Control device, transporter, control method, and transport system

Abstract

An object of the present invention is to provide a control device, a transporter, a control method, and a transport system that can improve the efficiency of energy consumption associated with temperature control in a plurality of sections capable of storing articles. The UGV (1) of the present invention moves an article stored in the storage repository (B1) to the storage repository (B2) and performs temperature control of the storage repository (B2) when a specific condition related to the article stored in the storage repository (B1) among the plurality of storage repositories (B) is satisfied.

Description

Technical Field

[0001] The present invention relates to the technical field of systems for transporting articles using a transporter having a plurality of compartments capable of storing articles, etc. Background Art

[0002] Conventionally, in order to reduce the labor cost of transportation, systems for transporting articles using transporters such as robots capable of autonomous movement have been explored. For example, in Patent Document 1, an autonomous robot vehicle capable of delivering foods, etc. by controlling the temperature (heating or cooling) inside a compartment (section) for storing articles is disclosed.

[0003] [Background Art Documents]

[0004] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2020-529375 Summary of the Invention

[0006] [Problems to be Solved by the Invention]

[0007] However, a transporter having a plurality of compartments capable of storing articles consumes a large amount of energy by continuously controlling the temperature in each compartment, so it is not ideal from the viewpoint of energy consumption.

[0008] Therefore, a control device, a transporter, a control method, and a transportation system are provided that can achieve efficiency in energy consumption associated with temperature control in a plurality of compartments capable of storing articles.

[0009] [Technical Means for Solving the Problems]

[0010] The invention according to Technical Solution 1 is a control device that controls a transporter having a plurality of compartments capable of storing articles, and includes: an article movement control unit that moves an article stored in a first compartment among the plurality of compartments to a second compartment capable of temperature control when a specific condition related to the article stored in the first compartment is satisfied; and a temperature control unit that controls the temperature of the second compartment. Thus, it is possible to achieve efficiency in energy consumption associated with temperature control in a plurality of compartments capable of storing articles.

[0011] The invention according to Technical Solution 2 is characterized in that, in the control device according to Technical Solution 1, it further includes: a determination unit that determines whether the specific condition is satisfied, and the article movement control unit moves the article stored in the first compartment to the second compartment when the determination unit determines that the specific condition is satisfied.

[0012] The invention according to claim 3 is characterized in that, in the control device according to claim 1 or 2, the specific condition includes a condition that the item requires temperature control. Thus, when the item stored in the first compartment requires temperature control, the item is moved to the second compartment, thereby achieving efficiency in energy consumption associated with temperature control.

[0013] The invention according to claim 4 is characterized in that, in the control device according to any one of claims 1 to 3, the specific condition includes a condition that the item has not been received by the recipient. Thus, if the item stored in the first section has not been received by the recipient, the item is moved to the second section, thereby achieving efficiency in energy consumption associated with temperature control.

[0014] The invention according to claim 5 is characterized in that, in the control device according to any one of claims 1 to 4, the specific condition includes a condition that the time elapsed since the start of transfer of the article exceeds the specific time associated with the article. Thus, when the time elapsed since the start of transfer of the article stored in the first zone exceeds the specific time associated with the article, the article is moved to the second zone, thereby achieving efficiency in energy consumption associated with temperature control.

[0015] The invention according to claim 6 is characterized in that, in the control device according to any one of claims 1 to 5, the transporter includes a plurality of first sections, and the article movement control unit moves articles stored in each of the first sections to one of the second sections. Thus, by concentrating the articles stored in each of the plurality of first sections in the second section, it is possible to improve the efficiency of energy consumption associated with temperature control.

[0016] The invention according to claim 7 is characterized in that, in the control device according to any one of claims 1 to 6, the temperature control unit starts temperature control in the second zone after the transfer of the article begins and before the article moves from the first zone to the second zone. Thus, the temperature control effect can be immediately exerted after the article stored in the first zone is moved to the second zone.

[0017] The invention according to claim 8 is characterized in that, in the control device according to any one of claims 1 to 7, the temperature control unit starts temperature control in the second zone when the temperature control start time has arrived after the start of conveyance of the article. This further improves the efficiency of energy consumption associated with temperature control.

[0018] The invention according to Technical Solution 9 is characterized in that, in the control device according to Technical Solution 8, the start time of the temperature control is determined based on the time during which the heat preservation effect in the first interval maintains the temperature within the range capable of maintaining the quality of the articles in the first interval. Thereby, it is possible to further pursue the efficiency of energy consumption associated with the temperature control.

[0019] The invention according to Technical Solution 10 is characterized in that, in the control device according to any one of Technical Solutions 1 to 9, when the article is no longer present in either the first interval or the second interval because it has been received by the recipient after the start of the conveyance of the article, the temperature control of the second interval is stopped. Thereby, it is possible to further pursue the efficiency of energy consumption associated with the temperature control.

[0020] The invention according to Technical Solution 11 is characterized in that, in the control device according to any one of Technical Solutions 1 to 10, the temperature control unit performs temperature control for cooling the inside of the second interval. Thereby, it is possible to pursue the efficiency of energy consumption associated with the cooling.

[0021] The invention according to Technical Solution 12 is a transporter, characterized by including a plurality of intervals capable of storing articles, and including the following mechanism: according to a control command output due to meeting specific conditions related to the articles, moving the articles stored in the first interval among the plurality of intervals to the second interval capable of performing temperature control. Thereby, it is possible to pursue the efficiency of energy consumption associated with the temperature control among the plurality of intervals capable of storing articles.

[0022] The invention according to Technical Solution 13 is characterized in that, in the transporter according to Technical Solution 12, the first interval is an interval having a heat preservation effect.

[0023] The invention according to Technical Solution 14 is characterized in that, in the transporter according to Technical Solution 12 or 13, the first interval is an interval where no temperature control is performed.

[0024] The invention according to Technical Solution 15 is characterized in that, in the transporter according to any one of Technical Solutions 12 to 14, it further includes the following mechanism: preventing the recipient of the conveyance destination of the article from receiving the article from the second interval, and enabling the recipient to receive the article from the first interval. Thereby, it is possible to prevent the useless consumption of energy and smoothly transfer the article to the recipient.

[0025] The invention according to Technical Solution 16 is characterized in that, in the transporter described in any one of Technical Solutions 12 to 15, the transporter has multiple layers of the above-mentioned intervals in the vertical direction, and further has a mechanism for moving the articles stored in the first interval located in the upper layer to the second interval located in the lower layer by opening the bottom of the first interval located in the upper layer. Thereby, the articles stored in the first interval can be quickly and efficiently moved to the second interval.

[0026] The invention according to Technical Solution 17 is characterized in that, in the transporter described in Technical Solution 16, the transporter has multiple layers of the first intervals in the vertical direction, and further has a mechanism for moving the articles stored in the first interval located in the upper layer to the first interval located in the lower layer by opening the bottom of the first interval located in the upper layer. Thereby, the articles stored in the first interval can be quickly and efficiently moved to the second interval.

[0027] The invention according to Technical Solution 17 is a control method, characterized in that it is executed by a computer that controls a transporter having multiple intervals capable of storing articles, and includes the following steps: when a specific condition related to the articles stored in the first interval among the multiple intervals is satisfied, moving the articles stored in the first interval to the second interval capable of temperature control among the multiple intervals; and performing temperature control of the second interval.

[0028] The invention according to Technical Solution 18 is characterized by comprising: a transporter having multiple intervals capable of storing articles; an article movement control unit that, when a specific condition related to the articles stored in the first interval among the multiple intervals is satisfied, moves the articles stored in the first interval to the second interval capable of temperature control among the multiple intervals; and a temperature control unit that performs temperature control of the second interval.

[0029] [Advantages of the Invention]

[0030] According to the present invention, it is possible to improve the efficiency of energy consumption accompanied by temperature control among multiple intervals capable of storing articles. Description of the Drawings

[0031] Figure 1 It is a diagram showing a schematic configuration example of the transport system S.

[0032] Figure 2 It is a diagram showing a schematic configuration example of the UGV1.

[0033] Figure 3 It is a diagram showing a functional block example of the control unit 17.

[0034] Figure 4 It is a diagram showing a configuration example of the storage compartment B of the UGV1.

[0035] Figure 5 This is a diagram showing Example 1 of a bottom door provided at the bottom of the storage B1.

[0036] Figure 6 This is a diagram showing Example 2 of a bottom door provided at the bottom of the storage B1.

[0037] Figure 7 This is a diagram showing Example 3 of the bottom door provided at the bottom of the storage B1.

[0038] Figure 8 This is a conceptual diagram showing a transport route in which the UGV 1 departs, passes through a plurality of transport destinations, and returns, and a scheduled time for arriving at a transport destination on the transport route.

[0039] Figure 9 It is a diagram showing a schematic configuration example of the management server 2 .

[0040] Fig.10 This is a flowchart showing an example of repository allocation processing executed by the control unit 23 of the management server 2 .

[0041] Fig.11 This is a flowchart showing an example of the article movement control and temperature control processes executed by the control unit 17 of the UGV 1 . DETAILED DESCRIPTION

[0042] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

[0043] First, refer to Figure 1 , the structure of the conveying system S according to one embodiment of the present invention will be described. Figure 1 : is a diagram showing an example of the schematic configuration of a transport system S. Figure 1 As shown, the transport system S includes an unmanned ground vehicle (hereinafter referred to as UGV (Unmanned Ground Vehicle)) 1 and a management server 2. UGV 1 is an example of a transporter having a plurality of compartments capable of storing items. In addition, in this embodiment, a box-shaped storage B is used as an example of a compartment, but as long as the space area for storing items is separated from other space areas by a flat plate or the like, the compartment does not need to be a box-shaped storage B. UGV 1 can communicate with the management server 2 via a communication network NW. In addition, the communication network NW is composed of, for example, the Internet, a mobile communication network and its wireless base station.

[0044] The UGV1 can autonomously move on the ground without human intervention. The UGV1 can be a vehicle with multiple wheels or a robot without wheels (such as a bipedal walking robot), etc. The UGV1 can carry (including deliver) items required for temperature management. As examples of items, there are ordered items (goods) ordered on an EC (Electronic commerce) website, or express items, etc. In the case where the recipient is not at the delivery destination and it is impossible to pick up the items from the UGV1, the UGV1 can still continue to maintain a temperature suitable for the items and move to the next delivery destination or transfer point. Here, the delivery destination is, for example, the delivery destination, that is, in front of the entrance of the residence where the recipient lives (in front of the entrance), or in front of the entrance of the office building where the recipient works, etc., which is a handover place for handing over items. The transfer point is the departure place, passing place, or return place of the UGV1. There may be a case where the return place is the same as the departure place. At the transfer point, items are loaded onto the UGV1, or items not picked up at the delivery destination are retrieved from the UGV1.

[0045] 1-1. UGV1 Structure and Functions

[0046] Next, with reference to Figure 2 , the structure and functions of the UGV1 will be described. Figure 2 is a diagram showing a schematic structure example of the UGV1. As shown in Figure 2 , the UGV1 includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, an operation / display unit 15, a storage unit 16, a control unit 17, etc. Figure 3 is a diagram showing a functional block example of the control unit 17. In addition, the UGV1 includes a power supply unit that supplies power (energy) to each part of the UGV1, wheels W, and a plurality of storage bins B, etc. The power supply unit can be a battery, a generator, or an internal combustion engine. The internal combustion engine drives the generator to generate electricity with the power generated by burning fuel.

[0047] ​​The plurality of storages B include a storage B1 (an example of the first section) that is not temperature-controlled and a storage B2 (an example of the second section) that can be temperature-controlled. Here, temperature control refers to control to keep the temperature in the storage B2 at a set temperature, such as a refrigerator or a freezer. In the present embodiment, temperature control is particularly performed to cool the storage B2. The cooling in the storage B2 can be divided into refrigeration and freezing according to the set temperature. The set temperature for refrigeration is, for example, about 2°C to 6°C. On the other hand, the set temperature for freezing is, for example, about -20°C to -15°C. Because "temperature control can be performed", it is not necessary to perform temperature control throughout the entire period of item transportation. The storage B1 that is not temperature-controlled is expected to have a heat preservation effect (especially a cold preservation effect). Here, the heat preservation effect refers to the effect of maintaining temperature without consuming energy, for example, the storage B1 is composed of materials that maintain temperature, such as an insulated box.

[0048] In addition, UGV1 is equipped with an article transfer mechanism that prevents the recipient at the destination from receiving the articles from the storage B2 and enables the recipient to receive the articles from the storage B1. In this way, it is possible to prevent the wasteful consumption of energy and smoothly transfer the articles to the recipient. The article transfer mechanism is composed of, for example, a front door provided in front of the storage B and an actuator including an electric motor, and is driven according to a control command output from the control unit 17. For example, the article transfer mechanism unlocks the front door (that is, releases the lock) according to the control command. Thus, as Figure 1 As shown, the recipient can open the front door D0 of storage B1 and receive the item C from storage B1. Furthermore, the item transfer mechanism can also open front door D0 (i.e., automatically) in response to the control command. Meanwhile, the front door of storage B2 is locked (presumably a lock) so that it cannot be opened except when the UGV 1 is parked at the transfer station.

[0049] Figure 4 This is a diagram showing an example of the configuration of the storage unit B of UGV1 (front view). Figure 4 In the example, UGV1 has 4 layers and 3 columns of storage B in the vertical direction. Figure 4 The number of layers and columns of the storage B shown is an example and is not particularly limited, and may be, for example, 2 layers and 1 column. Figure 4In the example, in each column, the temperature - controllable repository B2 is arranged at the lowermost layer, and multiple layers of non - temperature - controllable repositories B1 are arranged above the repository B2. Also, the UGV1 is equipped with an article moving mechanism that moves the articles stored in the repository B1 located at the upper layer to the repository B2 located at the lower layer by opening the bottom of the repository B1 at the upper layer. Thereby, the articles stored in the repository B1 can be moved to the repository B2 quickly and efficiently. The article moving mechanism is composed of a bottom door provided at the bottom of the repository B1 and an actuator including a motor, and is driven according to a control command output from the control unit 17.

[0050] In Figure 4 the example, in order to smoothly transfer each article from the UGV1 to the receiver, each article is separately stored in different repositories B1. In the case where it is not transferred to the receiver, multiple articles are centrally moved to the repository B2 for storage. Through this centralization, it is possible to pursue the efficiency of energy consumption accompanied by temperature control. In addition, the UGV1 is also equipped with an article moving mechanism that moves the articles stored in another repository B1 located at the lower layer to the repository B1 by opening the bottom of the repository B1 at the upper layer.

[0051] Figures 5 to 7 Figs. 1 to 3 showing the bottom door provided at the bottom of the repository B1 ( Figure 4 A - A cross - sectional view). In addition, in Figures 5 to 7 the example, the bottom of the repository B1 also serves as the top of the repository B1 or B2 located below the repository B1. In Figure 5 the example, if looking at the left column, the bottom door D1 of the repository B1 (the top door of the repository B2 located below the repository B1) is formed as a double - door. In the figure, by opening downward, the bottom of the repository B1 is opened, and the article C moves (descends) to the repository B2 located below the repository B1. In addition, the bottom door D1 can also be formed as a single - door. On the other hand, in Figure 6 the example, if looking at the central column, the bottom door D2 of the repository B1 (the top door of the repository B1 located below the repository B1) is formed in an accordion shape by folding, and by expanding and contracting in the horizontal direction, the bottom of the repository B1 is opened, and the article C moves (descends) to the repository B1 located below the repository B1. On the other hand, in Figure 7 the example, if looking at the right column, the bottom door D3 of the repository B1 (the top door of the repository B1 located below the repository B1) is formed as a sliding door, and by sliding in the horizontal direction (left direction), the bottom of the repository B1 is opened, and the article C moves (descends) to the repository B1 located below the repository B1. According to Figures 5 to 7The shown structure can more efficiently concentrate the items stored in each storage repository B1 into the storage repository B2, and can pursue the efficiency brought by the concentration of multiple items.

[0052] The drive unit 11 includes a motor, a rotating shaft, etc. The drive unit 11 rotates a plurality of wheels W by means of a motor, a rotating shaft, etc. that are driven in accordance with a control signal output from the control unit 17. The positioning unit 12 includes a radio wave receiver, etc. The positioning unit 12 receives, for example, radio waves transmitted from GNSS (Global Navigation Satellite System) satellites through a radio wave receiver, and detects the current position (latitude and longitude) of the UGV1 based on the radio waves. In addition, the current position of the UGV1 can be specified by means of SLAM (Simultaneous Localization and Mapping) processing in addition to the radio waves transmitted from GNSS satellites. Further, the current position of the UGV1 can also be corrected based on an image captured by the camera of the sensor unit 14. The position information indicating the current position detected by the positioning unit 12 is output to the control unit 17.

[0053] The communication unit 13 is responsible for controlling communication via the communication network NW. In addition, the communication unit 13 may also have a short-range wireless communication function such as Bluetooth (registered trademark) to perform short-range wireless communication with the mobile terminal (such as a smart phone, etc.) of the recipient. The sensor unit 14 includes an optical sensor such as a camera. For example, the optical sensor continuously senses (such as captures) the actual space within the range of the camera's field of view (such as the surroundings of the UGV1). In addition, the sensor unit 14 may also have a sensor for detecting the collection of items from the storage repository B1. The sensor may be a sensor for detecting the opening of the front door of the storage repository B1, or a sensor for measuring the weight of the items stored in the storage repository B1. The sensing information obtained by the sensing of the sensor unit 14 is output to the control unit 17. The operation / display unit 15 includes a display (touch panel) that has an input function for accepting the operations of the recipient and a display function for displaying information.

[0054] The storage unit 16 is composed of a non-volatile memory or the like and stores various programs and data. The body ID of the UGV1 is stored in the storage unit 16. The body ID is identification information for identifying the UGV1. In addition, various cooling states of the storage repository B2 are stored in the storage unit 16. The cooling state indicates whether cooling has started (i.e., temperature control has started). Furthermore, item management information is stored in the storage unit 16. The item management information is information for managing the items stored in the storage repository B. In the item management information, the item ID of the item, the storage location information of the item, the handling destination information of the item, the temperature management information of the item, the recipient information of the item, and the collection availability information of the item are included for each item.

[0055] Here, the item ID is identification information for identifying the item. The storage location information is information indicating the configuration location of the storage repository B where the item is stored. The configuration location can be expressed, for example, as the third layer from the top down in the right column, or it can be expressed by the configuration number assigned to each storage repository B. The handling destination information is information indicating the location of the handling destination of the item. The location can be expressed by the address of the handling destination or by the location information (latitude and longitude) of the handling destination.

[0056] The temperature management information is information indicating whether the item requires temperature management. It can also be indicated, for example, by a flag (0 or 1) whether the item requires temperature management. An item that requires temperature management is an item that needs to be stored in the storage repository B2 if a specific time corresponding to the item is exceeded. In the case where the item requires temperature management, the temperature management information includes the type of the item and the specific time corresponding to the item. The types of items can be roughly classified into refrigerated items and frozen items. Refrigerated items are items that need to be refrigerated, such as fresh food or milk. Frozen items are items that need to be frozen, such as frozen food or ice cream. The specific time is the time (hereinafter referred to as the "quality guarantee time") during which the quality of the item can be maintained when stored in the storage repository B1 without temperature control, and it varies depending on the type of item that requires temperature management.

[0057] In addition, the quality guarantee time also varies depending on whether the storage repository B1 has a heat preservation effect. In the case where the storage repository B1 has a heat preservation effect, the quality guarantee time is the time within the temperature range in which the storage repository B1 can maintain the quality of the items inside the storage repository B1 through the heat preservation effect. The quality guarantee time can also be calculated from the specific time corresponding to the item and the time corresponding to the heat preservation effect of the storage repository B1 (a time preset according to performance such as the heat insulation structure). Furthermore, in the case where the storage repository B1 does not have a heat preservation effect, the quality guarantee time is the specific time corresponding to the item.

[0058] The recipient information includes the recipient's user ID, email address, and codes required for the handover of the item, etc. The presence or absence of recipient information indicates whether the item has been received by the recipient. Whether the item has been received by the recipient can be marked, for example. In addition, the item management information can be set in the UGV1 at the handling base, or can be sent and set from the management server 2. Additionally, when updating the storage location information and the presence or absence of recipient information included in the item management information as described later, the communication unit 13 sends the updated storage location information and the updated presence or absence of recipient information to the management server 2 together with the body ID of the UGV1 respectively.

[0059] The control unit 17 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and executes various controls according to the program stored in the ROM (or the storage unit 16). The control unit 17 is an example of a control device. By executing the said program, the control unit 17 functions as a travel control unit 171, an item movement control unit 172, an item handover control unit 173, and a temperature control unit 174, as Figure 3 shown. In addition, as described later, the control unit 17 can also function as a determination unit for determining whether specific conditions related to the item are met.

[0060] The travel control unit 171 performs travel control to make the UGV1 travel to the handling destination. In the said travel control, using the position information obtained from the positioning unit 12, the sensing information obtained from the sensor unit 14, the handling destination information, etc., it performs the rotational speed control of the wheels W, the position and travel direction control of the UGV1. Thereby, the UGV1 can autonomously move to the handling destination. In addition, during the travel of the UGV1, the communication unit 13 sequentially sends the position information of the UGV1 and the body ID of the UGV1 to the management server 2.

[0061] The item movement control unit 172 performs item movement control to move the item stored in the storage bin B1 to the storage bin B2 where temperature control can be performed when it is determined that specific conditions related to the item stored in the storage bin B1 are met. In the said item movement control, by satisfying the said specific conditions, a control command for driving the item movement mechanism is output from the item movement control unit 172 to the item movement mechanism. The control command is, for example, a control command to open the bottom of the storage bin B1 storing the item to be judged. Whether the specific conditions are met can be judged by the control unit 17 as a judgment unit, or can be judged by the control unit 23 of the management server 2 as a judgment unit. In addition, the judgment of whether the specific conditions are met only needs to be repeated regularly or irregularly.

[0062] The specific conditions include at least any one of the following conditions: (i) the condition that the items stored in repository B1 require temperature management, (ii) the condition that the items stored in repository B1 have not been collected by the recipient, and (iii) the condition that the elapsed time since the start of handling of the items stored in repository B1 exceeds the warranty period of the items. When determining whether the condition (i) is satisfied, refer to the temperature management information of the items. When determining whether the condition (ii) is satisfied, refer to the information on whether the items have been collected. When determining whether the condition (iii) is satisfied, use the specific time included in the temperature management information of the items.

[0063] For example, in the case where the specific conditions only include the condition (i), when it is determined that the items stored in repository B1 require temperature management, the item movement control unit 172 moves the items stored in repository B1 to repository B2. In the case where the specific conditions only include the condition (ii), when it is determined that the items stored in repository B1 have not been collected by the recipient (that is, the recipient fails to collect the items due to reasons such as being absent at the handling destination), the item movement control unit 172 moves the items stored in repository B1 to repository B2. In the case where the specific conditions only include the condition (iii), when it is determined that the elapsed time since the start of handling of the items stored in repository B1 exceeds the warranty period of the items, the item movement control unit 172 moves the items stored in repository B1 to repository B2.

[0064] In the case where the specific conditions only include the conditions (i) and (ii), when it is determined that the items stored in repository B1 require temperature management and it is determined that the items have not been collected by the recipient, the item movement control unit 172 moves the items stored in repository B1 to repository B2. In the case where the specific conditions only include the conditions (i) and (iii), when it is determined that the items stored in repository B1 require temperature management and it is determined that the elapsed time since the start of handling of the items exceeds the warranty period of the items, the item movement control unit 172 moves the items stored in repository B1 to repository B2.

[0065] In the case where the specific conditions include only the conditions (ii) and (iii), if it is determined that the items stored in storage B1 have not been received by the recipient, and it is determined that the time elapsed since the items were transported has exceeded the expiration date of the items, the item movement control unit 172 moves the items stored in storage B1 to storage B2. In the case where the specific conditions include only the conditions (i), (ii), and (iii), if it is determined that the items stored in storage B1 require temperature control, and it is determined that the items have not been received by the recipient, and it is determined that the time elapsed since the items were transported has exceeded the expiration date of the items, the item movement control unit 172 moves the items stored in storage B1 to storage B2.

[0066] Furthermore, after moving items stored in storage B1 to storage B2, the item movement control unit 172 updates the storage location information of the items moved to storage B2 (i.e., changes the location of storage B, where the items are stored, from storage B1 to storage B2). If storage B1 is located above storage B1, which has become vacant due to the move to storage B2, the item movement control unit 172 can also determine whether items are stored in the upper storage B1. This determination is based on the storage location information of items within UGV 1 (i.e., items not yet received by the recipient).

[0067] Furthermore, if the item movement control unit 172 determines that items are stored in the upper storage B1, it performs item movement control to move the items stored in the upper storage B1 to the storage B1 located below the upper storage B1. During this item movement control, the item movement control unit 172 outputs a control command to the item movement control mechanism to activate the item movement mechanism (i.e., a control command to open the bottom of the upper storage B1). Furthermore, after moving the items stored in the upper storage B1 to the storage B1 below it, the item movement control unit 172 updates the storage location information of the items moved to storage B1.

[0068] In addition, when repository B1 is located on a level higher than the upper-level repository B1 that has become vacant due to the movement of repository B1 to the lower level, the article movement control unit 172 determines whether an article is stored in the repository B1 on the higher level. When it is determined that an article is stored in the repository B1 on the higher level, article movement control is performed to move the article stored in the repository B1 on the higher level to the repository B1 on the lower level that is located below the repository B1 on the higher level. Thus, multiple articles that require temperature management can be concentrated in the vicinity, and the cold insulation effect of repository B1 can be improved. By repeating the above article movement control, if the article stored in the repository B1 on the topmost level is not picked up by the pick-up person, it will ultimately be stored in repository B2. That is to say, the article movement control unit 172 can move the articles stored in each of the multiple repositories B1 to one repository B2.

[0069] The article handover control unit 173 performs article handover control for handing over an article from repository B1 to the pick-up person at the handling destination. In the above article handover control, a control command for driving the article handover mechanism is output from the article handover control unit 173 to the article handover mechanism. For example, at the handling destination, when the pick-up person inputs a code (an example of a code required for article handover) for unlocking the front door D0 to the article handover control unit 173, the pick-up person outputs a control command for unlocking the front door D0 of the repository B1 storing the article to be picked up to the article movement mechanism.

[0070] Alternatively, at the handling destination, when the pick-up person inputs a code (an example of a code required for article handover) for opening the front door D0 to the article handover control unit 173, the pick-up person outputs a control command for opening the front door D0 of the repository B1 storing the article to be picked up to the article movement mechanism. The code can be input by the pick-up person from the operation / display unit 15, or can be input from the pick-up person's mobile terminal and sent to the UGV1. In addition, the code can be a code issued specifically for the pick-up person, or can be a code pre-registered as the biometric data (fingerprint data) of the pick-up person.

[0071] When an item is transferred from storage repository B1 to a recipient at the transfer destination, the item transfer control unit 173 updates the item's received or not information (for example, changing the flag from 1 to 0), and at the same time updates the item's storage location information (that is, changing the location of storage repository B where the item is stored from storage repository B1 to none). It is determined whether to transfer the item based on sensing information output from a sensor, for example, used to detect the receipt of the item from storage repository B1. In addition, when storage repository B1 is located above the storage repository B1 that becomes vacant due to the item transfer, similar to the above, the item movement control unit 172 determines whether an item is stored in the upper storage repository B1. When it is determined that an item is stored in the upper storage repository B1, item movement control is performed to move the item stored in the upper storage repository B1 to the lower storage repository B1 located below the upper storage repository B1.

[0072] The temperature control unit 174 performs temperature control on storage repository B2. For example, the temperature control unit 174 performs temperature control for cooling the inside of each storage repository B2. In Figure 4 this example, the temperature control unit 174 performs temperature control for refrigerating the items stored in the storage repository B2 in the left column, and performs temperature control for freezing the items stored in the storage repository B2 in the central column and the right column. The temperature control unit 174 can start the temperature control of storage repository B2 after the UGV1 starts transferring the item and before the item stored in storage repository B is transferred from storage repository B1 to storage repository B2. This is because it takes a certain amount of time (hereinafter referred to as "cooling required time") to cool the inside of storage repository B2. Thus, the cooling effect of the temperature control can be immediately exerted after the item stored in storage repository B1 is transferred to storage repository B2.

[0073] For example, when the temperature control unit 174 becomes the start time of temperature control after the UGV1 starts transferring the item, the temperature control of storage repository B2 is started. In this case, the temperature control is not performed until a specific time has elapsed since the start of the transfer. Thus, it is possible to further improve the efficiency of energy consumption associated with the temperature control. The start time of the temperature control of storage repository B2 can be determined based on, for example, the warranty time of the item in the storage repository B1 located above storage repository B2. For example, when the warranty time is 30 minutes, the start time of the temperature control is set to 30 minutes before the start of the transfer. It is preferable to determine the start time of the temperature control based on the warranty time and the cooling required time.

[0074] Figure 8This is a conceptual diagram showing the transportation route of UGV1 from departure (start of transportation) through multiple transportation destinations until return, and the scheduled time to reach the transportation destinations on the transportation route. For example, when the warranty period is 30 minutes and the cooling time required is 5 minutes, the start time of temperature control of storage B2 starts at location X after 25 minutes (= 30 minutes - 5 minutes) from the start of transportation. Therefore, it is possible to further improve the efficiency of energy consumption associated with temperature control. In addition, when the temperature control unit 174 starts transporting an item by UGV1 and the item is not present in either storage B1 or storage B2 because it has been received by the recipient, the temperature control of storage B2 is stopped. Thus, it is also possible to improve the efficiency of energy consumption associated with temperature control.

[0075] 1-2. Configuration and Functions of Management Server 2

[0076] Next, with reference to Figure 9 , the configuration and functions of the management server 2 will be described. Figure 9 This is a diagram showing a schematic configuration example of the management server 2. As Figure 9 shown, the management server 2 includes a communication unit 21, a storage unit 22, a control unit 23, etc. The communication unit 21 is responsible for controlling communication via the communication network NW. The communication unit 21 receives the position information and the vehicle body ID sent from UGV1. The management server 2 can identify the current position of UGV1 based on the position information of UGV1. The storage unit 22 is composed of, for example, a hard disk drive, and stores various programs and data. In addition, an item management database (DB: Database) 222 and a transportation management database 223, etc. are constructed in the storage unit 22.

[0077] The item management database 222 is a database for managing the items transported by UGV1. In the item management database 222, the item ID of the item, the storage position information of the item, the transportation destination information of the item, the temperature management information of the item, the recipient information of the item, the receipt information of the item, and the UGV information of UGV1 that transports the item, etc. are stored in correspondence with each item. Here, the UGV information includes the vehicle body ID of UGV1 and the address information for accessing UGV1, etc. In addition, when the storage position information updated by UGV1 is received by the communication unit 21 together with the vehicle body ID, the storage position information in the item management database 222 is updated. In addition, when the receipt information updated by UGV1 is received by the communication unit 21 together with the vehicle body ID, the receipt information in the item management database 222 is updated.

[0078] ​​The transfer management database 222 is a database used to manage the transfer of items by the UGV1. In the transfer management database 222, the body ID of the UGV1, the item ID of the item transferred by the UGV1, the transfer schedule table, etc. are stored in correspondence with each UGV1. Here, the transfer schedule table includes, for example, the transfer route from the departure location of the UGV1 through the transfer destination indicated by the transfer destination information and back to the return location, and the scheduled time to reach each location on the transfer route, etc.

[0079] The control unit 23 includes a CPU, a ROM, a RAM, etc., and executes various processes according to the programs stored in the ROM or the storage unit 22. Based on the transfer destination information and temperature management information of multiple items to be transferred by the selected UGV1, the control unit 23 assigns the multiple items to the storage bin B1 (i.e., the storage location) respectively, and creates the storage location information for each item.

[0080] In addition, the control unit 23 can also function as a determination unit and an item movement control unit for determining whether specific conditions related to the items in the storage bin B1 stored in the UGV1 are met. For example, when the control unit 23 determines that the specific conditions related to the items stored in the storage bin B1 are met, the communication unit 21 sends control information to the UGV1 to move the items stored in the storage bin B1 to the storage bin B2. The control information includes the item ID of the item to be moved and the configuration location of the storage bin B2 as the movement destination. In the above case, the item movement control unit 172 of the UGV1 receives the control information from the control unit 23 and outputs a control command to drive the item movement mechanism to the item movement mechanism.

[0081] In addition, the control unit 23 can also perform temperature control of the storage bin B2 as a temperature control unit by sending control information to the UGV1 through the communication unit 21 to start or stop the temperature control of the storage bin B2. In the above case, the temperature control unit 174 of the UGV1 receives the control information from the control unit 23 and starts or stops the temperature control. In addition, when the control unit 23 functions as an item movement control unit and a temperature control unit, it operates as a control device.

[0082] 2. Operation of the transport system S

[0083] Next, the operation of the transfer system S of the present embodiment will be described.

[0084] (2.1. Storage bin allocation process of the management server 2)

[0085] First, refer to Fig.10 , and describe the storage bin allocation process executed by the control unit 23 of the management server 2. Fig.10 ​​This is a flowchart showing an example of the repository allocation process executed by the control unit 23 of the management server 2. In addition, in the Fig.10 repository allocation process shown, it is assumed that the UGV1 has a repository B with multiple layers and multiple columns.

[0086] Fig.10 The process shown, for example, starts according to the operator's operation after the UGV1 is selected. When starting the Fig.10 process shown, the control unit 23 obtains the handling destination information and temperature management information of multiple items to be handled through the selected UGV1 (step S1). Next, the control unit 23 determines the handling order of each item based on the handling destination information obtained in step S1 (step S2). For example, the handling order is determined in the order from the nearest to the farthest from the departure place of the UGV1 for the handling destination.

[0087] Next, the control unit 23 determines whether the multiple items to be handled include frozen items based on the temperature management information obtained in step S1 (step S3). When it is determined that the multiple items do not include frozen items (step S3: No (NO)), the process proceeds to step S4. On the other hand, when it is determined that the multiple items include frozen items (step S3: Yes (YES)), the process proceeds to step S8.

[0088] In step S4, the control unit 23 determines whether the multiple items to be handled include chilled items based on the temperature management information obtained in step S1. When it is determined that the multiple items do not include chilled items (step S4: No), the control unit 23 allocates each of the multiple items to the repository B1 in the handling order based on the handling order determined in step S2 (step S5), and then the process proceeds to step S15. On the other hand, when it is determined that the multiple items include chilled items (step S4: Yes), the process proceeds to step S6.

[0089] In step S6, the control unit 23 sets any column in the multiple columns of the repository B as chilled. Here, the number of columns set as chilled varies according to the number of layers of the repository and the number of chilled items. Next, the control unit 23 preferentially allocates the chilled items to the repository B1 at the lowermost layer of the column set as chilled in step S6 (step S7). Here, when there are multiple chilled items to be handled, the control unit 23 allocates each of the multiple chilled items from the lowermost layer to the upper layer of the repository B1 in the handling order based on the handling order determined in step S2. That is, the chilled item with the earliest handling order is allocated to the lowermost layer of the repository B1. After that, the process proceeds to step S15.

[0090] In step S8, the control unit 23 determines whether the multiple articles to be transported include articles for refrigeration based on the temperature management information obtained in step S1. If it is determined that the multiple articles do not include articles for refrigeration (step S8: No), the process proceeds to step S9. On the other hand, if it is determined that the multiple articles include articles for refrigeration (step S8: Yes), the process proceeds to step S11.

[0091] In step S9, the control unit 23 designates any one of the multiple columns of the storage repository B as for freezing. Here, the number of columns designated for freezing varies according to the number of layers of the storage repository and the number of articles for freezing. Next, the control unit 23 gives priority to the lowermost storage repository B1 of the column designated for freezing in step S9, and distributes the articles for freezing to the storage repository B1 (step S10). Here, when there are multiple articles for freezing to be transported, the control unit 23 distributes each of the multiple articles for freezing from the lowermost layer to the upper layers of the storage repository B1 according to the transportation order determined in step S2. After that, the process proceeds to step S13.

[0092] In step S11, the control unit 23 designates any one of the multiple columns of the storage repository B as for refrigeration, and designates a column different from the said column as for freezing. Next, the control unit 23 distributes the articles for refrigeration to the storage repository B1 of the column designated for refrigeration in step S11 (the column for refrigeration) (giving priority to the lowermost storage repository B1), and distributes the articles for freezing to the storage repository B1 of the column designated for freezing in step S11 (the column for freezing) (giving priority to the lowermost storage repository B1) (step S12). After that, the process proceeds to step S13.

[0093] In step S13, the control unit 23 determines whether the multiple articles to be transported include articles other than articles for freezing and articles for refrigeration (that is, articles that do not require temperature management). If it is determined that the multiple articles do not include articles other than articles for freezing and articles for refrigeration (step S13: No), the process proceeds to step S15. On the other hand, if it is determined that the multiple articles include articles other than articles for freezing and articles for refrigeration (step S13: Yes), the control unit 23 distributes the said articles to an empty storage repository B1 (a storage repository B1 to which articles for freezing and articles for refrigeration have not been distributed) (step S14), and after that, the process proceeds to step S15.

[0094] In step S15, the control unit 23 creates storage location information for each item according to the result of allocating each item to a plurality of storage repositories B1, and notifies the staff performing the item loading operation of the storage location information (for example, sends it to the terminal of the staff). Thus, the staff stores a plurality of items to be transported in each storage repository B1 of the UGV1 according to the storage location information. In addition, although it is assumed that a plurality of items to be transported cannot all be stored in the storage repositories B1 of the UGV1 through the above processing, in such a case, it is only necessary to set the items that cannot be stored in the storage repositories B1 as the objects to be transported by other UGV1s.

[0095] (2.2. Processing of Item Movement Control and Temperature Control of UGV1)

[0096] Next, with reference to Fig.11 , the processing of item movement control and temperature control executed by the control unit 17 of the UGV1 will be described. Fig.11 is a flowchart showing an example of the processing of item movement control and temperature control executed by the control unit 17 of the UGV1. In addition, although the control unit 17 performs travel control and item handover control separately from the processing shown in Fig.11 , the processing related to these controls is omitted from the description. Additionally, as a prerequisite for the processing shown in Fig.11 , the item management information of a plurality of items loaded onto the UGV1 as objects to be transported is stored in the storage unit 16 and appropriately referred to by the control unit 17.

[0097] Fig.11 The processing shown starts when the UGV1 starts transportation (that is, starts traveling) according to the transportation destination information and the transportation schedule. At this time, the elapsed time since the start of transportation is counted. When starting the Fig.11 shown processing, the control unit 17 determines whether specific conditions related to the items stored in the storage repository B1 are satisfied (step S21). In addition, in the case where the UGV1 is equipped with a multi-layer storage repository B1, it is possible to determine whether specific conditions related to the items stored in the storage repository B1 located at the lowermost layer among the plurality of storage repositories B1 are satisfied. Additionally, in the case where the UGV1 is equipped with multi-layer and multi-column storage repositories B1, it is also possible to sequentially determine whether specific conditions related to the items stored in each storage repository B1 located at the lowermost layer are satisfied.

[0098] Also, when it is determined that the specific condition is satisfied (step S21: Yes), the control unit 17 moves the item stored in the repository B1 that was the determination object in step S21 to the repository B2 (step S22). For example, when the specific condition is the condition of (i) and the condition of (ii), the control unit 17 determines whether the item stored in the repository B1 requires temperature management and whether the item has not been received by the recipient at the handling destination. Also, when it is determined that the item stored in the repository B1 requires temperature management and it is determined that the item has not been received by the recipient at the handling destination, the control unit 172 moves the item stored in the repository B1 to the repository B2, and the process proceeds to step S22. On the other hand, when it is determined that the specific condition is not satisfied (step S21: No), the process proceeds to step S23.

[0099] In addition, although not shown, when the repository B1 is located above the repository B1 that has become vacant due to the movement to the repository B2 in step S22, the item movement control unit 172 can determine whether an item is stored in the repository B1 on the upper layer. Also, when the item movement control unit 172 determines that an item is stored in the repository B1 on the upper layer, the item movement control unit 172 moves the item stored in the repository B1 on the upper layer to the repository B1 located below the repository B1 on the upper layer. When the repository B1 is located even higher above the repository B1 that has become vacant due to the movement, the item movement control unit 172 can determine whether an item is stored in the repository B1 on the even higher layer. Also, when the item movement control unit 172 determines that an item is stored in the repository B1 on the even higher layer, the item movement control unit 172 can also move the item stored in the repository B1 on the even higher layer where the item is stored to the repository B1 located below the repository B1.

[0100] In step S23, the control unit 17 acquires the cooling state of the repository B2 from the storage unit 16. Next, the control unit 17 determines whether the temperature control of the repository B2 has started based on the cooling state acquired in step S23 (step S24). When it is determined that the temperature control of the repository B2 has not started (step S24: No), the process proceeds to step S25. On the other hand, when it is determined that the temperature control of the repository B2 has started (step S24: Yes), the process proceeds to step S29.

[0101] In step S25, the control unit 17 confirms the start time of temperature control and the elapsed time since the start of transportation. Here, as described above, the start time of temperature control can be calculated based on the quality guarantee time of the items in the repository B1 (for example, the lowermost repository B1 among multiple repositories B1) and the cooling required time of the repository B2. The cooling required time of the repository B2 is stored in advance in the storage unit 16 as setting information, for example. In addition, when the UGV1 is equipped with multiple columns of repositories B, the start time of temperature control can also be calculated for each column based on the quality guarantee time of the items in the repository B1 and the cooling required time of the repository B2.

[0102] Next, the control unit 17 determines whether the start time of temperature control of the repository B2 has arrived (that is, the elapsed time since the start of transportation is equal to or greater than the start time of temperature control) (step S26). In addition, when the UGV1 is equipped with multiple columns of repositories B, it can also be determined for each column whether the start time of temperature control of the repository B2 has arrived. When it is determined that the start time of temperature control has arrived (step S26: Yes), the process proceeds to step S27. On the other hand, when it is determined that the start time of temperature control has not arrived (step S26: No), the process proceeds to step S31.

[0103] In step S27, the control unit 17 determines whether there are refrigerated or frozen items stored in the repository B1 located in the repository B2 or the upper layer (one layer up) of the repository B2. In addition, when the UGV1 is equipped with multiple columns of repositories B, it can be determined for each column whether there are refrigerated or frozen items stored in the repository B2 or B1. When it is determined that there are refrigerated or frozen items stored (step S27: Yes), the control unit 17 starts the temperature control of the repository B2 (step S28), and the process proceeds to step S31. In addition, when the UGV1 is equipped with multiple columns of repositories B, the temperature control of the repository B2 can also be started according to the determination result of each column. On the other hand, when it is determined that there are no refrigerated and frozen items stored (step S27: No), the process proceeds to step S31.

[0104] In step S29, it is determined whether the storage B1 located in the storage repository B2 or on the upper layer (one layer upward) of the storage repository B2 stores refrigerated items or frozen items. In addition, when the UGV1 is provided with multiple columns of storage repositories B, it can be determined for each column whether the storage repository B2 or the storage repository B1 stores refrigerated items or frozen items. When it is determined that refrigerated items or frozen items are stored (step S29: Yes), the process proceeds to step S31. On the other hand, when it is determined that neither refrigerated items nor frozen items are stored (step S29: No), the control unit 17 stops the temperature control of the storage repository B2 (step S30), and the process proceeds to step S31. In addition, when the UGV1 is provided with multiple columns of storage repositories B, the temperature control of the storage repository B2 can also be stopped according to the determination result of each column.

[0105] In step S31, the control unit 17 determines whether the final transportation destination has been passed (that is, reaching the final transportation destination and departing from the transportation destination). When it is determined that the final transportation destination has not been passed (step S31: No), the process returns to step S21. On the other hand, when it is determined that the final transportation destination has been passed (step S31: Yes), the process ends.

[0106] In addition, the management server 2 can also perform the Fig.11 processing shown. In this case, when the management server 2 determines in step S21 that the specific conditions related to the items stored in the storage repository B1 are met, it sends the control information for moving the items stored in the storage repository B1 to the storage repository B2 to the UGV1 (step S22). In addition, when the management server 2 determines in step S27 that refrigerated items or frozen items are stored in the storage repository B2 or the storage repository B1 located on the upper layer of the storage repository B2, it sends the control information for starting the temperature control of the storage repository B2 to the UGV1 (step S28). In addition, when the management server 2 determines in step S29 that neither refrigerated items nor frozen items are stored in the storage repository B2 or the storage repository B1 located on the upper layer of the storage repository B2, it sends the control information for stopping the temperature control of the storage repository B2 to the UGV1 (step S30). In addition, in the Fig.11 processing shown, the management server 2 manages the cooling state of the storage repository B2.

[0107] As described above, according to the described embodiment, since the UGV1 is configured to move the items stored in the storage repository B1 among the multiple storage repositories B to the storage repository B2 when it is determined that specific conditions related to the items stored in the storage repository B1 are met, and to control the temperature of the storage repository B2, it is possible to achieve efficiency improvement in energy consumption accompanied by temperature control among the multiple storage repositories B. Additionally, according to the described embodiment, since the UGV1 is configured to collect multiple items (items that require temperature management) whose handling destinations have not been collected (i.e., retrieved) by the recipient into a specific storage repository B2 and only control the temperature of the storage repository B2, it is possible to further improve the efficiency of energy consumption accompanied by temperature control.

[0108] Furthermore, the described embodiment is one embodiment of the present invention. The present invention is not limited to the described embodiment, and various components and the like can be modified from the described embodiment without departing from the gist of the present invention, and the situations also fall within the technical scope of the present invention. In the described embodiment, although an example in which the storage repositories B1 and B2 are provided vertically in the UGV1 has been shown, the storage repositories B1 and B2 can also be provided in a horizontally arranged side-by-side manner. In such a case, the UGV1 is provided with an article moving mechanism that moves articles from the storage repository B1 to the storage repository B2 in the horizontal direction, and the article moving mechanism is driven according to a control command output from the article movement control unit.

[0109] In addition, in the described embodiment, although an example of performing temperature control for cooling the inside of the storage repository B2 has been described, it can also be configured to perform temperature control for warming the inside of the storage repository B2 (for example, setting the set temperature to around 15°C to 20°C). For example, when specific conditions related to the articles to be transported are met in a cold area where the air temperature is below the freezing point, by moving the articles stored in the storage repository B1 to the storage repository B2, it is possible to prevent the articles from getting cold or freezing. In addition, in the described embodiment, as the transporter, the UGV1 that can autonomously move on the ground without a person has been shown as an example, but the present invention can also be applied to a transporter that a person rides and operates. In addition, the present invention can be applied to UAVs (Unmanned Aerial Vehicles) such as drones that can autonomously fly in the air without a person. In addition, the present invention can also be applied to an aircraft that a person rides and operates.

[0110] [Description of symbols]

[0111] 1: UGV

[0112] 2: Management server

[0113] 11: Driving unit

[0114] 12: Positioning Unit

[0115] 13: Communication Unit

[0116] 14: Sensor Unit

[0117] 15: Operation / Display Unit

[0118] 16: Storage Unit

[0119] 17: Control Unit

[0120] 21: Communication Unit

[0121] 22: Storage Unit

[0122] 23: Control Unit

[0123] 171: Travel Control Unit

[0124] 172: Item Movement Control Unit

[0125] 173: Item Handover Control Unit

[0126] 174: Temperature Control Unit

[0127] S: Handling System

Claims

1. A control device, characterized in that it controls a transporter having a plurality of compartments capable of storing articles, the transporter having multiple layers of the compartments in the vertical direction, and the control device comprising: A movement control unit that, when a specific condition related to the article stored in the first compartment among the plurality of compartments is satisfied, moves the article stored in the first compartment to the second compartment located in the lower layer among the plurality of compartments by opening the bottom of the first compartment located in the upper layer, and the second compartment can perform temperature control; and A temperature control unit that performs temperature control of the second compartment, The temperature control unit starts the temperature control of the second compartment when the start time determined based on the heat preservation effect of passing through the first compartment reaches a time within a temperature range that can maintain the quality of the article in the first compartment after the article starts to be transported.

2. The control device according to claim 1, characterized in that it further comprises: a determination unit that determines whether the specific condition is satisfied, The article movement control unit moves the article stored in the first compartment to the second compartment when the determination unit determines that the specific condition is satisfied.

3. The control device according to claim 1 or 2, characterized in that the specific condition includes a condition that the article requires temperature management.

4. The control device according to claim 1 or 2, characterized in that the specific condition includes a condition that the article has not been collected by the recipient.

5. The control device according to claim 1 or 2, characterized in that the specific condition includes a condition that the elapsed time since the article started to be transported exceeds a specific time corresponding to the article.

6. The control device according to claim 1 or 2, characterized in that the transporter has a plurality of the first compartments, The article movement control unit moves the articles stored in each of the first compartments to one second compartment.

7. The control device according to claim 1 or 2, characterized in that the temperature control unit starts the temperature control of the second compartment after the article starts to be transported and before the article moves from the first compartment to the second compartment.

8. The control device according to claim 1 or 2, characterized in that the temperature control unit stops the temperature control of the second compartment when the article is collected by the recipient and does not exist in either the first compartment or the second compartment after the article starts to be transported.

9. The control device according to claim 1 or 2, characterized in that the temperature control unit performs temperature control for cooling the inside of the second compartment.

10. A transporter, characterized in that it has a plurality of compartments capable of storing articles, The transporter has multiple layers of the compartments in the vertical direction, and has the following mechanism: according to a control command output due to a specific condition related to the article being satisfied, the bottom of the first compartment located in the upper layer among the plurality of compartments is opened to move the article stored in the first compartment to the second compartment located in the lower layer, and the second compartment can perform temperature control, The second section starts temperature control of the second section when it reaches the start time determined based on the time after the article starts being transported and when the temperature can be maintained within the range that can preserve the quality of the article in the first section based on the heat preservation effect of the first section.

11. The transporter according to claim 10, characterized in that the first section is a section with a heat preservation effect.

12. The transporter according to claim 10 or 11, characterized in that the first section is a section without temperature control.

13. The transporter according to claim 10 or 11, characterized by further comprising the following mechanism: preventing the receiver at the destination of the transportation of the article from receiving the article from the second section, and enabling the receiver to receive the article from the first section.

14. The transporter according to claim 10, characterized in that the transporter has multiple layers of the first section in the vertical direction, and further comprises the following mechanism: Moving the article stored in the first section to the first section located in the lower layer by opening the bottom of the first section located in the upper layer.

15. A control method, characterized by being executed by a computer that controls a transporter having multiple sections capable of storing articles, the transporter having multiple layers of the sections in the vertical direction, and the control method comprising the following steps: When specific conditions related to the article stored in the first section among the multiple sections are met, moving the article stored in the first section to the second section located in the lower layer among the multiple sections by opening the bottom of the first section located in the upper layer, the second section being capable of temperature control; and Performing temperature control of the second section, The step of performing temperature control of the second section starts temperature control of the second section when it reaches the start time determined based on the time after the article starts being transported and when the temperature can be maintained within the range that can preserve the quality of the article in the first section based on the heat preservation effect of the first section.

16. A transportation system, characterized by comprising: A transporter having multiple sections capable of storing articles and having multiple layers of the sections in the vertical direction; An article movement control section that, when specific conditions related to the article stored in the first section among the multiple sections are met, moves the article stored in the first section to the second section located in the lower layer among the multiple sections by opening the bottom of the first section located in the upper layer, the second section being capable of temperature control; and A temperature control section that performs temperature control of the second section, The temperature control section starts temperature control of the second section when it reaches the start time determined based on the time after the article starts being transported and when the temperature can be maintained within the range that can preserve the quality of the article in the first section based on the heat preservation effect of the first section.

Images