Delivery system and program

Abstract

A delivery system includes an autonomous vehicle, a delivery robot, an information processing device, and a mobile device. The autonomous vehicle has: a first space having at least one step for loading goods and having an opening formed at least in a part of the lowermost layer; and a second space located below the first space. The moving device is arranged on the lowermost layer of the first space and enables the goods to move towards the opening. The delivery robot stays at a predetermined position below the opening of the second space at which the cargo falling from the lowermost layer can be received. The information processing device controls the moving device so that the cargo moves to the opening and falls from the opening, and causes the delivery robot to receive the fallen cargo.

Description

Technical Field

[0001] The present disclosure relates to a delivery system and a program. Background Art

[0002] Patent Document 1 describes a vehicle with an autonomous driving function. Patent Document 2 describes a delivery robot for delivering goods.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-035198

[0006] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2022-152847 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] When delivering goods by a vehicle with an autonomous driving function, since the operation of unloading the goods from the vehicle and the operation of delivering the goods to the destination need to be performed by a person, labor costs are required.

[0009] The present disclosure has been made in view of the above circumstances, and an object thereof is to solve the above problems.

[0010] Means for Solving the Problems

[0011] According to one embodiment of the present disclosure, a delivery system is provided. The delivery system includes:

[0012] An autonomous driving vehicle having a first space and a second space located below the first space, the first space having at least one tier for loading goods and having an opening formed at least in a part of the lowermost tier;

[0013] A delivery robot for delivering goods to a delivery destination;

[0014] An information processing device; and

[0015] A moving device provided in the lowermost tier of the first space to move the goods toward the opening,

[0016] The delivery robot stays at a specified position below the opening in the second space and is capable of receiving the goods that fall from the lowermost tier,

[0017] The information processing device controls the moving device so that the goods move to the opening and fall from the opening, and causes the delivery robot to receive the fallen goods.

[0018] In the delivery system involved in the present disclosure, it is also possible that the autonomous vehicle has a door, the door is installed in a rotatable manner at the lower end and is used to open the second space to the outside. When the door is opened, the door functions as a ramp for the delivery robot to enter and exit the autonomous vehicle.

[0019] It is also possible that the delivery robot delivers the goods and returns to the specified position in the second space after delivering the goods.

[0020] It is also possible that the mobile device includes:

[0021] A rolling first rod that moves the goods located on the floor of the lowermost layer to the vicinity of the opening; and

[0022] A second rod that pushes the goods that have moved to the vicinity of the opening toward the opening, causing the goods to fall from the opening into the second space.

[0023] It is also possible that the drive device of the autonomous vehicle is provided in the second space.

[0024] It is also possible that the first rod can rotate around the central axis of the first rod and a spiral convex portion is formed along the central axis.

[0025] It is also possible that a plate-like portion whose in-plane direction is along the axial direction and the radial direction of the central axis is formed on a part of the convex portion.

[0026] It is also possible that the height of a part of the convex portion increases.

[0027] It is also possible that the part of the floor surface of the first space where the plate-like portion passes when the first rod rolls has a smaller frictional resistance with the goods than other parts of the floor surface.

[0028] According to an embodiment of the present disclosure, a delivery system is provided. The delivery system includes:

[0029] An autonomous vehicle having a first space and a second space located below the first space, the first space having at least two levels for loading goods, at least a part of the floor of the lowermost layer is formed with an opening, and a plurality of opening and closing doors are formed on the floors of the layers other than the lowermost layer;

[0030] A delivery robot for delivering goods to a delivery destination;

[0031] An information processing device; and

[0032] A first mobile device, which is arranged at the lowermost layer of the first space and moves the goods towards the opening.

[0033] The delivery robot stays at a specified position below the opening in the second space, where it can receive the goods that fall from the lowermost layer.

[0034] The information processing device controls the opening / closing door and the first mobile device to open the opening / closing door, cause the goods to fall from the opening / closing door and move to the opening to fall from the opening, and enable the delivery robot to receive the falling goods.

[0035] Alternatively, the delivery system may include a second mobile device, which is arranged on a layer other than the lowermost layer of the first space and moves the goods above the opening / closing door, and the information processing device further controls the second mobile device.

[0036] Alternatively, the second mobile device is the first rod that moves the goods on the floor of the layer other than the lowermost layer above the opening / closing door.

[0037] The opening / closing door functions as a ramp that rotates around a hinge to slide the goods.

[0038] Alternatively, it may include:

[0039] Multiple delivery robots for delivering goods to the delivery destination;

[0040] A first autonomous vehicle equipped with one or more of the delivery robots, which moves to the vicinity of the delivery destination of the goods and enables the delivery robot carrying the goods to get off near the delivery destination; and

[0041] A second autonomous vehicle having a space for accommodating the delivery robot, a robot moving device for taking the delivery robot out of or putting it into the space, a driving device, and an information processing device.

[0042] The information processing device controls the robot moving device and the driving device to recover the delivery robot that has completed delivering the goods into the space, and if the second autonomous vehicle encounters the first autonomous vehicle with insufficient number of equipped delivery robots during driving, takes the delivery robot out of the space and delivers it to the first autonomous vehicle.

[0043] Alternatively, the information processing device controls the robot moving device and the driving device so that while the first autonomous driving vehicle and the second autonomous driving vehicle are traveling, the delivery robot is taken out of the space and delivered to the first autonomous driving vehicle.

[0044] Alternatively, the information processing device controls the robot moving device and the driving device such that if the second autonomous driving vehicle encounters the first autonomous driving vehicle with an excessive number of equipped delivery robots during travel, the second autonomous driving vehicle receives the delivery robot from the first autonomous driving vehicle.

[0045] Alternatively, the information processing device controls the robot moving device and the driving device so that while the second autonomous driving vehicle is traveling, the second autonomous driving vehicle receives the delivery robot from the first autonomous driving vehicle.

[0046] According to an embodiment of the present disclosure, a program can be provided that causes a computer to function as the information processing device of the delivery system described in any one of the above.

[0047] It should be noted that the above - disclosed summary does not enumerate all the essential features of the present disclosure. In addition, sub - combinations of these feature groups can also constitute the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a partial cross - sectional side view of an autonomous driving vehicle used in the delivery system according to the present embodiment.

[0049] Figure 2 is a perspective view of an autonomous driving vehicle used in the delivery system according to the present embodiment.

[0050] Figure 3 is a perspective view showing the structure of a moving device arranged in the lowermost layer.

[0051] Figure 4 is a perspective view showing the structure of a moving device arranged in the lowermost layer.

[0052] Figure 5 is a perspective view of an autonomous driving vehicle used in the delivery system according to the present embodiment.

[0053] Figure 6 is a diagram schematically showing an example of the functional structure of the information processing device.

[0054] Figure 7 is a diagram schematically showing an example of a processing routine executed by the information processing device.

[0055] Figure 8It is a diagram schematically showing an example of computer hardware that functions as an information processing device.

[0056] Figure 9A It is a partially enlarged perspective view showing the concept of a driving device.

[0057] Figure 9B It is a partially enlarged perspective view showing the concept of the driving device related to a modified example.

[0058] Figure 10A It is a front view showing a modified example in which a convex portion is formed on the first rod.

[0059] Figure 10B It is a front view showing the state in which the goods are pushed by the convex portion and move.

[0060] Figure 11A It is a front view showing a modified example in which a convex portion and a plate-like portion are formed on the first rod.

[0061] Figure 11B It is a top view showing a modified example in which a convex portion and a plate-like portion are formed on the first rod.

[0062] Figure 12A It is a front view showing the state in which the goods are pushed by the convex portion and move.

[0063] Figure 12B It is a top view showing the state in which the goods are pushed by the convex portion and move.

[0064] Figure 13A It is a front view showing the state in which the goods are pushed by the plate-like portion and move.

[0065] Figure 13B It is a top view showing the state in which the goods are pushed by the plate-like portion and move.

[0066] Figure 14A It is a front view showing a modified example in which another convex portion is formed on the first rod.

[0067] Figure 14B It is a cross-sectional view showing a modified example in which another convex portion is formed on the first rod.

[0068] Figure 15A It is a front view showing the state in which the height of the convex portion is changed on the first rod.

[0069] Figure 15B It is a cross-sectional view showing the state in which the height of the convex portion is changed on the first rod.

[0070] Figure 16A It is a perspective view showing an example in which a moving device and a driving device are provided on a layer other than the lowermost layer.

[0071] Figure 16B It is a perspective view showing an example of changing the position of the opening of a layer other than the lowermost layer.

[0072] Figure 16C It is a perspective view showing an example of further changing the position of the opening of a layer other than the lowermost layer.

[0073] Figure 17A It is a perspective view showing an example of providing an opening / closing door in place of the opening of a layer other than the lowermost layer.

[0074] Figure 17B It is a partial enlarged cross-sectional view showing a state where the opening door is opened to form an opening.

[0075] Figure 18A It is a partial enlarged cross-sectional view showing an example of forming a plate-like extension member on the opening / closing door.

[0076] Figure 18B It is a partial enlarged cross-sectional view showing a state where the extension member is extended.

[0077] Figure 19 It is a partial enlarged cross-sectional view showing a modified example in which the opening door is provided as a sliding type.

[0078] Figure 20 It is a partial enlarged cross-sectional view showing a modified example in which the opening door is formed on substantially the entire surface of the floor.

[0079] Figure 21 It is a partial cross-sectional side view of the first autonomous vehicle used in the delivery system according to the present embodiment.

[0080] Figure 22 It is a perspective view of the second autonomous vehicle used in the delivery system according to the present embodiment.

[0081] Figure 23 It is a diagram schematically showing an example of the functional structure of the information processing device of the second autonomous vehicle.

[0082] Figure 24 It is a diagram for explaining the delivery of the delivery robot from the second autonomous vehicle to the first autonomous vehicle.

[0083] Figure 25 It is a diagram schematically showing an example of the processing routine executed by the information processing device of the second autonomous vehicle.

[0084] Figure 26 It is a diagram schematically showing another example of the functional structure of the information processing device of the second autonomous vehicle.

[0085] Figure 27This is a diagram for explaining the delivery of a delivery robot from a second autonomous vehicle to a first autonomous vehicle. Detailed implementation mode

[0086] Hereinafter, the present disclosure will be described by way of embodiments of the present disclosure. However, the following embodiments do not limit the disclosure related to the claims. In addition, not all feature combinations described in the embodiments are essential for the solution of the present disclosure.

[0087] (First embodiment)

[0088] In the delivery system according to the present embodiment, autonomous vehicles are used. The autonomous vehicle 10 used in the delivery system according to the present embodiment is, for example, a Level 6 autonomous vehicle. In a conventional non-autonomous vehicle, a steering wheel is provided, but in a Level 6 autonomous vehicle, a steering wheel is not required, and the space inside the vehicle can be designed to be spacious. Level 6 represents the level of autonomous driving, which is equivalent to a level higher than Level 5 representing fully autonomous driving. Although Level 5 represents fully autonomous driving, it is at the same level as human driving, and there is still a probability of accidents and the like even so. Level 6 represents a level higher than Level 5, which is equivalent to a level with a lower probability of accidents than Level 5. Level 6 is achieved by controlling at the nanosecond level.

[0089] The autonomous vehicle 10 according to the present embodiment has a first space 1 and a second space 2 located below the first space 1. The first space 1 has at least one tier for loading goods.

[0090] The autonomous vehicle according to the present embodiment has a total length of, for example, 4 m, a height of 1.8 m, and a width of 1.9 m, and the height of the second space 2 is 80 cm, but is not limited thereto.

[0091] In the present embodiment, the first space 1 has three tiers, namely tier 1A, tier 1B, and tier 1C. Openings 4A, 4B, and 4C are formed at one corner of the floors 3A, 3B, and 3C of tier 1A, tier 1B, and tier 1C, respectively. The openings 4A, 4B, and 4C have dimensions through which the goods loaded on the autonomous vehicle 10 can pass. The opening 4C is used for the goods to move from tier 1C to tier 1B, and the opening 4B is used for the goods to move from tier 1B to tier 1A. It should be noted that the first space 1 is not limited to three tiers, and may have one or two tiers or four or more tiers.

[0092] At the lowermost layer 1A of the first space 1, a moving device 20 for moving the goods P toward the opening 4A is provided. The moving device 20 includes a first rod 21 and a second rod 22. The first rod 21 has a cylindrical shape, extends in substantially the entire width direction of the autonomous driving vehicle 10, and is disposed on the floor 3A of the lowermost layer 1A. And, as Figure 3 and Figure 4 shown, the first rod 21 moves in the direction of arrow A by rolling on the floor 3A of the lowermost layer 1A by means of the driving device 23, and moves the goods P located on the floor 3A of the lowermost layer 1A toward the vicinity of the opening 4A.

[0093] The second rod 22 also has a cylindrical shape, and is disposed on the floor 3A of the lowermost layer 1A substantially parallel to the first rod 21. And, the second rod 22 reciprocates in the direction of its major axis by means of the driving device 24, and pushes the goods P that has moved to the vicinity of the opening 4A toward the opening 4A in the direction of arrow B, so that the goods P fall from the opening 4A into the second space 2.

[0094] In the second space 2, a delivery robot 15 for delivering the goods P to the delivery destination stays at a specified position. The specified position is a position where the goods P falling from the opening 4A can be received. In addition, a driving device 12 and an information processing device 14 for driving the autonomous driving vehicle 10 are disposed in the second space 2. The driving device 12 includes a battery, a motor, a control device for controlling autonomous driving, and the like. The information processing device 14 will be described later.

[0095] In addition, a door 5 for opening the second space 2 to the outside is attached to one side surface of the autonomous driving vehicle 10 in such a manner that its lower end portion is rotatable. It should be noted that the door 5 is attached to the specified position where the delivery robot 15 stays. And, as Figure 5 shown, when the door 5 is opened, the upper end portion of the door 5 comes into contact with the ground, and thus, the door 5 functions as a ramp for the delivery robot 15 to enter and exit the autonomous driving vehicle 10.

[0096] The delivery robot 15 is a quadruped walking robot, and has a placement portion 16 for placing the goods P on its back surface. If the delivery robot 15 receives the goods P, it delivers the goods P to the delivery destination of the received goods P, then automatically returns to the autonomous driving vehicle 10, ascends the ramp formed by the door 5, and stays at the specified position.

[0097] The driving of the delivery system according to the present embodiment is controlled by the information processing device 14 disposed in the second space 2.

[0098] Figure 6 is a schematic diagram of an example of the information processing device according to the present embodiment. The information processing device 14 is connected to a sensor 18 mounted on the autonomous driving vehicle 10.

[0099] The sensor 18 detects the position of the cargo P located in the first space 1 of the autonomous vehicle 10, the opening and closing state of the door 5 located in the second space 2, and the like. As the sensor 18, the highest-performance camera, solid-state lidar (LiDAR), multi-color laser coaxial displacement meter, or other various sensor groups can be adopted. In addition, in addition to this, as the sensor 18, a vibration meter, thermal imager, hardness meter, radar, LiDAR, high-pixel / long-focus / ultra-wide-angle / 360-degree / high-performance camera, visual recognition, faint sound, ultrasonic wave, vibration, infrared ray, ultraviolet ray, electromagnetic wave, temperature, humidity, spot artificial intelligence (AI) weather forecast, high-precision multi-channel global positioning system (GPS), low-altitude satellite information, long-tail event AI data, etc. can be cited.

[0100] The information processing device 14 includes an information acquisition unit 140, a control unit 142, and an information storage unit 144. The information acquisition unit 140 acquires the position information of the cargo P detected by the sensor 18.

[0101] The control unit 142 controls the operations of the first rod 21 and the second rod 22 of the mobile device 20, etc. by using the information acquired by the information acquisition unit 140 and AI.

[0102] For example, the control unit 142 performs the following various processes. It should be noted that before performing the following processes, the control unit 142 moves the autonomous vehicle 10 to the vicinity of the delivery destination of the cargo P. The vicinity of the delivery destination means, for example, a place within 1 to 2 kilometers remaining from the delivery destination.

[0103] (1) The control unit 142 drives the driving device 23 to roll the first rod 21 so that the cargo P located on the floor of the lowermost layer 1A moves toward the vicinity of the opening 4A.

[0104] (2) The control unit 142 drives the driving device 24 to move the second rod 22 toward the cargo P, thereby pushing the cargo P that has moved to the vicinity of the opening 4A toward the opening 4A, and causing the cargo P to fall from the opening 4A.

[0105] (3) The control unit 142 detects that the cargo P has fallen, and drives the driving device 23 and the driving device 24 to return the first rod 21 and the second rod 22 to the initial positions.

[0106] (4) The control unit 142 detects that the delivery robot 15 has received the cargo P, and opens the door 5. Thereby, the delivery robot 15 gets off the autonomous vehicle 10 and delivers the cargo P to the delivery destination.

[0107] (5) The control unit 142 detects that the delivery robot 15 has returned and closes the door 5 .

[0108] Figure 7 1A is a diagram schematically showing an example of a processing routine executed by the information processing device. The information processing device 14 repeatedly executes the processing routine to cause the cargo P located on the floor of the lowermost layer 1A to fall from the opening 4A into the second space 2. Figure 7 Flowchart shown.

[0109] In step S100 , the information acquisition unit 140 acquires the position information of the package P detected by the sensor 18 .

[0110] In step S102 , the control unit 142 uses the position information of the article P acquired in step S100 and the AI ​​to drive the driving device 23 to move the article P to the vicinity of the opening 4A using the first rod 21 .

[0111] In step S104 , the control unit 142 drives the driving device 24 to push the article P toward the opening 4A using the second rod 22 , so that the article P falls from the opening 4A.

[0112] When the delivery robot 15 carries the fallen cargo P, it descends along the slope provided by the open door 5 , gets off the autonomous driving vehicle 10 , delivers the cargo P to the delivery destination, and then returns to the autonomous driving vehicle 10 .

[0113] According to the present embodiment, the cargo P located at the bottom layer 1A of the first space 1 is moved to the opening 4A by the moving device 20, falls from the opening 4A and is placed on the delivery robot 15. Then, the delivery robot 15 delivers the cargo P to the delivery destination and then returns to the automatic driving vehicle 10. Therefore, the cargo P can be automatically unloaded from the vehicle and the cargo P can be automatically delivered. Therefore, the labor cost for the operation can be saved.

[0114] Furthermore, the delivery system of the present disclosure provides a door 5 in the second space 2 so that the door 5 functions as a slope for the delivery robot 15 to enter and exit the autonomous driving vehicle 10. Therefore, in addition to the anti-theft measures for the autonomous driving vehicle 10, the delivery robot 15 can also be easily entered and exited.

[0115] (Second Embodiment)

[0116] exist Figure 9A In the figure, the driving device 23 indicated by the double-dashed line is a moving device housed inside the wall body of the layer 1A, and is controlled by the information processing device 14 to move in the direction indicated by the arrow A, which is the vehicle front-rear direction of the autonomous driving vehicle 10. The driving devices 23 are housed inside the walls on both sides of the autonomous driving vehicle 10, and the driving devices 23 move in conjunction with each other.

[0117] The end of the first rod 21 is inserted into the drive device 23. The end of the first rod 21 is not fixed relative to the drive device 23, and the first rod 21 can perform axial rotation. Thus, along with the movement of the drive device 23, the first rod 21 moves while rotating in the direction shown by the arrow A, that is, "rolls".

[0118] (First modification example of the drive device and the first rod)

[0119] The drive device of the present disclosure may also be Figure 9B structured like the drive device 25 shown. The drive device 25 is similar to the drive device 23 and is a moving device housed inside the wall of the autonomous vehicle 10 in layer 1A, moving in the direction shown by the arrow A. In addition, the drive device 25 is also controlled by the information processing device 14.

[0120] The drive device 25 is built-in with a gear 25A. This gear 25A meshes with a gear 25B fixed to the end of the first rod 21. As the gear 25A rotates, the first rod 21 rotates in the direction shown by the arrow B. "The direction shown by the arrow B" means the rotation direction with the central axis of the first rod 21 as the rotation axis. In addition, as the drive device 25 moves, the first rod 21 moves in the direction shown by the arrow A.

[0121] In this way, according to the drive device 25, the rotation of the first rod 21 in the direction shown by the arrow B and the movement in the direction shown by the arrow A can be controlled separately. In this way, the "rolling first rod" in the present disclosure includes a first rod in a manner in which rotation and movement are respectively implemented.

[0122] In addition, when using the drive device 25, as shown in Fig. 9(B), a spiral convex portion 30 can be formed on the first rod 21 along the central axis of the first rod 21. In the first modification example of forming the convex portion 30 on the first rod 21, as Figure 10A shown, the first rod 21 is arranged separately from the floor 3A while being held by the drive device 25. On the other hand, the convex portion 30 can be arranged separately from the floor 3A or can be arranged in contact with the floor 3A.

[0123] The convex portion 30 is a member that protrudes in the radial direction of the first rod 21. More specifically, the convex portion 30 is a member having a spiral structure in which the protruding direction in the circumferential direction changes along the axial direction of the first rod 21.

[0124] If the first rod 21 is rotated in the direction shown by the arrow B by the drive device 25, then as shown in Fig. 10(B), the cargo P is pushed by the convex portion 30 and moves in the direction shown by the arrow C. The direction shown by the arrow C is the direction along the vehicle width direction of the autonomous driving vehicle 10. If the rotation direction of the first rod 21 is changed, the direction in which the cargo P moves in the vehicle width direction of the autonomous driving vehicle 10 can be changed.

[0125] In this way, by providing the convex portion 30 on the first rod 21, the cargo P can be moved to a position (a position in the vehicle width direction of the autonomous driving vehicle 10) where it can be pushed by the second rod 22 (see Figure 3 ).

[0126] Then, if the first rod 21 is moved in the direction shown by the arrow A by the drive device 25, the cargo P is pushed by the first rod 21 and moves. Thus, the cargo P can be moved to a position (a position in the vehicle longitudinal direction of the autonomous driving vehicle 10) where it can be pushed by the Figure 3 -shown second rod 22.

[0127] (Second modification example of the drive device and the first rod)

[0128] In the case where the spiral convex portion 30 is formed on the first rod 21, a plate-like portion 32 as shown in Figure 11A may be further formed on a part of the convex portion 30. The plate-like portion 32 is a plate member whose in-plane direction is along the axial direction of the central axis of the first rod 21 and the radial direction of the first rod 21.

[0129] As shown in Figure 11B , the portion where the plate-like portion 32 is formed is preferably a position (a position in the vehicle width direction of the autonomous driving vehicle 10) where the cargo P can be pushed toward the opening 4A by the second rod 22.

[0130] According to this structure, as shown in Figure 12A and Figure 12B , if the first rod 21 is rotated in the direction shown by the arrow B by the drive device 25, the cargo P is pushed by the convex portion 30 and moves in the direction shown by the arrow C.

[0131] Thus, the cargo P can be moved to the front of the plate-like portion 32 (that is, the side of the second rod 22 when viewed from the plate-like portion 32).

[0132] Then, as shown in Figure 13A and Figure 13B , if the first rod 21 is moved in the direction shown by the arrow A by the drive device 25, the cargo P is pushed by the plate-like portion 32 and moves. Thus, the cargo P can be moved to a position (a position in the vehicle longitudinal direction of the autonomous driving vehicle 10) where it can be pushed by the second rod 22.

[0133] It should be noted that on the floor 3A, the portion through which the plate-like portion 32 passes when the first lever 21 moves may also be formed to have a smaller frictional resistance with respect to the goods P (such as cardboard boxes) compared to other portions. In order to reduce the frictional resistance, for example, a sliding plate 34 is arranged on the floor 3A.

[0134] The sliding plate 34 can be formed by a panel that has been fluorine-processed to improve smoothness, or a concavo-convex panel that has rib-shaped protrusions arranged in the vehicle longitudinal direction to reduce the contact area with the goods P. The panel can be formed using resin, metal, or the like.

[0135] By providing such a sliding plate 34, the output of the drive device 25 required to move the goods P can be suppressed. It should be noted that this sliding plate 34 can also be applied to the above-mentioned first modification example or the third modification example described later.

[0136] Here, in the second modification example, the goods P can be pushed by the plate-like portion 32. Therefore, compared with the first modification example (refer to FIG. 10) in which the goods P are pushed by the first lever 21, the first lever 21 can be arranged at a higher position.

[0137] Thus, as Figure 13A and Figure 13B shown, when the first lever 21 is moved, it is possible to move only the goods P located at positions interfering with the plate-like portion 32 while leaving the goods P located at portions not interfering with the plate-like portion 32 in a retained state.

[0138] In this way, by providing the convex portion 30 and the plate-like portion 32, it is possible to unload the goods P closer to the inside of the opening 4A before the goods P closer to the outside.

[0139] (Third Modification Example of the Drive Device and the First Lever)

[0140] The first lever 21 may also be formed to include Figure 14B the outer peripheral members 21A, two shaft members 21B, and a connecting member 21C as shown, and a spiral convex portion 50 is integrally formed with the outer peripheral member 21A.

[0141] One end of each of the two shaft members 21B is fixed to the drive device 27, and the other end is connected to the other end of the other shaft member 21B through the connecting member 21C. Both ends of the connecting member 21C are inserted into the insertion holes 21BH formed at the other ends of the two shaft members 21B.

[0142] A gap is formed between the bottom of the insertion hole 21BH and the end of the connecting member 21C in a state where the connecting member 21C is inserted into the insertion hole 21BH.

[0143] The two shaft members 21B are respectively as Figure 15BAs shown by arrow D, they can move axially in a mutually approaching manner. They can also be separated after approaching. The two shaft members 21B move under the control of the drive device 27. As a result, the length of the first rod 21 changes.

[0144] As Figure 14A and Figure 14B shown, the outer peripheral member 21A is a cylindrical member that covers the outer peripheral surface of the shaft member 21B, and is formed of a member with a high coefficient of friction such as high-friction rubber. A convex portion 50 is integrally formed on the outer peripheral surface.

[0145] Figure 14B The outer peripheral member 21A and the shaft member 21B shown, for example, are fixed by adhesion. More specifically, in the axial direction of the shaft member 21B, the inner peripheral surface of the outer peripheral member 21A is adhered to the outer peripheral surface where the insertion hole 21BH is not formed. On the other hand, in the axial direction of the shaft member 21B, the inner peripheral surface of the outer peripheral member 21A is not adhered to the outer peripheral surface where the insertion hole 21BH is formed. The adhesion length can be adjusted as appropriate.

[0146] As a result, if the two shaft members 21B are brought closer, as Figure 15B shown, the portion of the outer peripheral member 21A that is not adhered to the shaft member 21B expands in diameter, and as Figure 15A shown by arrow F, the height of the convex portion 50 increases. "The height increases" means that the height protruding from the central axis of the first rod 21 increases.

[0147] It should be noted that at this time, if there is a cargo P below the convex portion 50 whose height has increased, the convex portion 50 whose height has increased presses the cargo P downward, and by means of the reaction force received from the cargo P by the convex portion 50, the first rod 21 moves upward as shown by arrow E.

[0148] The drive device 27 can detect the reaction force received by the convex portion 50 from the cargo P, and maintain the first rod 21 at a height at which the convex portion 50 can press the cargo P with a specified pressing force.

[0149] According to this structure, as Figure 14A and Figure 14B shown, if the first rod 21 is rotated in the direction shown by arrow B by the drive device 27, the cargo P moves in the direction shown by arrow C along with the convex portion 50 due to the frictional force of the convex portion 50.

[0150] As a result, the cargo P can be moved to a position (a position in the vehicle width direction of the autonomous driving vehicle 10) where it can be pushed by the second rod 22 (refer to Figure 3 ).

[0151] Then, if the shaft member 21B is brought closer by the drive device 27 as shown by the arrow D, the height of the convex portion 50 increases as shown by the arrow F. Further, the height of the first rod 21 becomes higher as shown by the arrow E.

[0152] Also, if the first rod 21 is moved in the direction of the arrow A, the cargo P moves along with the convex portion 50 due to the frictional force of the convex portion 50 (the convex portion 50 with a high height) that contacts the cargo P. Thereby, the cargo P can be moved to a position where it can be pushed by the second rod 22 (a position in the vehicle longitudinal direction of the autonomous vehicle 10).

[0153] Note that, at this time, since the height of the first rod 21 becomes higher, it is possible to retain the cargo P other than the cargo P that moves through the convex portion 50 with a high height.

[0154] In the above description, the case where the moving device 20, the drive device 23, and the drive device 24 are provided in the lowermost layer 1A of the first space 1 has been described. Similarly, the cases where the drive device 25, the drive device 27, the first rod 21 having the convex portion 30, the first rod 21 having the convex portion 30 and the plate-like portion 32, and the first rod 21 having the convex portion 50 shown in the first to third modification examples are also provided in the lowermost layer 1A have been described.

[0155] However, these moving device 20, drive device 23, drive device 24, drive device 25, drive device 27, first rod 21 having the convex portion 30, first rod 21 having the convex portion 30 and the plate-like portion 32, and first rod 21 having the convex portion 50 may also be provided in the layers 1B and 1C of the first space 1. For example, Figure 16A The layer 1B including the moving device 20, the drive device 23, and the drive device 24 is shown.

[0156] (First modification example of the floor)

[0157] The floors 3B and 3C forming the layers 1B and 1C may also be configured as follows.

[0158] First, in the above embodiment, openings 4B and 4C are formed at one corner of the floors 3B and 3C of the layers 1B and 1C, respectively. The openings 4B and 4C are formed at positions that "overlap" the opening 4A in a top view.

[0159] However, the opening 4B does not necessarily have to be provided at a position that overlaps the opening 4A in a top view. For example, as Figure 16BAs shown, the opening 4B can be provided at the central portion of the floor 3B. In the case where the opening 4B is provided at the central portion of the floor 3B, it is preferable to provide the first rod 21 and the drive device 23 on both sides of the opening 4B. "Both sides" means the front side and the rear side in the vehicle front-rear direction of the autonomous vehicle 10.

[0160] In addition, as Figure 16C shown, the opening 4B can also be provided inside the floor 3B. "Inside" means the inside when viewed from the opening 4A of the first layer 1A. In addition, Figure 16C the corners of the opening 4B shown are corners that do not overlap with the opening 4A.

[0161] In addition, although not shown, regarding the opening 4C formed on the floor 3C of the first layer 1C, it is similar to the opening 4B and can be formed at any position. Further, the opening 4B and the opening 4C can be formed at positions that overlap when viewed from above, or can be formed at positions that are different when viewed from above.

[0162] If the opening 4B and the opening 4C are formed at different positions when viewed from above, the goods P falling from the opening 4C can be temporarily stopped on the floor 3B, and the goods P can be moved to the opening 4B by the first rod 21 and the second rod 22 of the first layer 1B. Thus, compared with the case where the goods P falling from the opening 4C are stopped on the floor 3A, etc., the falling height of the goods P can be reduced.

[0163] It should be noted that in the embodiment where the positions of the opening 4B and the opening 4C are different from the position of the opening 4A when viewed from above, the first to third modified examples of the above drive device 25 and the first rod 21 can also be applied.

[0164] (Second Modified Example of the Floor)

[0165] The floors 3B and 3C forming the first layer 1B and the first layer 1C can also be configured as follows.

[0166] In the above embodiment, the openings 4B and 4C are formed in the floors 3B and 3C of the first layer 1B and the first layer 1C respectively. In this modified example, the openings 4B and 4C can also be formed by a plurality of opening and closing doors, and the positions of the openings 4B and 4C can be made variable.

[0167] For example, Figure 17A shows a state where a plurality of opening and closing doors 40 are formed in the floor 3B of the first layer 1B. A plurality of opening and closing doors 40 are provided in the vehicle width direction and the vehicle front-rear direction of the autonomous vehicle 10 respectively.

[0168] In addition, the opening and closing doors 40 are continuously provided in the width direction of the floor 3B. And the opening and closing doors 40 are provided over substantially the entire range (for example, 80% or more of the width dimension) in the width direction of the floor 3B.

[0169] The opening and closing of each opening / closing door 40 is controlled by the information processing device 14. Under the control of the information processing device 14, the opening / closing door 40 is closed during normal times. In addition, under the control of the information processing device 14, it is possible to set it to a state where only one opening / closing door 40 is open, or a state where multiple opening / closing doors 40 are open simultaneously.

[0170] For example, if adjacent opening / closing doors 40 are opened in the width direction of the floor 3B, the size of the opening 4B shown can be increased compared to the case where one opening / closing door 40 is opened. Figure 17B shown.

[0171] As Figure 17B shown, the opening / closing door 40 can function as a ramp that rotates around a hinge H provided on the floor 3B to move the cargo P. In order to slow down the speed at which the opening / closing door 40 opens, the opening / closing door 40 and the floor 3B can also be connected by a damper 42 or the like.

[0172] In the tier 1B where the opening / closing door 40 is provided, the first lever 21 and the drive device 23 are provided, and the second lever 22 and the drive device 24 are omitted. Instead of the drive device 23, the drive devices 25 and 27 can also be provided, and convex portions 30, plate-like portions 32, convex portions 50, etc. can be provided on the first lever 21 as appropriate.

[0173] In this modification, the first lever 21 and the drive device 23 move the cargo P above the opening / closing door 40. Since a plurality of opening / closing doors 40 are formed in the front-rear direction of the floor 3B, when the cargo P is dropped to the lower layer, the distance for moving the cargo P in the front-rear direction of the floor 3B by the first lever 21 can be shortened.

[0174] In addition, since a plurality of opening / closing doors 40 are formed in the width direction of the floor 3B, even when a plurality of cargos P pushed and moved by the first lever 21 are arranged in the width direction of the floor 3B, it is easy to drop only the desired cargo P to the lower floor 3A.

[0175] Furthermore, by forming a plurality of opening / closing doors 40, the cargo P on the floor 3B can be dropped while avoiding the positions where there are cargos P on the lower floor 3A.

[0176] In addition, even when the size of the cargo P is larger than that of one opening / closing door 40, by opening a plurality of adjacent opening / closing doors 40, the cargo P can be dropped to the lower floor 3A.

[0177] It should be noted that, as Figure 18A and Figure 18BAs shown, a plate-shaped extension member 44 extending downward toward the lower floor 3A may also be provided on the opening / closing door 40. By providing the extension member 44, the length of the ramp becomes longer. Thereby, it becomes easy to send the goods P to the lower floor 3A.

[0178] In addition, the mechanism of the opening / closing door does not have to be a rotary opening / closing mechanism using the hinge H. For example, as Figure 19 shown in the opening / closing door 46, it may also be a sliding opening / closing mechanism that can be inserted into the floor 3B. If it is such a sliding opening / closing mechanism, since the rotation trajectory of the opening / closing door disappears, the interval L between the floor 3B and the lower floor 3A becomes narrower, and it becomes easy to ensure the conveyance amount of the goods P.

[0179] In addition, as Figure 20 shown, the first rod 21 and the drive device 23 may also be omitted. In this case, a plurality of opening / closing doors 40 are arranged over substantially the entire surface of the floor 3B. Alternatively, by placing all the goods P above the opening / closing door 40, the first rod 21 and the drive device 23 can also be omitted.

[0180] (Third Embodiment)

[0181] (Premises and Problems)

[0182] In the case of delivering goods by a vehicle having an automatic driving function, since the operation of unloading the goods from the vehicle and the operation of delivering the goods to the destination need to be performed by a person, labor costs are required. Therefore, it is considered to equip the vehicle with a plurality of delivery robots and use the delivery robots to deliver the goods from the vehicle to the delivery destination. However, if all the delivery robots leave the vehicle for delivery, the delivery robots cannot be used, so it may no longer be possible to deliver the goods efficiently.

[0183] Figure 21 is a partial cross-sectional side view of the first autonomous vehicle used in the delivery system according to the present embodiment. The first autonomous vehicle 10A has a first space 1 and a second space 2 located below the first space 1, and the first space 1 has at least one layer for loading goods.

[0184] The first autonomous vehicle 10A has a total length of, for example, 4 m, a height of 1.8 m, and a width of 1.9 m, and the height of the second space 2 is 80 cm, but is not limited thereto.

[0185] In the second space 2, a plurality of delivery robots 15 for delivering goods P to the delivery destination are provided. One of the plurality of delivery robots 15 stays at a specified position in the second space 2. The specified position is a position where the goods P falling from the opening 4A can be received. In addition, a driving device 12 and an information processing device 14 for driving the first autonomous vehicle 10A are arranged in the second space 2. The driving device 12 includes a battery, a motor, a control device for controlling autonomous driving, and the like. The information processing device 14 will be described later.

[0186] In addition, a door 5 for opening the second space 2 to the outside is mounted on one side surface of the first autonomous vehicle 10A in a manner that its lower end portion is rotatable. It should be noted that the door 5 is mounted at the specified position where one delivery robot 15 stays. And, as Figure 5 shown, when the door 5 is opened, the upper end portion of the door 5 contacts the ground. Thus, the door 5 functions as a ramp for the delivery robot 15 to enter and exit the first autonomous vehicle 10A.

[0187] The delivery robot 15 is a quadruped walking robot and has a placement portion 16 on its back for placing the goods P. If the delivery robot 15 receives the goods P, it delivers the goods P to the delivery destination of the received goods P. If one delivery robot 15 gets off the first autonomous vehicle 10A for delivering the goods P, the other delivery robots 15 provided in the second space 2 move to the specified position and stay, becoming a state where they can receive the goods P.

[0188] The driving of the first autonomous vehicle 10A is controlled by the information processing device 14 arranged in the second space 2.

[0189] Next, the second autonomous vehicle used in the delivery system according to the present embodiment will be described. Figure 22 is a perspective view of the second autonomous vehicle used in the delivery system according to the present embodiment. The second autonomous vehicle 30A has a space 31 equipped with the delivery robots 15. In Figure 22 it, 4 delivery robots 15 are equipped in the space 31.

[0190] The second autonomous vehicle 30A is, for example, 4 m in overall length, 0.6 m in height, and 1.9 m in width, but is not limited thereto.

[0191] In addition, a driving device 32A, a robot moving device 34A, and an information processing device 36 for driving the second autonomous vehicle 30A are arranged on the second autonomous vehicle 30A. The driving device 32A includes a battery, a motor, a control device for controlling autonomous driving, and the like. The information processing device 36 will be described later.

[0192] The robot moving device 34A is installed on the side of the second autonomous driving vehicle 30A, and is driven to recover the delivery robot 15 that has completed delivering the goods P into the space 31, and to take out the delivery robot 15 from the space 31. The robot moving device 34A has two arms 37. The base ends of the arms 37 are fixed to the second autonomous driving vehicle 30A. It should be noted that the number of the arms 37 is not limited to two. In addition, the number of the robot moving devices 34A is not limited to one. The robot moving device 34A can also be installed on both side parts of the second autonomous driving vehicle 30A, or can be installed in front of and behind the second autonomous driving vehicle 30A instead of or in addition to both side parts.

[0193] The arm 37 has a plurality of rod parts 37a and a plurality of joint parts 37b. The joint parts 37b are provided, for example, between two rod parts 37a and can relatively rotate the two rod parts 37a. Each joint part 37b has an actuator such as a motor. Through each joint part 37b, the rod part 37a rotates relatively, so that the arm 37 expands and contracts and can rotate 360 degrees.

[0194] A gripping part 37c for gripping the delivery robot 15 is provided at the front end of the arm 37. The gripping part 37c is, for example, a suction cup, and grips the delivery robot 15 by the suction of a compressor (not shown). It should be noted that the gripping part 37c can also be a so-called mechanical hand.

[0195] The robot moving device 34A grips the delivery robot 15 by the gripping parts 37c respectively provided on the two arms 37. In this way, the robot moving device 34A grips the delivery robot 15 at two points, and can stably recover the delivery robot 15 and deliver the delivery robot 15 to the first autonomous driving vehicle 10A.

[0196] Figure 23 It is a schematic diagram of an example of the information processing device of the second autonomous driving vehicle 30. The information processing device 36 of the second autonomous driving vehicle 30A is connected to the sensor 40A mounted on the second autonomous driving vehicle 30A.

[0197] The sensor 40A detects the position of the delivery robot 15 when recovering the delivery robot 15, the number of the delivery robots 15 equipped in the adjacent first autonomous driving vehicle 10A, the position of the first autonomous driving vehicle 10A for delivering the delivery robot 15, etc. The sensor 40A detects this information, for example, every nanosecond. The sensor 40A can use a sensor similar to the sensor 18.

[0198] The information processing device 36 includes an information acquisition unit 150, a control unit 152, and an information storage unit 154. The information acquisition unit 150 acquires the position information of the delivery robot 15 for which the goods P have been delivered, detected by the sensor 40A.

[0199] Based on the position information of the delivery robot 15, the control unit 152 drives the driving device 32A to move the second autonomous vehicle 30A toward the position of the delivery robot 15. Further, the control unit 152 drives the robot moving device 34A to recover the delivery robot 15 into the space 31. When recovering the delivery robot 15, the control unit 152 may stop the second autonomous vehicle 30A, or may recover the delivery robot 15 while controlling the driving device 32A to move the second autonomous vehicle 30A at a reduced speed.

[0200] In addition, the information acquisition unit 150 acquires information on the number of delivery robots 15 provided in the first autonomous vehicle 10A that the second autonomous vehicle 30A encounters during travel. The acquisition of this information on the number is performed by the sensor 40A detecting a signal transmitted from the first autonomous vehicle 10A indicating the number of delivery robots 15 provided.

[0201] Based on the information on the number of delivery robots 15, the control unit 152 determines whether the number of delivery robots 15 provided in the first autonomous vehicle 10A is excessive or insufficient. The determination of excessive or insufficient can be made by determining whether the number of delivery robots 15 is within a predetermined range. When the number of delivery robots 15 provided in the first autonomous vehicle 10A is insufficient, the control unit 152 drives the robot moving device 34A to take out the delivery robot 15 from the space 31 and deliver it to the first autonomous vehicle 10A. The first autonomous vehicle 10A opens the door 5 and receives the delivery robot 15 from the second autonomous vehicle 30A.

[0202] The information storage unit 154 is implemented by a storage medium such as a semiconductor storage element such as a RAM or a flash memory. The information storage unit 154 stores various programs executed by the control unit 152. The information storage unit 154 stores the information acquired by the information acquisition unit 150.

[0203] It should be noted that the delivery of the delivery robot 15 from the second autonomous vehicle 30A to the first autonomous vehicle 10A may be performed by stopping the first autonomous vehicle 10A and the second autonomous vehicle 30A, but is not limited thereto. The delivery of the delivery robot 15 may also be performed while the first autonomous vehicle 10A and the second autonomous vehicle 30A are in motion.

[0204] For example, as Figure 24As shown, while the first autonomous vehicle 10A and the second autonomous vehicle 30A are traveling in parallel in the direction of arrow A at the same speed, the delivery of the delivery robot 15 can be performed. In addition, when the door 5 of the first autonomous vehicle 10A is provided on the front side or the rear side of the first autonomous vehicle 10A, the second autonomous vehicle 30A can follow the first autonomous vehicle 10A, or the first autonomous vehicle 10A can follow the second autonomous vehicle 30A while performing the delivery of the delivery robot 15.

[0205] As described above, for example, the control unit 152 performs the following processes:

[0206] (1) Recover the delivery robot 15 that has delivered the goods P.

[0207] (2) Determine whether the number of delivery robots 15 equipped on the first autonomous vehicle 10A encountered during driving is excessive or insufficient.

[0208] (3) When the number of delivery robots 15 is insufficient, deliver the delivery robot 15.

[0209] Figure 25 is a diagram schematically showing an example of a processing routine executed by the information processing device of the second autonomous vehicle 30. The information processing device 36 repeatedly executes the Figure 25 shown flowchart during the driving of the second autonomous vehicle 30A.

[0210] In step S110, the information acquisition unit 150 detects the delivery robot 15 that has delivered the goods P through the sensor 40A.

[0211] In step S112, the control unit 152 drives the robot moving device 34A to recover the delivery robot 15.

[0212] In step S114, it is determined whether the number of delivery robots 15 equipped on the first autonomous vehicle 10A encountered during driving is excessive or insufficient.

[0213] In step S116, when the number of delivery robots 15 on the first autonomous vehicle 10A is insufficient, the delivery robot 15 is delivered to the first autonomous vehicle 10A.

[0214] According to this embodiment, the goods P located in the lowermost layer 1A of the first space 1 are moved to the opening 4A by the moving device 20, dropped from the opening 4A, and placed on the delivery robot 15. Then, the delivery robot 15 delivers the goods P to the delivery destination and returns to the first autonomous vehicle 10A. Therefore, the unloading of the goods P from the vehicle can be automated, and the delivery of the goods P can be automated. As a result, labor costs for operations can be saved.

[0215] In addition, a door 5 is provided in the second space 2, and the door 5 functions as a ramp for the delivery robot 15 to enter and exit the first autonomous vehicle 10A. Therefore, in addition to the anti-theft measures for the first autonomous vehicle 10A, the entry and exit of the delivery robot 15 can be made easier.

[0216] In addition, since it is arranged to recover the delivery robot 15 that has delivered the goods P by the second autonomous vehicle 30A, it is possible to prevent the delivery robot 15 after delivering the goods P from being left unattended.

[0217] In addition, when the second autonomous vehicle 30A encounters the first autonomous vehicle 10A with a shortage of the number of delivery robots 15 during driving, the delivery robot 15 is delivered from the second autonomous vehicle 30A to the first autonomous vehicle 10A. Therefore, an appropriate number of delivery robots 15 can be equipped on the first autonomous vehicle 10A, and as a result, the goods P can be delivered efficiently.

[0218] In addition, by delivering the delivery robot 15 while driving the first autonomous vehicle 10A and the second autonomous vehicle 30A, the delivery of the delivery robot 15 can be performed efficiently.

[0219] It should be noted that in the above embodiment, the handling in the case where the number of delivery robots 15 equipped in the first autonomous vehicle 10A is insufficient has been described, but there may also be a case where the number of delivery robots 15 equipped in the first autonomous vehicle 10A is excessive. In this case, the second autonomous vehicle 30A can also receive the delivery robot 15 from the first autonomous vehicle 10A. In this case, the first autonomous vehicle 10A and the second autonomous vehicle 30A can be stopped to deliver the delivery robot 15, or the delivery robot 15 can be delivered while driving the first autonomous vehicle 10A and the second autonomous vehicle 30A.

[0220] In addition, in the above-described embodiment, the robot moving device 34A holds the delivery robot 15 by the arm 37 and takes out or puts the delivery robot 15 into or from the space 31 of the second autonomous vehicle 30A, but is not limited thereto. As Figure 26 shown, a door 38 for opening the space 31 to the outside may be provided on one side surface of the second autonomous vehicle 30A as the robot moving device. The door 38 is mounted on the side surface of the second autonomous vehicle 30A in such a manner that its lower end portion is rotatable. It should be noted that the door 38 may also be provided at multiple locations on the side surface and the front and rear surfaces of the second autonomous vehicle 30A.

[0221] In this case, when the second autonomous vehicle 30A detects the delivery robot 15 that has finished delivering the goods P, it stops near the delivery robot 15 and opens the door 38. When the door 38 is opened, the upper end portion of the door 38 comes into contact with the ground. Thus, the door 38 functions as a ramp for the delivery robot 15 to enter and exit the second autonomous vehicle 30A. Since the delivery robot 15 can move by itself, it ascends along the ramp formed by the door 38 and is recovered into the space 31.

[0222] In addition, in this case, while traveling, the delivery robot 15 is delivered to the first autonomous vehicle 10A. As Figure 27 shown, it is only necessary to connect the door 5 of the first autonomous vehicle 10A to the door 38 of the second autonomous vehicle 30A and allow the delivery robot 15 to move by itself on the passage formed thereby.

[0223] Figure 8 An example of the hardware configuration of a computer 1200 that functions as the information processing device 14 is schematically shown. The program installed in the computer 1200 enables the computer 1200 to function as one or more "units" of the device according to the present embodiment, or enables the computer 1200 to perform operations associated with the device according to the present embodiment or the one or more "units", and / or enables the computer 1200 to execute a process according to the present embodiment or a stage of the process. Such a program can be executed by the CPU 1212, causing the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0224] The computer 1200 according to the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216 that are interconnected via a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive, a solid state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0225] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214 to control each unit. The graphics controller 1216 obtains image data generated by the CPU 1212 from a frame buffer or the like provided in the RAM 1214 or itself, and causes the image data to be displayed on the display device 1218.

[0226] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to the IC card.

[0227] The ROM 1230 stores therein a boot program and the like executed by the computer 1200 at startup and / or programs dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0228] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the above various types of hardware resources. The apparatus or method can be configured by implementing operations or processing of information according to the use of the computer 1200.

[0229] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214, and based on the processing described in the communication program, command the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214, a storage device 1224, a DVD-ROM, or an IC card, and transmits the read transmission data to the network, or writes the received data received from the network to a reception buffer area provided on the recording medium.

[0230] In addition, the CPU 1212 may cause all or a necessary part of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. After that, the CPU 1212 may write the processed data back to the external recording medium.

[0231] Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium to undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214. The various types of processing include various types of operations, information processing, conditional judgment, conditional branch, unconditional branch, information retrieval / replacement, etc. specified by the instruction sequence of the program described throughout this disclosure, and write the result back to the RAM 1214. In addition, the CPU 1212 may retrieve information in files, databases, etc. within the recording medium. For example, when there are a plurality of entries in the recording medium each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may retrieve an entry that matches the condition specifying the attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0232] The programs or software modules described above may be stored on a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a computer-readable storage medium, so as to provide a program to the computer 1200 via the network.

[0233] The boxes in the flowcharts and block diagrams of this embodiment may represent stages of a process of performing operations or "parts" of a device having the function of performing operations. The specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuits may include reconfigurable hardware circuits such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), etc., which include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and memory elements.

[0234] The computer-readable storage medium may include any tangible device capable of storing instructions executable by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein has a product including the instructions that can be executed to create a unit for performing the operations specified in the flowchart or block diagram. As examples of the computer-readable storage medium, it may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. As more specific examples of the computer-readable storage medium, it may include floppy (registered trademark) disks, magnetic disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-Ray (registered trademark) disks, memory sticks, integrated circuit cards, etc.

[0235] Computer-readable instructions may include any one of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code described in any combination of one or more programming languages, the one or more programming languages including object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc. and traditional procedural programming languages such as the "C" programming language or similar programming languages.

[0236] The computer-readable instructions may be provided locally or to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device via a local area network (LAN), a wide area network (WAN) such as the Internet, etc., causing the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions to generate units for performing the operations specified in the flowchart or block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc.

[0237] As described above, the present disclosure has been described using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should understand that various changes or improvements can be made to the above embodiments. As can be seen from the claims, embodiments with such changes or improvements are also included in the technical scope of the present disclosure.

[0238] It should be noted that the execution order of each process such as the actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flowcharts in the claims, the specification, and the drawings, even if described using "first", "then", etc. for convenience, it does not mean that it must be implemented in that order.

[0239] As described above, the present disclosure has been described using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should understand that various changes or improvements can be made to the above embodiments. As can be seen from the claims, embodiments with such changes or improvements are also included in the technical scope of the present disclosure.

[0240] It should be noted that the execution order of actions, sequences, steps, stages, etc. of the devices, systems, programs, and methods shown in the claims, the description, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flow in the claims, the description, and the drawings, even if it is described using "first", "next", etc. for convenience, it does not mean that it must be implemented in that order.

[0241] It should be noted that the following additional remarks are also disclosed regarding the above description.

[0242] (Additional Remark 1)

[0243] A delivery system, wherein the delivery system includes:

[0244] An autonomous vehicle having a first space and a second space located below the first space, the first space having at least one level for loading goods and having an opening formed at least in a part of the lowermost level;

[0245] A delivery robot for delivering goods to a delivery destination;

[0246] An information processing device; and

[0247] A moving device provided at the lowermost level of the first space to move the goods toward the opening,

[0248] The delivery robot stays at a specified position below the opening of the second space and can receive the goods falling from the lowermost level,

[0249] The information processing device controls the moving device to move the goods to the opening and let them fall from the opening, and makes the delivery robot receive the falling goods.

[0250] (Additional Remark 2)

[0251] The delivery system according to Additional Remark 1, wherein the autonomous vehicle has a door, the door is installed in a rotatable manner at its lower end and is used to open the second space to the outside, and when the door is opened, the door functions as a ramp for the delivery robot to enter and exit the autonomous vehicle.

[0252] (Additional Remark 3)

[0253] The delivery system according to Additional Remark 1 or Additional Remark 2, wherein the delivery robot delivers the goods and returns to the specified position in the second space after delivering the goods.

[0254] (Supplementary Note 4)

[0255] The delivery system according to Supplementary Note 1 or Supplementary Note 2, wherein the mobile device includes:

[0256] A rolling first rod that moves the goods on the floor of the lowermost layer toward the vicinity of the opening; and

[0257] A second rod that pushes the goods that have moved to the vicinity of the opening toward the opening, causing the goods to fall from the opening into the second space.

[0258] (Supplementary Note 5)

[0259] The delivery system according to Supplementary Note 1 or Supplementary Note 2, wherein a driving device of the autonomous vehicle is provided in the second space.

[0260] (Supplementary Note 6)

[0261] The delivery system according to Supplementary Note 4, wherein the first rod can rotate about the central axis of the first rod and forms a spiral convex portion along the central axis.

[0262] (Supplementary Note 7)

[0263] The delivery system according to Supplementary Note 6, wherein a plate-shaped portion whose in-plane direction is along the axial direction and the radial direction of the central axis is formed on a part of the convex portion.

[0264] (Supplementary Note 8)

[0265] The delivery system according to Supplementary Note 6, wherein the height of a part of the convex portion increases.

[0266] (Supplementary Note 9)

[0267] The delivery system according to Supplementary Note 7, wherein the part of the floor surface of the first space through which the plate-shaped portion passes when the first rod rolls has a smaller frictional resistance with the goods than other parts of the floor surface.

[0268] (Supplementary Note 10)

[0269] A delivery system, wherein the delivery system includes:

[0270] An autonomous vehicle having a first space and a second space below the first space, the first space having at least two levels for loading goods, at least a part of the floor of the lowermost layer being formed with an opening, and the floors of the layers other than the lowermost layer being formed with a plurality of opening and closing doors;

[0271] A delivery robot for delivering goods to a delivery destination;

[0272] An information processing device; and

[0273] A first moving device disposed at the lowermost layer of the first space to move the goods toward the opening,

[0274] The delivery robot stays at a specified position below the opening in the second space and can receive the goods falling from the lowermost layer,

[0275] The information processing device controls the opening / closing door and the first moving device to open the opening / closing door, cause the goods to fall from the opening / closing door and move to the opening to fall from the opening, and cause the delivery robot to receive the falling goods.

[0276] (Supplementary Note 11)

[0277] The delivery system according to Supplementary Note 10, wherein the delivery system includes a second moving device disposed on a layer other than the lowermost layer of the first space to move the goods above the opening / closing door, and the information processing device further controls the second moving device.

[0278] (Supplementary Note 12)

[0279] The delivery system according to Supplementary Note 11, wherein the first moving device includes:

[0280] A rolling first rod that moves the goods located on the floor of the lowermost layer toward the vicinity of the opening; and

[0281] A second rod that pushes the goods that have moved to the vicinity of the opening toward the opening to cause the goods to fall from the opening into the second space,

[0282] The second moving device is the first rod that moves the goods located on the floor of a layer other than the lowermost layer above the opening / closing door,

[0283] The opening / closing door functions as a ramp that rotates around a hinge to slide the goods.

[0284] (Supplementary Note 13)

[0285] A delivery system, wherein the delivery system includes:

[0286] A plurality of delivery robots for delivering goods to a delivery destination;

[0287] A first autonomous vehicle, which is equipped with one or more of the delivery robots, moves to a location near the delivery destination of the goods, and causes the delivery robot carrying the goods to get off near the delivery destination; and

[0288] A second autonomous vehicle, which has a space for accommodating the delivery robot, a robot moving device for taking the delivery robot out of or putting it into the space, a driving device, and an information processing device,

[0289] The information processing device controls the robot moving device and the driving device to recover the delivery robot that has completed the delivery of the goods into the space, and if the second autonomous vehicle encounters the first autonomous vehicle with an insufficient number of equipped delivery robots during driving, takes the delivery robot out of the space and delivers it to the first autonomous vehicle.

[0290] (Supplementary Note 14)

[0291] According to the delivery system described in Supplementary Note 13, wherein the information processing device controls the robot moving device and the driving device to take the delivery robot out of the space and deliver it to the first autonomous vehicle while the first autonomous vehicle and the second autonomous vehicle are driving.

[0292] (Supplementary Note 15)

[0293] According to the delivery system described in Supplementary Note 13, wherein the information processing device controls the robot moving device and the driving device such that if the second autonomous vehicle encounters the first autonomous vehicle with an excessive number of equipped delivery robots during driving, receives the delivery robot from the first autonomous vehicle.

[0294] (Supplementary Note 16)

[0295] According to the delivery system described in Supplementary Note 15, wherein the information processing device controls the robot moving device and the driving device to receive the delivery robot from the first autonomous vehicle while the second autonomous vehicle is driving.

[0296] (Supplementary Note 17)

[0297] A program, wherein the program is used to cause a computer to function as the information processing device of the delivery system described in any one of Supplementary Notes 1 to 16.

[0298] The disclosures of Japanese Patent Application No. 2022-166913 filed on October 18, 2022, Japanese Patent Application No. 2022-184365 filed on November 17, 2022, Japanese Patent Application No. 2022-184366 filed on November 17, 2022, and Japanese Patent Application No. 2022-186682 filed on November 22, 2022 are all incorporated herein by reference.

[0299] Description of Reference Numerals

[0300] 1 First space; 2 Second space; 4A, 4B, 4C Openings; 5, 38 Doors; 10 Autonomous vehicle; 10A First autonomous vehicle; 30A Second autonomous vehicle; 12, 32A Drive devices; 14, 36 Information processing devices; 15 Delivery robot; 18, 40A Sensors; 20 Mobile device; 21 First rod; 22 Second rod; 23, 24, 25, 27, 31 Drive devices; 30, 70 Convex portions; 31 Space; 32 Plate-like portion; 34 Robot mobile device; 37 Arm; 140, 150 Information acquisition units; 142, 152 Control units; 144, 154 Information storage units; 1200 Computer; 1210 Host controller; 1212 CPU; 1214 RAM; 1216 Graphics controller; 1218 Display device; 1220 Input / output controller; 1222 Communication interface; 1224 Storage device; 1230 ROM; 1240 Input / output chip.

Claims

1. A delivery system, wherein, the delivery system includes: a self-driving vehicle having a first space and a second space below the first space, the first space having at least one tier for loading goods and having an opening formed at least in a part of the lowermost tier; a delivery robot for delivering goods to a delivery destination; an information processing device; and a moving device disposed at the lowermost tier of the first space to move the goods toward the opening, the delivery robot staying at a specified position below the opening in the second space and capable of receiving the goods dropped from the lowermost tier, the information processing device controlling the moving device to move the goods to the opening and drop them from the opening, and causing the delivery robot to receive the dropped goods.

2. The delivery system according to claim 1, wherein, the self-driving vehicle has a door, the door being rotatably mounted at its lower end for opening the second space to the outside, and when the door is opened, the door functions as a ramp for the delivery robot to enter and exit the self-driving vehicle.

3. The delivery system according to claim 1 or 2, wherein, the delivery robot delivers the goods and returns to the specified position in the second space after delivering the goods.

4. The delivery system according to claim 1 or 2, wherein, the moving device includes: a rolling first rod for moving the goods on the floor of the lowermost tier toward the vicinity of the opening; and a second rod for pushing the goods that have moved to the vicinity of the opening toward the opening to cause the goods to fall from the opening into the second space.

5. The delivery system according to claim 1 or 2, wherein, a driving device of the self-driving vehicle is provided in the second space.

6. The delivery system according to claim 4, wherein, the first rod is rotatable about the central axis of the first rod and has a spiral convex portion formed along the central axis.

7. The delivery system according to claim 6, wherein, a plate-shaped portion whose in-plane direction is along the axial and radial directions of the central axis is formed in a part of the convex portion.

8. The delivery system according to claim 6, wherein, the height of a part of the convex portion increases.

9. The delivery system according to claim 7, wherein, the part of the floor surface of the first space through which the plate-shaped portion passes when the first rod rolls has a smaller frictional resistance with the goods than other parts of the floor surface.

10. A delivery system, wherein, the delivery system includes: a self-driving vehicle having a first space and a second space below the first space, the first space having at least two tiers for loading goods, an opening being formed at least in a part of the floor of the lowermost tier, and a plurality of opening / closing doors being formed in the floors of the tiers other than the lowermost tier; a delivery robot for delivering goods to a delivery destination; Information processing device; and A first mobile device, which is arranged at the lowermost layer of the first space and moves the goods towards the opening. The delivery robot stays at a specified position below the opening in the second space and can receive the goods that fall from the lowermost layer. The information processing device controls the opening / closing door and the first mobile device to open the opening / closing door, so that the goods fall from the opening / closing door, move to the opening and fall from the opening, and enables the delivery robot to receive the fallen goods.

11. The delivery system according to claim 10, wherein, The delivery system is provided with a second mobile device, which is arranged on a layer other than the lowermost layer of the first space and moves the goods above the opening / closing door, and the information processing device further controls the second mobile device.

12. The delivery system according to claim 11, wherein, The first mobile device includes: A rolling first rod that moves the goods located on the floor of the lowermost layer towards the vicinity of the opening; and A second rod that presses the goods that have moved to the vicinity of the opening towards the opening, so that the goods fall from the opening into the second space. The second mobile device is the first rod that moves the goods located on the floor of a layer other than the lowermost layer above the opening / closing door. The opening / closing door functions as a ramp that rotates around a hinge to slide the goods.

13. A delivery system, wherein, The delivery system includes: A plurality of delivery robots for delivering goods to a delivery destination; A first autonomous vehicle equipped with one or more of the delivery robots, which moves to the vicinity of the delivery destination of the goods and enables the delivery robot carrying the goods to get off near the delivery destination; and A second autonomous vehicle having a space for equipping the delivery robot, a robot moving device for taking the delivery robot out of or putting the delivery robot into the space, a driving device, and an information processing device. The information processing device controls the robot moving device and the driving device to recover the delivery robot that has completed delivering the goods into the space, and if the second autonomous vehicle encounters the first autonomous vehicle with insufficient equipped delivery robots during driving, takes the delivery robot out of the space and delivers it to the first autonomous vehicle.

14. The delivery system according to claim 13, wherein, The information processing device controls the robot moving device and the driving device to take the delivery robot out of the space and deliver it to the first autonomous vehicle while the first autonomous vehicle and the second autonomous vehicle are driving.

15. The delivery system according to claim 13, wherein, The information processing device controls the robot moving device and the driving device such that if the second autonomous vehicle encounters the first autonomous vehicle with an excessive number of the delivery robots during driving, the second autonomous vehicle receives the delivery robots from the first autonomous vehicle.

16. The delivery system according to claim 15, wherein the information processing device controls the robot moving device and the driving device so that while the second autonomous vehicle is driving, the second autonomous vehicle receives the delivery robots from the first autonomous vehicle.

17. A program, wherein the program causes a computer to function as the information processing device of the delivery system according to claim 1.

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