Vehicle transport management system, vehicle transport management method and storage medium

Abstract

This invention relates to a vehicle transport management system, a vehicle transport management method, and a storage medium. In an automated parking lot (3) capable of accommodating both manually driven vehicles (16) and autonomous vehicles (15), when a manually driven vehicle (16) enters the automated parking lot (3), it is transported to an available parking space (5) by a vehicle transport robot (11). When an autonomous vehicle (15) malfunctions and stops within the automated parking lot (3), the manually driven vehicle (16) being transported is unloaded from the vehicle transport robot (11), and the malfunctioning autonomous vehicle (15) is loaded onto the vehicle transport robot (11), thereby recovering the malfunctioning autonomous vehicle (15) by the vehicle transport robot (11).

Description

Technical Field

[0001] This invention relates to a vehicle transport management system, a vehicle transport management method, and a storage medium. Background Technology

[0002] For example, a method of operating an automated towing robot is known, wherein when an automated vehicle malfunctions in a parking lot, the malfunctioning automated vehicle is towed to a pre-set location by an automated towing robot that is waiting (see, for example, U.S. Patent Application Publication No. 2016 / 0115702).

[0003] Furthermore, when there is a vehicle delivery request to be carried out by a vehicle delivery robot, if the vehicle delivery robot is traveling near the vehicle with the delivery request, it is preferable to use the vehicle delivery robot to deliver the vehicle with the delivery request in a short time after the delivery request is made, compared to moving the vehicle delivery robot from its waiting area.

[0004] However, there is no indication of this in the aforementioned patent literature. Summary of the Invention

[0005] Therefore, according to the present invention, a vehicle transport management system is provided, comprising: a vehicle transport robot for transporting vehicles; and a management server for managing the operation of the vehicle transport robot, wherein when there is a transport request for other vehicles during the transport of vehicles via the vehicle transport robot, the vehicle being transported is unloaded from the vehicle transport robot and other vehicles are loaded onto the vehicle transport robot, and other vehicles are retrieved via the vehicle transport robot.

[0006] According to the present invention, a vehicle transport management method is also provided, wherein when there is a request for transport of other vehicles during the transport of vehicles by a vehicle transport robot used for transporting vehicles, the vehicles being transported are unloaded from the vehicle transport robot and the other vehicles are loaded onto the vehicle transport robot, and the other vehicles are retrieved by the vehicle transport robot.

[0007] According to the present invention, a storage medium is also provided, storing a program that enables a computer to perform the following functions: when there is a request for the transport of other vehicles during the transport of vehicles by a vehicle transport robot used for transporting vehicles, unloading the vehicles being transported from the vehicle transport robot and loading the other vehicles onto the vehicle transport robot, and retrieving the other vehicles by the vehicle transport robot.

[0008] According to the present invention, a vehicle with a delivery request can be delivered by a vehicle delivery robot within a short period of time after the delivery request. Attached Figure Description

[0009] Figure 1 It is a top view that illustrates an automated parking system.

[0010] Figure 2 It is a top view that illustrates an automated parking system.

[0011] Figure 3 It is a top view that illustrates an automated parking system.

[0012] Figure 4 It is a diagram illustrating the inbound / outbound management server.

[0013] Figure 5 It is a diagram that illustrates an autonomous vehicle.

[0014] Figure 6A , Figure 6B as well as Figure 6C This is a diagram illustrating the vehicle transport robot 11.

[0015] Figure 7A and Figure 7B This diagram illustrates the loading operation of a robot being transported from a manually driven vehicle to a vehicle.

[0016] Figure 8A and Figure 8B This diagram illustrates the unloading operation of a manually driven vehicle from a vehicle transporting a robot.

[0017] Figure 9 This is a diagram illustrating the head of a vehicle transport robot.

[0018] Figure 10 This is a diagram representing the current state of the vehicle transport robot.

[0019] Figure 11 It is a diagram showing a list of the current states of the vehicle transport robot.

[0020] Figure 12 This is a flowchart for managing vehicle delivery robots.

[0021] Figure 13 This is a flowchart for driving control of a vehicle transport robot.

[0022] Figure 14 It is a flowchart used for inbound / outbound management and control.

[0023] Figure 15 It is a flowchart used for vehicle driving control.

[0024] Figure 16This is a flowchart used to handle vehicle malfunctions. Detailed Implementation

[0025] Figures 1 to 3 This is a top view illustrating the same automated parking system. (See reference...) Figures 1 to 3 1 represents a road, 2 represents a department store or similar facility, 3 represents an automated parking system, 4 represents the parking area of ​​automated parking system 3, 5 represents numerous parking spaces within parking area 4, 6 represents a vehicle already parked in parking space 5, 7 represents the entrance gate to parking area 4, 8 represents the exit gate from parking area 4, 9 represents a pick-up / drop-off area, 10 represents a waiting area for vehicle transport robots, 11 represents numerous vehicle transport robots waiting in waiting area 10, and 12 represents a parking management facility. An inbound / outbound management server 13 is installed within this parking management facility 12 to manage inbound and outbound operations.

[0026] In addition, such as Figures 1 to 3 As shown, the automated parking garage 3 is equipped with numerous infrastructure sensors 14 to identify vehicles entering and exiting the garage, detect fixed structures and moving objects within the parking area 4, and monitor the parking status of vehicles within the parking area 4. Cameras or laser sensors are used as these infrastructure sensors 14. In this case, for example, when cameras are used as infrastructure sensors 14, the image signals captured by each infrastructure sensor 14 are sent to the entry / exit management server 13 located within the parking management facility 12.

[0027] exist Figures 1 to 3 In the automated parking lot 3 shown, when there is a request for an autonomous vehicle to enter the parking space, after a passenger disembarks from the autonomous vehicle at the drop-off / pick-up area 9, the autonomous vehicle is moved to an empty parking space 5 via autonomous driving. When there is a request for an autonomous vehicle to leave the parking space, the autonomous vehicle currently parked in the parking space 5 is moved to the drop-off / pick-up area 9 via autonomous driving. On the other hand, when there is a request for a manually driven vehicle to enter the parking space, after a passenger disembarks from the manually driven vehicle at the drop-off / pick-up area 9, the manually driven vehicle is transported to an empty parking space 5 via an autonomous driving vehicle transport robot 11. When there is a request for a manually driven vehicle to leave the parking space, the manually driven vehicle currently parked in the parking space 5 is transported to the drop-off / pick-up area 9 via the autonomous driving vehicle transport robot 11.

[0028] Thus, in Figures 1 to 3 The automated parking lot 3 shown implements an automated parking service, namely an automated valet parking service, which enables both manually driven and automatically driven vehicles to park automatically. Figure 1The diagram uses arrows to illustrate an example of the parking / exit function when the designated parking space 5 for an autonomous vehicle 15 with parking requirements is parking space 5a. Figure 2 The diagram illustrates an example of the parking / exit function when the designated parking space 5 for a manually driven vehicle 16 requiring parking is parking space 5a, using arrows.

[0029] That is, when the autonomous vehicle 15 enters the parking space, and when the autonomous vehicle 15 arrives at the pick-up / drop-off point 9 and the passenger disembarks from the autonomous vehicle 15, if... Figure 1 As indicated by the solid-line arrow, the autonomous vehicle 15 is moved to parking space 5a by autonomous driving and parked in parking space 5a. On the other hand, when the autonomous vehicle 15 leaves the parking space, as in Figure 1 As indicated by the dashed arrow, the autonomous vehicle 15, which is parked in parking space 5a, is moved from parking space 5a to pick-up / drop-off location 9 via autonomous driving.

[0030] On the other hand, when the manually driven vehicle 16 enters the parking space, and when the manually driven vehicle 16 arrives at the drop-off / pick-up location 9 and the passenger disembarks from the manually driven vehicle 16, if... Figure 2 As shown by the solid-line arrow R1, one of the vehicle transport robots 11a waiting in waiting area 10 is moved by autonomous driving toward the manually driven vehicle 16, and the manually driven vehicle 16, which is stopped at pick-up / drop-off area 9, is loaded onto the vehicle transport robot 11a. Then, as in Figure 2 As indicated by the solid line arrow R2, the vehicle transport robot 11a, carrying the manually driven vehicle 16, is moved to the parking space 5a via autonomous driving. In the parking space 5a, the manually driven vehicle 16 is unloaded from the vehicle transport robot 11a. Then, as in... Figure 2 As shown by the solid line arrow R3, the empty vehicle transport robot 11a, having unloaded the manually driven vehicle 16, returns to the waiting area 10 via autonomous driving.

[0031] In addition, when manually driving vehicle 16 out of the warehouse, if... Figure 2 As indicated by the dashed arrow S1, one of the vehicle transport robots 11b waiting in waiting area 10 is moved towards parking space 5a via autonomous driving, and the manually driven vehicle 16, which is parked in parking space 5a, is loaded onto vehicle transport robot 11b. Then, as in... Figure 2As indicated by the dashed arrow S2, the vehicle transport robot 11b carrying the manually driven vehicle 16 is moved to the loading / unloading area 9 via autonomous driving. At the loading / unloading area 9, the manually driven vehicle 16 is unloaded from the vehicle transport robot 11b. Then, the empty vehicle transport robot 11b, having unloaded the manually driven vehicle 16, returns to the waiting area 10 via autonomous driving.

[0032] Next, regarding Figure 1 and Figure 2 The inbound / outbound management server 13, the autonomous vehicle 15, and the vehicle transport robot 11 shown will be described in turn. Figure 4 It shows Figure 1 The inbound / outbound management server 13 is shown. (Refer to...) Figure 4 An electronic control unit 20 is installed within the inbound / outbound management server 13. This electronic control unit 20 is composed of a digital computer and includes a CPU (Central Processing Unit) 22 interconnected via a bidirectional bus 21, a memory 23 consisting of ROM (Read Only Memory) and RAM (Random Access Memory), and input / output ports 24. For example... Figure 4 As shown, various sensor signals 25, including infrastructure sensors 14, are input to the electronic control unit 20. Furthermore, map data of the parking area 4 is stored in the memory 23 of the electronic control unit 20.

[0033] Figure 5 The diagram illustrates Figure 1 An example of an autonomous vehicle 15 is shown. (See reference...) Figure 5 30 represents an electronic control unit installed in the autonomous vehicle 15; 31 represents a vehicle drive unit, such as an electric motor, used to provide driving force to the drive wheels of the autonomous vehicle 15; 32 represents a braking device used to brake the autonomous vehicle 15; and 33 represents a steering device used to steer the autonomous vehicle 15. Figure 5As shown, the electronic control unit 30 is composed of a digital computer and includes a CPU (microprocessor) 35 interconnected via a bidirectional bus 34, a memory 36 composed of ROM and RAM, and input / output ports 37. On the other hand, the autonomous vehicle 15 is equipped with various sensors 38 necessary for autonomous driving, namely sensors for detecting the state of the autonomous vehicle 15 and peripheral sensing sensors for detecting the surroundings of the autonomous vehicle 15. In this case, accelerometers, speed sensors, and azimuth sensors are used as sensors for detecting the state of the autonomous vehicle 15, and onboard cameras that capture images of the front, sides, and rear of the autonomous vehicle 15, LiDAR, radar, etc., are used as peripheral sensing sensors for detecting the surroundings of the autonomous vehicle 15.

[0034] Furthermore, the autonomous vehicle 15 is equipped with a GNSS (Global Navigation Satellite System) receiver 39, a map data storage device 40, a navigation device 41, and an operation unit 42 for performing various operations. The GNSS receiver 39 can detect the current position of the autonomous vehicle 15 (e.g., the latitude and longitude of the autonomous vehicle 15) based on information obtained from multiple artificial satellites. Therefore, the current position of the autonomous vehicle 15 can be obtained through this GNSS receiver 39. For example, a GPS (Global Positioning System) receiver can be used as the GNSS receiver 39. On the other hand, the map data storage device 40 stores map data and other data required for the autonomous vehicle 15 to perform autonomous driving. These various sensors 38, the GNSS receiver 39, the map data storage device 40, the navigation device 41, and the operation unit 42 are connected to the electronic control unit 30. In addition, the autonomous vehicle 15 is equipped with a communication device 43 for communicating with the inbound / outbound management server 13, such as... Figure 4 As shown, the inbound / outbound management server 13 is equipped with a communication device 26 for communicating with the autonomous vehicle 15.

[0035] Figure 6A The diagram shows the representation. Figure 2 The top view of the vehicle transport robot 11 shown is shown. Figure 6B and Figure 6C It shows Figure 6A A side view of the vehicle transport robot 11 shown. (Refer to...) Figure 6A , Figure 6B as well as Figure 6C50 represents the head of the transport robot, 51 represents the trolley section connected to the head of the transport robot 50 and capable of vertical movement, 52 represents the front wheel composed of drive wheels, 53 represents the rear wheel composed of driven wheels, and 54 represents the lifting linkage device disposed between the rear wheel 53 and the trolley section 51. The trolley section 51 consists of a front trolley section 51a and a rear trolley section 51b slidably connected to the front trolley section 51a.

[0036] like Figure 6A As shown, pairs of wheel support arms 55 are respectively arranged on both sides of the front trolley section 51a and the rear trolley section 51b, capable of rotating 90 degrees from the rearward position (indicated by solid lines) to the protruding position (indicated by dashed lines). The rotational movement of these pairs of arms 55 and the sliding movement of the rear trolley section 51b relative to the front trolley section 51a are achieved by hydraulic cylinders or electric motors. On the other hand, the trolley section 51... Figure 6B The descent position shown is the same as Figure 6C The lifting positions shown are controlled by lifting. In this case, a hydraulic cylinder or electric motor for lifting control of the trolley is provided at the connection between the front trolley section 51a and the head of the conveyor robot 50. The lifting control of the trolley section 51 is performed by the hydraulic cylinder or electric motor for lifting control of the trolley and the hydraulic cylinder or electric motor for driving the lifting linkage device 54.

[0037] When loading the manually driven vehicle 16 onto the vehicle delivery robot 11, such as in Figure 6A As shown in solid lines, the paired arms 55 are held in the retracted position, as... Figure 6B As shown, the trolley section 51 is held in the lowered position. Then, in this state, as... Figure 7A As shown, the vehicle transport robot 11 moves the trolley section 51 to a vehicle loading preparation position aligned with the long axis of the manually driven vehicle 16. Then, the vehicle transport robot 11 reverses, as... Figure 7B As shown, the trolley section 51 moves under the manually driven vehicle 16. Next, all arms 55 are rotated to their protruding positions, and then the trolley section 51 is raised. As the trolley section 51 rises, all wheels of the manually driven vehicle 16 are supported by corresponding pairs of arms 55, thereby loading the manually driven vehicle 16 onto the vehicle transport robot 11. It should be noted that the spacing between the front trolley section 51a and the rear trolley section 51b is adjusted according to the wheelbase of the loaded manually driven vehicle 16.

[0038] On the other hand, when unloading the manually driven vehicle 16 from the vehicle transport robot 11, the vehicle transport robot 11 is moved to the unloading location. At this time, as... Figure 8AAs shown. Next, the trolley section 51 is lowered, and the manually driven vehicle 16 it carries is unloaded onto the ground. Next, all arms 55 are rotated to the reverse position. Next, the vehicle transport robot 11 is advanced with the long axis of the trolley section 51 aligned with that of the manually driven vehicle 16, as shown. Figure 8B As shown, the trolley section 51 is moved to a driving-ready position completely detached from under the manually driven vehicle 16.

[0039] Figure 9 The diagram illustrates Figure 6A , Figure 6B as well as Figure 6C An example of the conveyor robot head 50 of the vehicle conveyor robot 11 shown. (See reference...) Figure 9 60 indicates an electronic control unit mounted in the head 50 of the transport robot; 61 indicates a vehicle drive unit, such as an electric motor, for providing driving force to the front wheels 52 of the vehicle transport robot 11; 62 indicates a braking device for braking the vehicle transport robot 11; and 63 indicates a steering device for steering the front wheels 52. Figure 9 As shown, the electronic control unit 60 is composed of a digital computer and includes a CPU (microprocessor) 65 interconnected via a bidirectional bus 64, a memory 66 consisting of ROM and RAM, and an input / output port 67. On the other hand, the vehicle transport robot 11 is equipped with various sensors 68 necessary for its autonomous driving, namely sensors for detecting the state of the vehicle transport robot 11 and peripheral sensing sensors for detecting the surroundings of the vehicle transport robot 11. In this case, accelerometers, speed sensors, and azimuth sensors are used as sensors for detecting the state of the vehicle transport robot 11, while onboard cameras that capture images of the front, sides, and rear of the vehicle transport robot 11, LiDAR, radar, etc., are used as peripheral sensing sensors for detecting the surroundings of the vehicle transport robot 11.

[0040] Furthermore, a map data storage device 69 and a GNSS receiver 70 are provided on the head 50 of the transport robot. The GNSS receiver 70 can detect the current position of the vehicle transport robot 11 (e.g., the latitude and longitude of the vehicle transport robot 11) based on information obtained from multiple satellites. The map data storage device 69 stores map data of the parking area 4 required for the vehicle transport robot 11 to perform autonomous driving. These various sensors 68, the map data storage device 69, and the GNSS receiver 70 are connected to the electronic control unit 60. Additionally, a drive device 71, such as a hydraulic cylinder or electric motor, for controlling the lifting of the trolley section 51 and the rotation of the arm 55 is connected to the electronic control unit 60. Furthermore, a communication device 72 for communicating with the inbound / outbound management server 13 is mounted on the head 50 of the transport robot.

[0041] Next, refer to Figure 1 The entry / exit operations of the autonomous vehicle 15 into the automated parking lot 3 will be described in more detail. In an embodiment of the invention, when a user using the automated parking service wants to park their autonomous vehicle 15 in the automated parking lot 3, for example, when the autonomous vehicle 15 arrives at the pick-up / drop-off location 9, for example, the user's portable terminal sends a vehicle ID for identifying the vehicle to the entry / exit management server 13 via a communication network, and sends an entry request. Upon receiving the entry request, the entry / exit management server 13 configures the vehicle to park without contact with other vehicles or pedestrians, such as in... Figure 1 The system uses solid-line arrows to indicate the driving route of a vehicle from the pick-up / drop-off area 9 to the designated parking space 5a, and sends this driving route to the user's autonomous vehicle 15. When the user's autonomous vehicle 15 receives the driving route from the pick-up / drop-off area 9, it automatically moves along the driving route to the available parking space 5a.

[0042] On the other hand, the same applies when a user wants to exit the automated parking lot 3 with the autonomous vehicle 15. For example, when a user arrives at the pick-up / drop-off area 9, the user's portable terminal sends a vehicle ID for identifying the vehicle to the entry / exit management server 13 via the communication network, and sends a pick-up / drop-off request. Upon receiving the pick-up / drop-off request, the entry / exit management server 13 sets a route for the autonomous vehicle 15 to reach the pick-up / drop-off area 9 from the parking space 5a without contact with other vehicles or pedestrians, and sends the set route to the user's autonomous vehicle 15. Upon receiving the set route from the entry / exit management server 13, the user's autonomous vehicle 15 moves along the set route from the parking space 5a to the pick-up / drop-off area 9 via autonomous driving.

[0043] Next, refer to Figure 2 The entry / exit operation of the manually driven vehicle 16 into the automated parking lot 3 will be described in more detail. In an embodiment of the invention, when a user using the automated parking service wants to park their manually driven vehicle 16 in the automated parking lot 3, for example, when the manually driven vehicle 16 arrives at the pick-up / drop-off area 9, for example, the user's portable terminal sends a vehicle ID for identifying the vehicle to the entry / exit management server 13 via a communication network, and sends an entry request. Upon receiving the entry request, the entry / exit management server 13 causes the vehicle transport robot 11 to move to the pick-up / drop-off area 9 via automated driving and loads the manually driven vehicle 16, which is currently parked at the pick-up / drop-off area 9, onto the vehicle transport robot 11. Then, the vehicle transport robot 11 carrying the manually driven vehicle 16 proceeds as if... Figure 2 As indicated by the solid-line arrow, the vehicle moves from the pick-up / drop-off area 9 to the designated parking space 5a.

[0044] On the other hand, the same applies when a user wants to remove the manually driven vehicle 16 from the automated parking lot 3. For example, when a user arrives at the pick-up / drop-off area 9, the user's portable terminal sends a vehicle ID for identifying the vehicle to the inbound / outbound management server 13 via the communication network, and sends an outbound request. Upon receiving the outbound request, the inbound / outbound management server 13 causes the vehicle transport robot 11 to move to the parking space 5a via autonomous driving, and loads the manually driven vehicle 16, which is currently parked in the parking space 5a, onto the vehicle transport robot 11. Then, the vehicle transport robot 11, carrying the manually driven vehicle 16, proceeds as if... Figure 2 Move to the boarding / alighting area 9 as indicated by the dashed arrow.

[0045] Thus, in this embodiment of the invention, the vehicle transport robot 11 is managed by the inbound / outbound management server 13. Therefore, the management of the vehicle transport robot 11 implemented by the inbound / outbound management server 13 will be described first. In the inbound / outbound management server 13, information is always obtained based on image signals captured by each infrastructure sensor 14 or location information of the vehicle transport robot 11 received from each vehicle transport robot 11. Figure 10 The current state X of all vehicle transport robots 11, No.1 to No.S, present in the automated parking lot 3 is shown. i (i = 1, 2...5), Y i (i=1, 2...5), R0. exist Figure 11 In the list, each state X i Y i The content of R0 is represented by the status at the time of entry and the status at the time of exit.

[0046] That is, such as Figure 11As shown, when manually driving vehicle 16 enters the parking space, R0 indicates that it is waiting at waiting area 10, and X1 indicates that it is moving towards the vehicle loading preparation position at the loading / unloading area 9. Figure 7A X2 indicates that the vehicle is stopped at the loading / unloading area 9 for loading / unloading; X3 indicates that the vehicle is moving towards the unloading position in parking space 5; X4 indicates that the vehicle is stopped at parking space 5 for unloading / unloading; and X5 indicates that the vehicle is moving towards the waiting area 10 for return. Furthermore, when manually driving vehicle 16 out of the parking space, R0 indicates that the vehicle is waiting at the waiting area, and Y1 indicates that the vehicle is moving towards the loading preparation position in parking space 5. Figure 7A Y2 indicates that the vehicle is stopped in parking space 5 for loading and unloading. Y3 indicates that the vehicle is moving towards the unloading position of pick-up and drop-off area 9. Y4 indicates that the vehicle is stopped in pick-up and drop-off area 9 for unloading and unloading. Y5 indicates that the vehicle is moving towards waiting area 10 for return.

[0047] Therefore, in an embodiment of the present invention, as described later, the vehicle transport robot 11 sends a request to the inbound / outbound management server 13 regarding the next process that the vehicle transport robot 11 should perform. Upon receiving the request, the inbound / outbound management server 13 determines the next process to be performed based on the current state of the vehicle transport robot 11, sends the determined processing request to the vehicle transport robot 11, and issues a driving command to the vehicle transport robot 11. Thus, in an embodiment of the present invention, the actions of the vehicle transport robot 11 are managed by the inbound / outbound management server 13. The management routine for managing the vehicle transport robot 11 is described in... Figure 12 As shown, this routine is repeatedly executed in the electronic control unit 20 of the inbound / outbound management server 13.

[0048] Reference Figure 12 First, in step 100, the location of the vehicle transport robot 11 is determined based on image signals captured by each infrastructure sensor 14 or location information received from the vehicle transport robot 11. Figure 10 The current state of all the vehicle transport robots 11 shown is updated. Next, in step 101, it is determined whether a request for the next process to be performed by the vehicle transport robot 11 has been received. If it is determined that no request for the next process to be performed has been received by the vehicle transport robot 11, the processing loop ends. Conversely, if it is determined that a request for the next process to be performed has been received by the vehicle transport robot 11, the process proceeds to step 102.

[0049] In step 102, the processing request for the vehicle transport robot 11 is determined based on its current state. For example, regarding the manually driven vehicle 16, if we consider the case where the loading of the manually driven vehicle 16 at the loading / unloading location 9 has ended and the vehicle transport robot 11 has issued a request for the next processing step, then the current state of the vehicle transport robot 11 is... Figure 11 X2 indicates that the vehicle is stopped at the pick-up / drop-off area 9 for vehicle loading processing. Therefore, in step 102, the decision to move the vehicle transport robot 11 to an empty parking space 5 and unload the manually driven vehicle 16 from the vehicle transport robot 11 is made as the next processing requirement.

[0050] When the next processing requirements for the vehicle transport robot 11 are determined in step 102, the destination of the vehicle transport robot 11 is set in step 103. In the example above, an empty parking space 5 is set as the destination of the vehicle transport robot 11 from among many parking spaces 5. When the destination is set, the process proceeds to step 104, where a driving route from the pick-up / drop-off point 9 to the empty parking space 5 is set based on map data of the parking area 4 stored in memory 32. Next, in step 105, the driving trajectory and speed of the vehicle transport robot 11 that will not come into contact with other vehicles or structures are determined. Next, in step 106, a driving execution command for the vehicle transport robot 11 is issued. Then, in step 107, the processing requirements for the vehicle transport robot 11, the set empty parking space 5, the driving route, the driving trajectory, the driving speed, and the driving execution command are sent from the inbound / outbound management server 13 to the vehicle transport robot 11.

[0051] When a driving execution command is sent from the inbound / outbound management server 13 to the vehicle transport robot 11, the automatic driving control of the vehicle transport robot 11 begins. Figure 13 A driving control routine for driving the vehicle transport robot 11 is shown, which is repeatedly executed in the electronic control unit 60 mounted on the transport robot head 50 of the vehicle transport robot 11.

[0052] Reference Figure 13First, in step 200, the processing requirements for the vehicle transport robot 11 determined in the inbound / outbound management server 13 are obtained. Next, in step 201, the destination set in the inbound / outbound management server 13 is obtained. Then, in step 202, the driving route set in the inbound / outbound management server 13 is obtained. In step 203, the driving trajectory and speed set in the inbound / outbound management server 13 are obtained. Next, in step 204, the vehicle transport robot 11 is controlled to move along the set driving trajectory, based on the detection results from cameras, LiDAR, radar, and other surrounding sensing sensors that capture images of the area in front of the vehicle transport robot 11, in a manner that avoids contact with other vehicles and pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination; in the above example, it is determined whether the vehicle transport robot 11 has reached the set vacant parking space 5. If it is determined that the vehicle transport robot 11 has not reached its destination, the process returns to step 204 to continue the autonomous driving of the vehicle transport robot 11. On the other hand, if it is determined in step 205 that the vehicle transport robot 11 has reached its destination, the process proceeds to step 206.

[0053] In step 206, the processing requirements for the vehicle transport robot 11 are executed. In the example above, the process of unloading the manually driven vehicle 16 from the vehicle transport robot 11 is executed. That is, the trolley section 51 is lowered, and the manually driven vehicle 16 is unloaded onto the ground within the parking space 5. Then, all arms 55 are rotated to the reverse position, and then the vehicle transport robot 11 is moved forward, as... Figure 8B As shown, the trolley unit 51 is moved to a driving preparation position completely detached from under the manually driven vehicle 16. In step 207, regarding the processing request for the vehicle transport robot 11, it is determined whether the unloading of the manually driven vehicle 16 from the vehicle transport robot 11 in the above example has been completed, that is, whether the trolley unit 51 has been moved to the driving preparation position. If it is determined that the processing request for the vehicle transport robot 11 has not been completed, the process returns to step 206 to continue processing the processing request for the vehicle transport robot 11. On the other hand, if it is determined in step 207 that the processing request for the vehicle transport robot 11 has been completed, the process proceeds to step 208, whereby the request for the next processing to be performed by the vehicle transport robot 11 is sent to the inbound / outbound management server 13.

[0054] Thus, using Figure 12 The management routines for the vehicle transport robot 11 shown are as follows: Figure 13 The driving control routine shown is used to control the vehicle transport robot 11. Therefore, when there is an inbound / outbound requirement from the manually driven vehicle 16, it is also used. Figure 12 The management routines for the vehicle transport robot 11 shown are as follows: Figure 13 The driving control routine of the vehicle transport robot 11 shown is used to control the vehicle transport robot 11. Therefore, next, refer to... Figure 14 The inbound / outbound management control routine executed in the electronic control unit 20 by the inbound / outbound management server 13 when it receives an inbound / outbound request from the autonomous vehicle 15 or the manually driven vehicle 16 is described.

[0055] Reference Figure 14 First, in step 300, it is determined whether the vehicle requesting entry is an autonomous vehicle 15 or a manually driven vehicle 16. If it is determined that the vehicle requesting entry is an autonomous vehicle 15, the process proceeds to step 301, where an available parking space 5 is selected from among many parking spaces 5 as the destination for the autonomous vehicle 15. Once the destination is selected, the process proceeds to step 302, where a driving route is set from the pick-up / drop-off point 9 to the available parking space 5 based on map data of the parking area 4 stored in memory 32. Next, in step 303, the driving trajectory and speed of the autonomous vehicle 15, which will not come into contact with other vehicles or structures, are determined. Next, in step 304, an autonomous driving execution command is issued to the autonomous vehicle 15. Finally, in step 305, the selected available parking space 5, driving route, driving trajectory, driving speed, and autonomous driving execution command are sent from the entry / exit management server 13 to the autonomous vehicle 15.

[0056] When an autonomous driving execution command is sent from the inbound / outbound management server 13 to the autonomous vehicle 15, autonomous driving control of the autonomous vehicle 15 begins. Figure 15 A vehicle driving control routine for driving control of the autonomous vehicle 15 is shown, which is repeatedly executed in the electronic control unit 30 mounted on the autonomous vehicle 15.

[0057] Reference Figure 15First, in step 400, the destination set in the inbound / outbound management server 13 is obtained. Next, in step 401, the driving route set in the inbound / outbound management server 13 is obtained. Then, in step 402, the driving trajectory and speed set in the inbound / outbound management server 13 are obtained. Next, in step 403, along the set driving trajectory, based on the detection results from surrounding sensing sensors such as cameras, LiDAR, and radar that capture images of the area in front of the autonomous vehicle 15, the autonomous vehicle 15 is controlled to drive without contact with other vehicles or pedestrians. Next, in step 404, it is determined whether the autonomous vehicle 15 has reached the destination. If it is determined that the autonomous vehicle 15 has not reached the destination, the process returns to step 403 to continue autonomous driving. On the other hand, if it is determined in step 404 that the autonomous vehicle 15 has reached the destination, i.e., when parking in the available parking space 5 is completed, the inbound management ends.

[0058] On the other hand, users want the entry / exit management control of the autonomous vehicle 15 to also use [this technology]. Figure 14 The inbound / outbound management control routine shown is executed. However, in this case, in Figure 14 In step 301, the pick-up / drop-off location 9 is set as the destination of the autonomous vehicle 15. In step 302, the driving route from the parking space 5 in the current parking lot to the pick-up / drop-off location 9 is set. In step 303, the driving trajectory and speed of the autonomous vehicle 15 are set in a way that avoids contact with other vehicles or structures. In step 304, an autonomous driving execution command is issued to the autonomous vehicle 15. In step 305, the set destination, driving route, driving trajectory, driving speed, and autonomous driving execution command are sent from the inbound / outbound management server 13 to the autonomous vehicle 15. When the set destination, driving route, driving trajectory, driving speed, and autonomous driving execution command are received, the autonomous vehicle 15 proceeds... Figure 15 The driving control routine of the autonomous vehicle 15 shown is used to process the autonomous vehicle 15 to leave the warehouse.

[0059] On the other hand, Figure 14In step 300, when it is determined that the vehicle requesting entry / exit is a manually driven vehicle 16, the process proceeds to step 306, where a vehicle transport robot 11 is selected from those waiting in waiting area 10. Next, in step 307, a processing request is made for the selected vehicle transport robot 11. That is, if the manually driven vehicle 16 requests entry, an entry request is made for the manually driven vehicle 16; if the manually driven vehicle 16 requests exit, an exit request is made for the manually driven vehicle 16. In this case, when the manually driven vehicle 16 requests entry, Figure 12 In the management routine of the vehicle transport robot 11 shown, the process of moving the vehicle transport robot 11 to the pick-up / drop-off area 9 and loading the manually driven vehicle 16 onto the vehicle transport robot 11 is executed. When the manually driven vehicle 16 requests to leave the parking space, the process of moving the vehicle transport robot 11 to the manually driven vehicle 16 that is parked in the parking space 5 and loading the manually driven vehicle 16 onto the vehicle transport robot 11 is executed. Then, the process of moving the vehicle transport robot 11 to the pick-up / drop-off area 9 and unloading the manually driven vehicle 16 from the vehicle transport robot 11 is executed.

[0060] Furthermore, when the automated vehicle 15 malfunctions and stops in the automated parking lot 3, it is necessary to move the stopped, malfunctioning vehicle to a location that will not obstruct the movement of other vehicles as quickly as possible. In this case, in an embodiment of the present invention, a vehicle transport robot 11 can be used to transport the malfunctioning vehicle. In this case, when there is a request to transport a malfunctioning vehicle by the vehicle transport robot 11, it is preferable to use the vehicle transport robot 11 in the vehicle transport process to transport the malfunctioning vehicle with a transport request, rather than moving an empty vehicle transport robot 11 from the waiting area 10. This allows the malfunctioning vehicle with a transport request to be transported by the vehicle transport robot 11 within a short period of time after the transport request.

[0061] Therefore, in embodiments of the present invention, when there is a request for the transport of other vehicles during the transport of vehicles via the vehicle transport robot 11, the vehicle being transported is unloaded from the vehicle transport robot 11 and the other vehicles are loaded onto the vehicle transport robot 11, thereby recovering the other vehicles via the vehicle transport robot 11. Figure 3 The diagram illustrates a representative example of a vehicle recovery operation involving other vehicles, i.e., a faulty vehicle, carried out by such a vehicle transport robot 11.

[0062] exist Figure 3 In this context, 15a refers to the autonomous driving vehicle that malfunctioned and stopped within parking area 4. Hereinafter, this malfunctioning and stopped autonomous driving vehicle 15a will be referred to as malfunctioning vehicle 15a. On the other hand, in... Figure 3 K1 shows the location of the vehicle transport robot 11, which is carrying the manually driven vehicle 16 and moving towards the disabled vehicle 15a. In this case, in an embodiment of the invention, a retrieval command for the disabled vehicle 15a is issued to the vehicle transport robot 11, which is carrying the manually driven vehicle 16. When the retrieval command for the disabled vehicle 15a is issued to the vehicle transport robot 11, the vehicle transport robot 11 is moved autonomously from the location shown in K1 to a location shown in K2, which will not obstruct the movement of other vehicles, and temporarily stops at location K2. That is, when the retrieval command for the disabled vehicle 15a is issued to the vehicle transport robot 11, the vehicle transport robot 11 is moved autonomously to a temporary parking space shown in K2, which will not obstruct the movement of other vehicles, and temporarily parks in the temporary parking space K2.

[0063] Next, in the temporary parking space K2, the manually driven vehicle 16 is unloaded from the vehicle transport robot 11. Then, as indicated by arrow T, the empty vehicle transport robot 11 is moved to the vehicle loading preparation position for the disabled vehicle 15a, indicated by K4. Figure 7A Next, the disabled vehicle 15a is loaded onto the vehicle transport robot 11. The disabled vehicle 15a is then retrieved. Afterwards, the vehicle transport robot 11 carrying the disabled vehicle 15a is moved, for example, to an empty parking space 5. The manually driven vehicle 16, which was unloaded in the temporary parking space K2, is moved to an empty parking space 5 via the vehicle transport robot 11 that carried the manually driven vehicle 16 or another vehicle transport robot 11.

[0064] In order to carry out the recovery operation of such a faulty vehicle 15a, such as Figure 11 As shown in the list, the current state Z of the vehicle transport robot 11 is also pre-set when a faulty vehicle occurs. i .like Figure 11 As shown, when a malfunctioning vehicle occurs, Z1 indicates that it is temporarily stopped in preparation for the recovery of the malfunctioning vehicle 15a, Z2 indicates that it is moving towards the vehicle unloading position of the temporary parking space K2, Z3 indicates that it is stopped in the temporary parking space K2 for vehicle unloading processing, Z4 indicates that it is moving towards the loading preparation position of the malfunctioning vehicle 15a, Z5 indicates that it is stopped for loading processing of the malfunctioning vehicle 15a, Z6 indicates that it is moving towards the vehicle unloading position of the parking space of the malfunctioning vehicle 15a, and Z7 indicates that it is stopped in the parking space of the malfunctioning vehicle 15a for vehicle unloading processing.

[0065] Figure 16 A faulty vehicle handling routine for the recovery of faulty vehicles is shown, which is repeatedly executed in the electronic control unit 20 of the inbound / outbound management server 13.

[0066] Reference Figure 16 First, in step 500, a faulty vehicle 15a is detected within the automated parking lot 3. This detection is based on fault information from the automated vehicle 15 sent to the inbound / outbound management server 13, or on image signals captured by various infrastructure sensors 14. Next, in step 501, the presence of the faulty vehicle 15a within the automated parking lot 3 is determined based on the detection result. If it is determined that no faulty vehicle 15a exists within the automated parking lot 3, the processing loop ends. Conversely, if it is determined that a faulty vehicle 15a exists within the automated parking lot 3, the process proceeds to step 502 to determine whether the response to the faulty vehicle 15a has been completed. If it is determined that the response to the faulty vehicle 15a has been completed, the processing loop ends. Conversely, if it is determined that the response to the faulty vehicle 15a has not been completed, the process proceeds to step 503 to respond to the faulty vehicle 15a.

[0067] That is, in step 503, obtain Figure 10 The current state of all vehicle transport robots 11 is shown. Next, in step 504, a vehicle transport robot 11 for transporting the disabled vehicle 15a is selected from among the vehicle transport robots 11 equipped with manually driven vehicles 16. In this case, for example, a vehicle transport robot 11 that is currently traveling closest to the disabled vehicle 15a is selected as the vehicle transport robot 11 for transporting the disabled vehicle 15a, or a vehicle transport robot 11 that is traveling after the disabled vehicle 15a is selected as the vehicle transport robot 11 for transporting the disabled vehicle 15a. When a vehicle transport robot 11 for transporting the disabled vehicle 15a is selected, step 505 is entered, and the vehicle transport robot 11 used for transporting the disabled vehicle 15a is temporarily stopped. Next, in step 506, a request for the recovery processing of the disabled vehicle 15a performed by that vehicle transport robot 11 is issued.

[0068] When a request for the recovery and disposal of the faulty vehicle 15a is issued, through Figure 12 The management routine of the vehicle transport robot shown issues various instructions to the vehicle transport robot 11, which has been determined to transport the faulty vehicle 15a, to retrieve the faulty vehicle 15a, and through... Figure 13 The driving control routine of the vehicle transport robot 11 shown is used to control the driving of the vehicle transport robot 11.

[0069] That is, when a request for the recovery and disposal of the faulty vehicle 15a is issued, in Figure 12In step 101 of the management routine for the vehicle transport robot shown, a request for the recovery and disposal of a faulty vehicle 15a is determined, and the process proceeds to step 102. In step 102, a processing request for the vehicle transport robot 11 is determined based on its current state, which has been determined to be used for the transport of the faulty vehicle 15a. At the time of the request for the recovery and disposal of the faulty vehicle 15a, the current state of the vehicle transport robot 11 is... Figure 11 The vehicle transport robot 11, shown in Z1, is temporarily stopped in preparation for the recovery of the disabled vehicle 15a. Therefore, in step 102, the vehicle transport robot 11 will be moved to a temporary parking space K2 that will not obstruct the movement of other vehicles. Figure 3 The unloading of the manually driven vehicle 16 from the vehicle transport robot 11 is then processed as the next processing requirement.

[0070] When the next processing requirement for the vehicle transport robot 11 is determined in step 102, the destination of the vehicle transport robot 11 is set in step 103. At this time, for example, a temporary parking space K2 that will not obstruct the movement of other vehicles is retrieved based on image signals captured by the infrastructure sensors 14, and this temporary parking space K2, obtained from the retrieval results, is set as the destination of the vehicle transport robot 11. When the destination is set, the process proceeds to step 104, where a driving route from the pick-up / drop-off point 9 to the temporary parking space K2 is set based on map data of the parking area 4 stored in the memory 32. Next, in step 105, the driving trajectory and speed of the vehicle transport robot 11 that will not come into contact with other vehicles or structures are determined. Next, in step 106, a driving execution command is issued for the vehicle transport robot 11. Then, in step 107, the inbound / outbound management server 13 sends the processing requirements, temporary parking space K2, driving route, driving trajectory, driving speed and driving execution command for the vehicle transport robot 11 to the vehicle transport robot 11.

[0071] When a driving execution command is sent from the inbound / outbound management server 13 to the vehicle transport robot 11, the driving execution command is executed. Figure 13 The driving control routine of the vehicle transport robot 11 shown begins the retrieval operation of the faulty vehicle 15a by the vehicle transport robot 11. That is, referring to... Figure 13First, in step 200, the processing requirements for the vehicle transport robot 11, namely the recovery requirements for the faulty vehicle 15a, determined in the inbound / outbound management server 13, are obtained. Next, in step 201, the moving destination set in the inbound / outbound management server 13, namely the temporary parking space K2, is obtained. Then, in step 202, the driving route set in the inbound / outbound management server 13 is obtained. Finally, in step 203, the driving trajectory and driving speed set in the inbound / outbound management server 13 are obtained.

[0072] Next, in step 204, the vehicle transport robot 11 is controlled to move along the set travel trajectory, based on the detection results of surrounding sensing sensors such as cameras, LiDAR, and radar that capture images of the area in front of it, in a manner that avoids contact with other vehicles and pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination, i.e., the temporary parking space K2. If it is determined that the vehicle transport robot 11 has not reached its destination, i.e., the temporary parking space K2, the process returns to step 204 to continue the autonomous driving of the vehicle transport robot 11. On the other hand, if it is determined in step 205 that the vehicle transport robot 11 has reached its destination, i.e., the temporary parking space K2, the process proceeds to step 206.

[0073] In step 206, the processing requirement for the vehicle transport robot 11 is executed, namely, the unloading of the manually driven vehicle 16 from the vehicle transport robot 11. Specifically, the trolley section 51 is lowered, and the manually driven vehicle 16 is unloaded onto the ground in the temporary parking space K2. Then, all arms 55 are rotated to the reverse position, and then the vehicle transport robot 11 is moved forward, as in... Figure 3 As shown in K3, the trolley unit 51 is moved to a ready-to-drive position, completely detached from under the manually driven vehicle 16. In step 207, it is determined whether the processing request for the vehicle transport robot 11, i.e., the process of unloading the manually driven vehicle 16 from the vehicle transport robot 11, has been completed. If it is determined that the processing request for the vehicle transport robot 11 has not been completed, the process returns to step 206 to continue processing the processing request for the vehicle transport robot 11. On the other hand, if it is determined in step 207 that the processing request for the vehicle transport robot 11 has been completed, the process proceeds to step 208, where a request for the next processing to be performed by the vehicle transport robot 11 is sent to the inbound / outbound management server 13.

[0074] When the inbound / outbound management server 13 receives a request from the vehicle transport robot 11 for the next processing step, Figure 12In step 101 of the management routine for the vehicle transport robot shown, a processing request is detected, and the process proceeds to step 102. In step 102, the processing request for the vehicle transport robot 11 is determined based on its current state, which has issued the request for processing to be performed next. At this time, the current state of the vehicle transport robot 11 is... Figure 11 The vehicle, shown in Z3, is stopped in temporary parking space K2 for vehicle unloading processing. Therefore, in step 102, the vehicle transport robot 11 will be moved toward the loading preparation position K4 of the disabled vehicle 15a. Figure 3 The decision to move and load the faulty vehicle 15a into the vehicle transport robot 11 is the next processing requirement.

[0075] When the next processing requirement for the vehicle transport robot 11 is determined in step 102, the destination for the vehicle transport robot 11 is set in step 103. At this time, for example, based on image signals captured by the infrastructure sensors 14, the loading preparation position K4 of the faulty vehicle 15a is determined. Figure 3 The destination for the vehicle transport robot 11 is set. When the destination is set, proceed to step 104, where the starting position K3 is set based on the map data of the parking area 4 stored in the memory 32. Figure 3 From the loading preparation position K4 of the faulty vehicle 15a. Figure 3 The driving route up to ) is determined. Next, in step 105, the driving trajectory and speed of the vehicle transport robot 11 that will not come into contact with other vehicles or structures are determined. Next, in step 106, the driving execution command for the vehicle transport robot 11 is issued. Next, in step 107, the processing requirements for the vehicle transport robot 11 and the loading preparation position K4 of the faulty vehicle 15a are sent from the inbound / outbound management server 13 to the vehicle transport robot 11. Figure 3 ), driving route, driving trajectory, driving speed, and driving execution commands.

[0076] When a driving execution command is sent from the inbound / outbound management server 13 to the vehicle transport robot 11, the driving execution command is executed. Figure 13 The driving control routine of the vehicle transport robot 11 shown begins to move towards the loading preparation position K4 of the faulty vehicle 15a. Figure 3 The process of moving and loading the faulty vehicle 15a into the vehicle transport robot 11. That is, referring to... Figure 13 First, in step 200, the processing requirements for the vehicle transport robot 11 determined in the inbound / outbound management server 13 are obtained, namely, the loading preparation position K4 towards the faulty vehicle 15a. Figure 3The process involves moving and loading the faulty vehicle 15a onto the vehicle transport robot 11. Next, in step 201, the movement destination set in the inbound / outbound management server 13, i.e., the loading preparation position K4 of the faulty vehicle 15a, is obtained. Figure 3 Next, in step 202, the driving route set in the inbound / outbound management server 13 is obtained, and in step 203, the driving trajectory and driving speed set in the inbound / outbound management server 13 are obtained.

[0077] Next, in step 204, following the set travel trajectory, based on the detection results of surrounding sensing sensors such as cameras, LiDAR, and radar that capture images of the area in front of the vehicle transport robot 11, the vehicle transport robot 11 is controlled to travel in a manner that avoids contact with other vehicles and pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination, namely the loading preparation position K4 of the faulty vehicle 15a. Figure 3 ). At the loading preparation position K4 of the vehicle transport robot 11, which was determined to be the faulty vehicle 15a, the vehicle transport robot 11 had not reached its destination. Figure 3 If the vehicle transport robot 11 reaches its destination, i.e., the loading preparation position K4 of the faulty vehicle 15a, is determined in step 205. Then, the process returns to step 204 to continue the autonomous driving of the vehicle transport robot 11. Figure 3 When ), proceed to step 206.

[0078] In step 206, the processing requirement for the vehicle transport robot 11 is executed, namely, the process of loading the faulty vehicle 15a onto the vehicle transport robot 11. Specifically, the vehicle transport robot 11 is moved backward, and the trolley section 51 is positioned beneath the faulty vehicle 15a. Next, all arms 55 are rotated to their protruding positions, and then the trolley section 51 is raised. As the trolley section 51 rises, all wheels of the faulty vehicle 15a are supported by the corresponding pairs of arms 55, thereby loading the faulty vehicle 15a onto the vehicle transport robot 11. In step 207, it is determined whether the processing requirement for the vehicle transport robot 11, namely, the process of loading the faulty vehicle 15a onto the vehicle transport robot 11, has been completed. If it is determined that the processing requirement for the vehicle transport robot 11 has not been completed, the process returns to step 206 to continue processing the processing requirement for the vehicle transport robot 11. On the other hand, when it is determined in step 207 that the processing requirement for the vehicle transport robot 11 has been completed, step 208 is entered, and a request for the next processing that the vehicle transport robot 11 should perform is sent to the inbound / outbound management server 13.

[0079] When the inbound / outbound management server 13 receives a request from the vehicle transport robot 11 for the next processing step, Figure 12 In step 101 of the management routine for the vehicle transport robot shown, a request for further processing by the vehicle transport robot 11 is determined, and the process proceeds to step 102. In step 102, a processing request for the vehicle transport robot 11 is determined based on its current state. At this time, the current state of the vehicle transport robot 11 is... Figure 11 The loading process for the faulty vehicle 15a, as shown in Z5, has stopped. Therefore, in step 102, the process of moving the vehicle transport robot 11 loaded with the faulty vehicle 15a to, for example, a parking space for the faulty vehicle and unloading the faulty vehicle 15a from the vehicle transport robot 11 is determined as the next processing requirement.

[0080] When the next processing request for the vehicle transport robot 11 is determined in step 102, the destination for the vehicle transport robot 11 is set in step 103. At this time, for example, based on image signals captured by the infrastructure sensors 14, the destination for the vehicle transport robot 11 is set as a parking space for a disabled vehicle. When the destination is set, the process proceeds to step 104, where a route from the current location to, for example, the parking space for a disabled vehicle is set based on map data of the parking area 4 stored in memory 32. Next, in step 105, the travel trajectory and speed of the vehicle transport robot 11, which will not come into contact with other vehicles or structures, are determined. Next, in step 106, a driving execution command for the vehicle transport robot 11 is issued. Then, in step 107, the processing request for the vehicle transport robot 11, such as the parking space for a disabled vehicle, travel route, travel trajectory, travel speed, and driving execution command, is sent from the inbound / outbound management server 13 to the vehicle transport robot 11.

[0081] When a driving execution command is sent from the inbound / outbound management server 13 to the vehicle transport robot 11, the driving execution command is executed. Figure 13 The driving control routine of the vehicle transport robot 11 shown begins the process of moving the vehicle transport robot 11, which is loaded with the disabled vehicle 15a, to, for example, a parking space for disabled vehicles, and unloading the disabled vehicle 15a from the vehicle transport robot 11. That is, referring to... Figure 13First, in step 200, the processing request for the vehicle transport robot 11 determined in the inbound / outbound management server 13 is obtained, which includes the processing request for the vehicle transport robot 11 carrying the faulty vehicle 15a to move to, for example, a parking space for faulty vehicles and for the vehicle transport robot 11 to unload the faulty vehicle 15a. Next, in step 201, the movement destination set in the inbound / outbound management server 13, such as a parking space for faulty vehicles, is obtained. Then, in step 202, the driving route set in the inbound / outbound management server 13 is obtained. Finally, in step 203, the driving trajectory and driving speed set in the inbound / outbound management server 13 are obtained.

[0082] Next, in step 204, the vehicle transport robot 11 is controlled to move along the set travel trajectory, based on the detection results of surrounding sensing sensors such as cameras, LiDAR, and radar that capture images of the area in front of it, in a manner that avoids contact with other vehicles or pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination, such as a parking space for a malfunctioning vehicle. If it is determined that the vehicle transport robot 11 has not reached its destination, such as a parking space for a malfunctioning vehicle, the process returns to step 204 to continue the autonomous driving of the vehicle transport robot 11. Conversely, if it is determined in step 205 that the vehicle transport robot 11 has reached its destination, such as a parking space for a malfunctioning vehicle, the process proceeds to step 206.

[0083] In step 206, the processing requirement for the vehicle transport robot 11 is executed, namely, the process of unloading the faulty vehicle 15a from the vehicle transport robot 11 in, for example, a parking space for a faulty vehicle. Specifically, the trolley unit 51 is lowered, and the faulty vehicle 15a is unloaded onto the ground of, for example, the parking space for a faulty vehicle. Then, all arms 55 are rotated to the reverse position, and the vehicle transport robot 11 is moved forward, with the trolley unit 51 moved to a ready-to-drive position completely detached from under the faulty vehicle 15a. In step 207, it is determined whether the processing requirement for the vehicle transport robot 11, namely, the process of unloading the faulty vehicle 15a from the vehicle transport robot 11, has been completed. If it is determined that the processing requirement for the vehicle transport robot 11 has not been completed, the process returns to step 206 to continue processing the processing requirement for the vehicle transport robot 11. On the other hand, when it is determined in step 207 that the processing requirement for the vehicle transport robot 11 has been completed, step 208 is entered, and a request for the next processing that the vehicle transport robot 11 should perform is sent to the inbound / outbound management server 13.

[0084] Next, the vehicle transport robot 11 will perform the following processing. In this case, the vehicle transport robot 11 will be moved to the temporary parking space K2 where the manually driven vehicle 16 has been unloaded. Figure 3 The process of manually driving the vehicle 16 back to the vehicle transport robot 11, or the process of returning the vehicle transport robot 11 to the waiting area 10, is set as the next process to be performed.

[0085] It should be noted that the recovery operation of the faulty vehicle 15a performed by the vehicle transport robot 11, which has been described so far, can also be applied to situations where other vehicles are transported by the vehicle transport robot 11 on ordinary roads.

[0086] Therefore, in embodiments of the present invention, the vehicle transport management system includes: a vehicle transport robot 11, which performs autonomous driving to transport vehicles; and a management server 13, which manages the driving of the vehicle transport robot 11. When there is a request for transport of other vehicles while the vehicle is being transported via the vehicle transport robot 11, the vehicle being transported is unloaded from the vehicle transport robot 11, and the other vehicles are loaded onto the vehicle transport robot 11, thereby the other vehicles are recovered by the vehicle transport robot 11. In this way, when there is a request for transport of other vehicles while the vehicle is being transported via the vehicle transport robot 11, the vehicle being transported is unloaded from the vehicle transport robot 11, and the other vehicles are loaded onto the vehicle transport robot 11, thereby enabling the vehicle with a transport request to be transported to be transported via the vehicle transport robot within a short period of time after the transport request.

[0087] In an embodiment of the present invention, a vehicle transport management method is also provided. When a vehicle transport request is received from another vehicle during a vehicle transport operation using a vehicle transport robot 11, the vehicle being transported is unloaded from the vehicle transport robot 11 and the other vehicle is loaded onto the vehicle transport robot 11, and the other vehicle is retrieved using the vehicle transport robot 11. Furthermore, a storage medium is provided storing a program that enables a computer to perform the following functions: when a vehicle transport request is received from another vehicle during a vehicle transport operation using the vehicle transport robot 11, the vehicle being transported is unloaded from the vehicle transport robot 11 and the other vehicle is loaded onto the vehicle transport robot 11, and the other vehicle is retrieved using the vehicle transport robot 11.

[0088] Furthermore, in embodiments of the present invention, the automatic parking lot 3, which provides parking for both manually driven vehicles 16 and automatically driven vehicles 15, is managed by a management server 13. When a vehicle enters the automatic parking lot 3, the automatically driven vehicle 15 is moved to the designated parking space 5 via automatic driving, and the manually driven vehicle 16 is transported to the designated parking space 5 via a vehicle transport robot 11. When the automatically driven vehicle 15 malfunctions and stops in the automatic parking lot 3, the manually driven vehicle 16 being transported is unloaded from the vehicle transport robot 11, and the malfunctioning automatically driven vehicle 15 is loaded onto the vehicle transport robot 11. Thus, the malfunctioning automatically driven vehicle 15 is recovered by the vehicle transport robot 11.

[0089] In this scenario, in an embodiment of the invention, the presence of the malfunctioning and stopped autonomous vehicle 15 is monitored by the management server 13. Upon identification of the malfunctioning and stopped autonomous vehicle 15 by the management server 13, after unloading the manually driven vehicle 16 from the vehicle transport robot 11 for storage, the vehicle transport robot 11 proceeds to the malfunctioning autonomous vehicle 15, which is then loaded onto the vehicle transport robot 11. In this case, the manually driven vehicle 16 is unloaded from the vehicle transport robot 11 to a location that does not obstruct traffic. It should be noted that in this scenario, the storage processing of the manually driven vehicle 16 unloaded from the vehicle transport robot 11 may experience a delay, but even with this delay, it will not cause significant problems.

[0090] On the other hand, in an embodiment of the present invention, when the existence of an autonomous vehicle 15 that has stopped due to a malfunction is identified by the management server 13, the vehicle transport robot 11 that is transporting a manually driven vehicle 16 to its storage location is retrieved from among the vehicle transport robots 11 that are transporting the manually driven vehicle 16 to its storage location. After the manually driven vehicle 16 being transported by the retrieved vehicle transport robot 11 is unloaded from the vehicle transport robot 11, the vehicle transport robot 11 proceeds to the malfunctioning autonomous vehicle 15, and the malfunctioning autonomous vehicle 15 is loaded onto the vehicle transport robot 11. Furthermore, in an embodiment of the present invention, when the existence of a malfunctioning autonomous vehicle 15 is identified by the management server 13, a vehicle transport robot 11 that continues to move after the malfunctioning autonomous vehicle 15 is retrieved from among the vehicle transport robots 11 that are transporting manually driven vehicles 16 to their storage. After the manually driven vehicle 16 being transported by the retrieved vehicle transport robot 11 is unloaded from the vehicle transport robot 11, the vehicle transport robot 11 proceeds to the malfunctioning autonomous vehicle 15, and the malfunctioning autonomous vehicle 15 is loaded onto the vehicle transport robot 11.

[0091] Furthermore, in an embodiment of the present invention, when the existence of another autonomous vehicle 15 that has malfunctioned is identified by the management server 13, the autonomous vehicle 15 that has malfunctioned in transit is unloaded from the vehicle transport robot 11, and the other autonomous vehicle 15 that has malfunctioned is loaded onto the vehicle transport robot 11, thereby the other autonomous vehicle 15 that has malfunctioned is recovered by the vehicle transport robot 11.

Claims

1. A vehicle transport management system, comprising: The system includes a vehicle transport robot that operates autonomously to transport vehicles, and a management server that manages the robot's operation. When another vehicle requests transport while the robot is in transit, the system unloads the vehicle from the transport robot and loads the other vehicle onto it, which then retrieves the other vehicle. The management server manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, an autonomous vehicle is moved to its designated parking space via autonomous driving, while a manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The management server monitors the presence of autonomous vehicles that have malfunctioned and stopped. When the management server identifies a malfunctioning autonomous vehicle, after unloading a manually driven vehicle from the vehicle transport robot for storage, the vehicle transport robot proceeds to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the existence of an autonomous vehicle that has stopped due to a malfunction is identified by the management server, the vehicle transport robot that is transporting manually driven vehicles to the warehouse is retrieved from among the vehicle transport robots that are located closest to the autonomous vehicle that has stopped due to a malfunction. After unloading the manually driven vehicle that is being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the autonomous vehicle that has malfunctioned and loaded the autonomous vehicle onto the vehicle transport robot.

2. A vehicle transport management system, comprising: The system includes a vehicle transport robot that operates autonomously to transport vehicles, and a management server that manages the robot's operation. When another vehicle requests transport while the robot is in transit, the system unloads the vehicle from the transport robot and loads the other vehicle onto it, which then retrieves the other vehicle. The management server manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, an autonomous vehicle is moved to its designated parking space via autonomous driving, while a manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The management server monitors the presence of autonomous vehicles that have malfunctioned and stopped. When the management server identifies a malfunctioning autonomous vehicle, after unloading a manually driven vehicle from the vehicle transport robot for storage, the vehicle transport robot proceeds to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the existence of a malfunctioning autonomous vehicle is identified through the management server, the vehicle transport robot that follows the malfunctioning autonomous vehicle is retrieved from among the vehicle transport robots that transport manually driven vehicles to their storage. After unloading the manually driven vehicle being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the malfunctioning autonomous vehicle and loaded onto the vehicle transport robot.

3. The vehicle transport management system according to claim 1 or 2, wherein, When the presence of a malfunctioning autonomous vehicle is identified by the management server, the manually driven vehicle in transit is unloaded from the vehicle transport robot to a location that will not obstruct traffic.

4. The vehicle transport management system according to claim 1 or 2, wherein, When the management server identifies the presence of another malfunctioning autonomous vehicle, the malfunctioning autonomous vehicle in transit is unloaded from the vehicle transport robot, and the other malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval.

5. A vehicle transport management method, wherein, When a vehicle is being transported via a vehicle transport robot, and another vehicle requests to be transported, the vehicle being transported is unloaded from the vehicle transport robot, and the other vehicle is loaded onto the vehicle transport robot for retrieval. This system manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, the autonomous vehicle is moved to its designated parking space via autonomous driving, while the manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The system monitors the presence of autonomous vehicles that have malfunctioned and stopped. Upon detecting such a malfunction, after unloading manually driven vehicles from the vehicle transport robot for storage, the system directs the vehicle transport robot to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the presence of an autonomous vehicle that has stopped due to a malfunction is detected, the vehicle transport robot that is transporting manually driven vehicles to the warehouse is retrieved from among the vehicle transport robots that are located closest to the autonomous vehicle that has stopped due to a malfunction. After unloading the manually driven vehicle that is being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the autonomous vehicle that has malfunctioned and loaded the autonomous vehicle onto the vehicle transport robot.

6. A vehicle transport management method, wherein, When a vehicle is being transported via a vehicle transport robot, and another vehicle requests to be transported, the vehicle being transported is unloaded from the vehicle transport robot, and the other vehicle is loaded onto the vehicle transport robot for retrieval. This system manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, the autonomous vehicle is moved to its designated parking space via autonomous driving, while the manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The system monitors the presence of autonomous vehicles that have malfunctioned and stopped. Upon detecting such a malfunction, after unloading manually driven vehicles from the vehicle transport robot for storage, the system directs the vehicle transport robot to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the presence of a malfunctioning autonomous vehicle is detected, the vehicle transport robot that follows the malfunctioning autonomous vehicle is retrieved from among the vehicle transport robots that are transporting manually driven vehicles to their storage. After unloading the manually driven vehicle being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the malfunctioning autonomous vehicle and loaded onto the vehicle transport robot.

7. A storage medium storing a program that enables a computer to perform the following functions: When a vehicle is being transported via a vehicle transport robot, and another vehicle requests to be transported, the vehicle being transported is unloaded from the vehicle transport robot, and the other vehicle is loaded onto the vehicle transport robot for retrieval. This system manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, the autonomous vehicle is moved to its designated parking space via autonomous driving, while the manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The system monitors the presence of autonomous vehicles that have malfunctioned and stopped. Upon detecting such a malfunction, after unloading manually driven vehicles from the vehicle transport robot for storage, the system directs the vehicle transport robot to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the presence of an autonomous vehicle that has stopped due to a malfunction is detected, the vehicle transport robot that is transporting manually driven vehicles to the warehouse is retrieved from among the vehicle transport robots that are located closest to the autonomous vehicle that has stopped due to a malfunction. After unloading the manually driven vehicle that is being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the autonomous vehicle that has malfunctioned and loaded the autonomous vehicle onto the vehicle transport robot.

8. A storage medium storing a program that enables a computer to perform the following functions: When a vehicle is being transported via a vehicle transport robot, and another vehicle requests to be transported, the vehicle being transported is unloaded from the vehicle transport robot, and the other vehicle is loaded onto the vehicle transport robot for retrieval. This system manages the entry and exit of automated parking lots that accommodate both manually driven and autonomous vehicles. When a vehicle enters the automated parking lot, the autonomous vehicle is moved to its designated parking space via autonomous driving, while the manually driven vehicle is transported to its designated parking space via a vehicle transport robot. If an autonomous vehicle malfunctions and stops within the automated parking lot, the manually driven vehicle being transported is unloaded from the vehicle transport robot, and the malfunctioning autonomous vehicle is loaded onto the vehicle transport robot for retrieval. The system monitors the presence of autonomous vehicles that have malfunctioned and stopped. Upon detecting such a malfunction, after unloading manually driven vehicles from the vehicle transport robot for storage, the system directs the vehicle transport robot to the malfunctioning autonomous vehicle and loads it onto the vehicle transport robot. When the presence of a malfunctioning autonomous vehicle is detected, the vehicle transport robot that follows the malfunctioning autonomous vehicle is retrieved from among the vehicle transport robots that are transporting manually driven vehicles to their storage. After unloading the manually driven vehicle being transported by the retrieved vehicle transport robot from the vehicle transport robot, the vehicle transport robot is directed to the malfunctioning autonomous vehicle and loaded onto the vehicle transport robot.

Images