that delivery preparations are complete and requests confirmation of the delivery date and time DT. If the consumer C desires to receive the product P on the delivery date and time DT specified at the time of ordering, the consumer C sends a message to the server 10 indicating approval to continue the delivery service (second delivery service). On the other hand, if the consumer C wishes to change the delivery date and time DT of the product P, the consumer C transmits the new delivery date and time DT to the server 10.

Next, the computing device 112 designs the delivery route R based on the destination information DPD of the delivery information DD corresponding to the identification information ID and the past delivery results in the area under the jurisdiction of the delivery center DC (see FIGS. 6A and 6A). (see Figure 6B). In other words, the delivery route information RD includes destination information DPD, and further includes transit point information TPD (TPD1, TPD2,...) representing one or more transit points TP (TP1, TP2,...). May include. Immediately after the delivery system 1 is constructed (initial state), there is no delivery record, so the delivery route information RD includes only the destination information DPD. Hereinafter, first, the operation of the delivery system 1 in the initial state (when the delivery route information RD includes only the destination information DPD (FIG. 6A)) will be described. The operation of the delivery system 1 when it has a sufficient delivery record and the delivery route information RD includes a plurality of way point information TPD (FIG. 6B) will be described later.

In addition to designing the delivery route R, the computing device 112 calculates the current date and time, the designated delivery date and time, the scheduled travel distance of the mobile object 20A along the delivery route R, and the average travel speed of the mobile object 20A (default value or predicted value). ), the departure date and time of the mobile body 20A is calculated.

When the current time matches the calculated departure date and time, the calculation device 112 transmits the delivery route information RD and the delivery date and time information DTD to the mobile object 20A. Then, the arithmetic unit 272 of the mobile object 20A reads the autonomous driving program from the storage device 271 and executes it. In other words, the mobile object 20A starts operating in autonomous driving mode. As a result, the mobile object 20A starts autonomously traveling toward the destination DP. The autonomous driving program stipulates that the mobile body 20A, in principle, travels in compliance with the following rules.
- Move in a straight line from the current location to the destination DP (if a way point TP is set, the next way point TP).
- If an obstacle (an object that obstructs running, a step larger than a predetermined height difference, or a vibration larger than a predetermined amplitude) is detected, the system stops and notifies the remote control device 30 via the server 10.
- When a traffic light is detected, the system stops and notifies the remote control device 30 via the server 10.

As will be described in detail later, the above autonomous driving program can be updated to change the above rules and add new rules, but in the initial state of the delivery system 1, the autonomous driving program is , stipulates only the above-mentioned basic rules.

That is, in principle, the mobile object 20A travels in a straight line from the current location toward the destination DP while acquiring environmental information using the sensor 26 (see FIG. 6A). When the mobile body 20A encounters a situation that cannot be avoided autonomously, it stops and notifies the remote control device 30 of this fact.

For example, as shown in FIG. 7A, when the moving object 20A detects an object OB that obstructs its movement using a distance sensor, it stops in front of the object OB, and displays the reason for stopping on the display device 32. . Next, the mobile object 20A switches its operation mode from the autonomous driving mode to the remote control mode. Next, the mobile body 20A transmits information representing the detection contents of the sensor 26 to the remote control device 30 via the server 10. Specifically, the mobile object 20A transmits information representing the current location, the distance to the object OB, an image of the object OB and its surroundings photographed by an omnidirectional camera, etc. to the remote control device 30. The computing device 332 of the remote control device 30 causes the display device 32 to display the video based on information representing the video captured by the omnidirectional camera of the mobile object 20A. At that time, the arithmetic device 332 uses characters and figures representing the positional relationship between the mobile body 20A and the destination DP (for example, the direction toward the destination DP) based on the destination information DPD and the information representing the current location of the mobile body 20A. arrow AR) is displayed superimposed on the image. The worker operates the operator 31 of the remote control device 30 while viewing the image displayed on the display device 32 to remotely control the mobile body 20A. In this example, as shown in FIG. 7B, the worker remotely controls the moving body 20A to overtake the object OB from the right side of the object OB. After avoiding the object OB as described above, the worker switches the operation mode of the mobile body 20A to the autonomous driving mode. Note that the operator may continue to perform remote control to cause the mobile object 20A to reach the destination DP.

In the example of FIG. 8, the mobile object 20A autonomously travels along the route shown by the solid line in the same figure, and travels through a dead end BA (for example, formed by walls that prevent forward, rightward, and leftward movement). The figure shows an example in which the vehicle enters a In this example, while looking at the image displayed on the display device 32 and searching for the route (detour route) indicated by the broken line in the same figure, the worker remotely controls the moving body 20A to drive it to the destination DP. is being reached.

Further, for example, when the mobile object 20A detects the traffic light SG based on the image taken using the omnidirectional camera, it stops in front of the traffic light SG (see FIG. 9), and provides information indicating the detection contents of the sensor 26. is transmitted to the remote control device 30 via the server 10. Specifically, the mobile object 20A transmits information representing the current location, an image of the traffic light SG taken by an omnidirectional camera, etc. to the remote control device 30. The worker operates the operator 31 of the remote control device 30 while viewing the image displayed on the display device 32 to remotely control the mobile body 20A. That is, the worker stops the moving body 20A until the traffic light SG becomes a state indicating that the vehicle can proceed (a green light). Then, when the traffic light SG becomes a state indicating that the vehicle can proceed (a green light), the operator moves the mobile body 20A forward. After that, the operator restarts the autonomous driving program of the mobile object 20A. Note that the operator may continue remote control to cause the mobile object 20A to reach the destination DP.

The remote operation information OD representing the mode of remote control by the worker as described above is associated with at least information representing the current location, the distance to the object OB, an image of the object OB and its surroundings photographed by an omnidirectional camera, etc. , is stored in the storage device 111 of the server 10 (see FIG. 1). Note that the remote control device 30 periodically detects the time (communication delay) after transmitting the remote control information OD to the mobile body 20A until the remote control information OD is transmitted to the mobile body 20A. For example, the remote control device 30 transmits response request information to the mobile body 20A via the server 10. Upon receiving the response request information, the mobile body 20A immediately transmits the response information to the remote control device 30 via the server 10. The time from when the remote control device 30 transmits the response request information to when the response information is received is measured, and the traveling speed of the moving body 20A is limited based on the measured time. Specifically, the longer the measured time is, the lower the maximum speed of the moving body 20A is set.

Furthermore, in the autonomous driving mode, the mobile object 20A transmits information representing the current location (passing point information PD) to the server 10 at fixed time intervals. The passing point information PD is stored in the storage device 111.

When the mobile body 20A arrives at the destination DP, it notifies the mobile body 20A of this fact via e-mail, social networking service, etc. At that time, the moving object 20A attaches an image of the surroundings of the point where it has arrived. Consumer C presents (sends) identification information to mobile object 20A. Note that the personal identification number, image, and the like are provided to the consumer C by the delivery company Y in advance. The computing device 272 of the mobile body 20A checks the presented identification information and identification information ID, and unlocks the lid portion 25a. Consumer C takes out product P from storage 25, checks the contents of product P, and then closes lid 25a. Then, the mobile body 20A transmits delivery completion information indicating that delivery of the product P has been completed to the server 10. The mobile body 20A autonomously travels along a route in the opposite direction to the outgoing route and returns to the distribution center DC. The mobile object 20A detects the amount of electricity stored in its battery 23, and if the amount of electricity stored in the battery 23 is relatively small, it moves from the destination DP to the nearest charging station to charge it, and then returns to the distribution center DC. You may return.

Note that a plurality of moving bodies 20 can simultaneously execute their respective second delivery operations. That is, a plurality of moving bodies 20 can deliver their respective products P to different destinations DP during the same time period. Further, one remote control device 30 is provided for a plurality of moving bodies 20. When a plurality of moving bodies 20 encounter a situation that cannot be avoided autonomously, one of the moving bodies 20 can be selected and remotely controlled.

By repeating the second delivery operation as described above (delivery results increase), a large number of remote control information OD and a large number of passing point information PD are stored in the storage device 111.

The arithmetic unit 112 of the server 10 learns the behavior pattern of the mobile object 20 to avoid situations that hinder the movement of the mobile object 20, based on a large number of pieces of remote control information OD stored in the storage device 111. Then, the server 10 adds and/or changes the contents (rules) of the automatic driving programs of all the moving bodies 20 based on the learned behavior pattern. For example, the computing device 112 learns a new behavior pattern of overtaking an object OB, as shown in FIGS. 7A and 7B, and updates the automatic driving program so that the mobile object 20 autonomously attempts an overtaking operation. do. Further, for example, the computing device 112 learns a new behavior pattern of moving forward or stopping according to the display of the traffic light SG, as shown in FIG. Update the autonomous driving program accordingly.

Further, the calculation device 112 detects a point where the mobile object 20 can stably travel based on a large number of passing point information PD. For example, one or more points within the section where the vehicle traveled at a travel speed higher than the average travel speed are detected. The arithmetic device 112 then recognizes the detected point as a waypoint TP through which the mobile object 20 can pass, and stores information representing the waypoint TP (latitude and longitude) in the storage device 111 as waypoint information TPD. let Note that the way point information TPD includes link information LPD that represents the way point TP of the destination to which the mobile object 20 can directly move. For example, in the example shown in FIG. 6B, way point information TPD2 of way point TP2 includes link information LPD2. In this example, the link information LPD2 includes the way point TP1 and the way point TP3, but does not include the way point TP4. This link information LPD2 allows direct movement of the mobile object 20 from waypoint TP2 to waypoint TP1 or from waypoint TP2 to waypoint TP3, but does not allow direct movement from waypoint TP2 to waypoint TP4. It means that it is prohibited.

In addition, the computing device 112 subdivides the area under the jurisdiction of the distribution center DC into a plurality of sections, and generates way point information TPD representing a plurality of way points TP included in each section. A plurality of way point information TPD obtained from the above are aggregated into one way point information TPD. For example, the calculation device 112 calculates the center of gravity of the plurality of waypoints TP. At this time, each way point information TPD is multiplied by a weight (coefficient) corresponding to the date and time when the information was stored in the storage device 111. That is, relatively old way point information TPD is given a small weight, and relatively new way point information TPD is given a large weight. Therefore, the old way point information TPD does not have much influence on the calculation result of the center of gravity. Then, the calculation device 112 stores the calculation result of the center of gravity in the storage device 111 as the way point information TPD of each section, and deletes the other way point information TPD from the storage device 111.

In a state where a plurality of way point information TPD is stored in the storage device 111, the calculation device 112 can include the way point TP in the delivery route R. For example, as shown in FIG. 6B, the computing device 112 can design a delivery route R that reaches the destination DP via four waypoints TP1, TP2, TP3, and TP4 in this order. In this example, the delivery route information RD includes way point information TPD1, TPD2, TPD3, and TPD4 representing way points TP1, TP2, TP3, and TP4, as well as destination information DPD. Note that the order of the arguments (TPD1, TPD2, TPD3, TPD4, DPD) of the delivery route information RD corresponds to the order of points that the mobile object 20A passes through. The way point information TPD1, TPD2, TPD3, and TPD4 include link information LPD1, LPD2, LPD3, and LPD4, respectively. In this example, link information LPD1 includes a waypoint TP2. Link information LPD2 includes a way point TP1 and a way point TP3. Link information LPD3 includes a way point TP2 and a way point TP4. Link information LPD4 includes way point TP3.

As described above, when the product P is delivered using the delivery system of Patent Document 1, when the moving object 20 encounters a situation that cannot be avoided autonomously, the worker collects the moving object 20. , the worker himself needs to bring the product P to the destination DP. On the other hand, in the example according to the present embodiment (see FIG. 1), when the moving body 20 encounters a situation that cannot be avoided autonomously, the operator uses the remote control device 30 to 20 can be manually operated from a remote location. In other words, even if the mobile object 20 is unable to autonomously travel, there is no need for the operator to retrieve the mobile object 20, and the operator can manually operate the mobile object 20 to avoid situations that impede autonomous travel. 20 can reach the destination DP. Therefore, when the delivery system 1 is used, the deviation between the pre-specified delivery date and time DT of the product P and the actual arrival date and time of the product P at the destination DP is small.

Furthermore, the server 10 learns a new behavior pattern of the mobile object 20 to avoid situations that hinder the movement of the mobile object 20, based on the mode of remote control by the remote control device 30. Then, based on the learning results, the autonomous driving programs of all mobile objects 20 are updated. In other words, as the delivery system 1 is repeatedly used, the behavior patterns of the mobile object 20 that enable autonomous avoidance of situations that were initially unavoidable will increase, and the worker will Opportunities to remotely control 20 are decreasing.

Furthermore, when the mobile body 20 encounters a situation that cannot be avoided autonomously, this fact is displayed on the display device 32. Therefore, there is no need for the operator to constantly monitor the operation of the moving body 20. Further, on the display device 32 of the remote control device 30, an arrow AR indicating the positional relationship between the moving body 20 and the destination DP is displayed superimposed on the image taken by the moving body 20. Therefore, by looking at the display on the display device 32, the operator can easily grasp the direction in which the moving body 20 should be moved. Therefore, it is easy for the operator to remotely control the moving body 20.

Further, the server 10 recognizes way points TP through which the mobile object 20 can pass based on a large number of way point information PD, generates way point information TPD representing the way points TP, and stores it in the storage device 111. The server 10 can design a complicated delivery route R using the way point information TPD. Note that each waypoint information TPD includes link information LPD representing a destination waypoint TP to which the mobile object 20 can directly move. According to this, the server 10 can design a practical delivery route R along roads. In addition, the server 10 aggregates a large number of way point information TPD representing a large number of way point TPs included in each subdivided section (that is, a plurality of nearby way point TPs) into one way point information TPD. do. This can prevent the storage area of the storage device 111 from running out. In addition, since the status of waypoints TP (road conditions) changes frequently, in this embodiment, when aggregating the many waypoint information TPD into one waypoint information TPD, the influence of old waypoint information TPD is configured so that it is small. Thereby, the server can design the delivery route R in accordance with the current road conditions.

By the way, when remotely controlling the mobile body 20, if the communication speed between the remote control device 30 and the mobile body 20 is relatively slow, there may be a difference between the operation timing of the operator 31 and the operation timing of the mobile body 20. arise. Therefore, in this embodiment, the traveling speed of the moving body 20 is limited depending on the communication speed between the remote control device 30 and the moving body 20. That is, when the communication speed is relatively slow, the maximum value of the traveling speed of the mobile object 20 is set to be relatively small. Thereby, the movable body 20 can be remotely controlled more safely.

As described above, according to the delivery system 1, it is possible to save labor in delivery operations and improve the quality of delivery operations.

The present invention is not limited to the above-described embodiments, and can be implemented by modifying the above-described embodiments without departing from the purpose of the present invention.

For example, in the autonomous driving mode, the mobile object 20 determines a behavior pattern to avoid a situation that hinders its movement according to a computer program, but when sufficient information for this is not obtained from the sensor 26, the server 10 It is also possible to notify the user and shift to remote control mode. Further, in the embodiment described above, the traveling speed of the mobile body 20 is limited based on the communication speed between the mobile body 20 and the server 10. In addition to this, the traveling speed of the moving object 20 may be limited based on the distance between the moving object 20 and an obstacle (object, step, etc.). In this case, the first maximum speed is set based on the communication speed, and the second maximum speed is set based on the distance to the obstacle. Then, the speed of the moving body 20 is limited to the lower of the first maximum speed and the second maximum speed.

For example, as shown in FIG. 10, a plurality of moving objects 20 are loaded onto a small truck from a distribution center DC, and the plurality of moving objects 20 are transported to a predetermined delivery base (for example, the center of gravity of a plurality of destinations). The plurality of moving bodies 20 may depart from the delivery base to their respective destinations DP.

Furthermore, the delivery system 1 may be applied to the first delivery service. Furthermore, the delivery system 1 may be used to directly deliver the product P from the mail order retailer X to the destination DP.

1... Delivery system, 10... Server, 11, 27, 33... Computer device, 20, 20A... Mobile body, 26... Sensor, 30... Remote control device, 31... Operator, 32... Display device, 111... Storage device, 273...Communication device, C...Consumer, DC...Delivery center, DD...Delivery information, DP...Destination DPD...Destination information, DT...Delivery date and time, DTD...Delivery date and time information, ID...Identification information, LPD...Link information , OB...object, OD...remote control information, P...product, PD...passing point information, R...delivery route, RD...delivery route information, TP...way point, TPD...way point information, X...mail order retailer, Y …Delivery company

Claims (8)

a server that generates delivery route information regarding the package delivery route;
A mobile body that transports the cargo, comprising an environmental information acquisition unit that acquires environmental information representing surrounding conditions and a communication unit that acquires the delivery route information from the server, and includes the environmental information and the delivery route information, and A mobile object capable of autonomously traveling toward a destination based on a behavior pattern prescribed by a predetermined computer program;
A delivery system comprising: a remote control device that remotely controls the mobile body when the mobile body encounters a situation that cannot be avoided autonomously;
The server is capable of learning a new control mode of the mobile body based on the remote control mode, and controlling the mobile body based on the learning result,
The remote control device includes:
The operator and
communication means for transmitting operator operation information representing an operation mode of the operator to the mobile body via the server;
A control means that detects at least a transmission time from when the operator operation information is transmitted until it is transmitted to the movable body, and sets the maximum speed of the movable body to be smaller as the transmission time is longer;
including;
The control means calculates a first maximum speed of the moving object according to the detected transmission time, and determines whether there is an obstacle on the traveling route of the moving object based on the environmental information during remote control. When it is determined that there is an obstacle on the traveling route, a second maximum speed of the moving object is calculated based on the distance between the moving object and the obstacle, and the maximum speed of the moving object is calculated based on the distance between the moving object and the obstacle. A delivery system that is limited to one of a maximum speed and the second maximum speed, or to a lower speed of the first maximum speed and the second maximum speed. The delivery system according to claim 1,
The remote control device is capable of remotely controlling the mobile body when the mobile body detects that a fluctuation occurring in the vehicle body of the mobile body while the mobile body is autonomously traveling is larger than a predetermined value. and
The delivery system wherein the server learns a new control mode for the mobile body based on the remote control mode, and can control the mobile body based on the learning result. The delivery system according to claim 1 or 2,
The server stores at least the operator operation information associated with the position information and the environment information of the mobile object, learns a new behavior pattern of the mobile object based on the operator operation information , and learns a new behavior pattern of the mobile object based on the operator operation information. At least one of updating a computer program of the mobile body and modifying delivery route information can be executed so that the mobile body can operate autonomously according to the new behavior pattern, and updating or delivering the computer program. A delivery system that allows multiple mobile units to share information regarding route information corrections. The delivery system according to any one of claims 1 to 3,
When the mobile body determines that it is unable to travel along the route based on the delivery route information, or when sufficient information to determine a behavior pattern according to the computer program cannot be obtained from the environment information, the mobile body autonomously A delivery system that determines that travel is not possible, notifies the remote control device to that effect, and switches to a remote control operation mode. The delivery system according to any one of claims 1 to 4,
The mobile body includes an omnidirectional camera,
The remote control device comprises a display means for superimposing and displaying characters or figures representing a positional relationship between the mobile object and the predetermined destination on an image taken by the omnidirectional camera. The delivery system according to any one of claims 1 to 5,
The server is
Generating and storing route point information representing points through which the mobile body can pass based on the points that the mobile body has passed;
A delivery system capable of generating delivery route information to the new destination based on destination information representing the new destination and the transit point information. The delivery system according to claim 6,
The above transit point information is
A delivery system including link information representing other points to which the mobile object can directly travel. In the delivery system according to claim 6 or claim 7,
The server is
Aggregating the route point information obtained from a single or a plurality of moving bodies and representing a plurality of points located within a predetermined range into one route point information, and storing the same as new route point information. delivery system.

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