Berth information cooperation system, berth control system, berth information cooperation method, and program

Abstract

To provide a berth information cooperation system capable of appropriately managing a berth even if a different type of an automatic driving truck exists.SOLUTION: A berth information cooperation system includes: a reservation information storage unit for storing an ID of an automatic driving truck in association with a reserved berth number; an authentication information reception unit for receiving authentication information including the ID and a type of the automatic driving truck from an entry authentication system for executing authentication of the automatic driving truck when the automatic driving truck enters a physical distribution facility; a berth number transmission unit for transmitting the berth number reserved in association with the ID to an FM system for remotely controlling the automatic driving truck if the type is a first type; and a 3D digital map transmission unit for transmitting a 3D digital map in the physical distribution facility attached with a travel route to the reserved berth number associated with the ID to the FM system or a corresponding automatic driving truck if the type is a second type.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a berth information linkage system, a berth control system, a berth information linkage method, and a program for realizing berth management in logistics facilities used by autonomously driven trucks. [Background technology]

[0002] Various efforts are being made to achieve Level 4 autonomous driving for large trucks (for example, Non-Patent Document 1). According to Non-Patent Document 1, the Level 4 autonomous driving section is envisioned as the section from entering an expressway interchange to exiting the interchange. If in the future it becomes possible to connect logistics facilities directly connected to expressway interchanges or connected by limited public roads using Level 4 autonomous driving, it is expected that the efficiency of logistics will improve dramatically. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Ministry of Economy, Trade and Industry, "RoAD to the L4 Autonomous Driving Level 4 and Other Advanced Mobility Services Research, Development and Social Implementation Project," [online], Ministry of Economy, Trade and Industry, [Retrieved February 16, 2024], Internet〈 URL: https: / / www.road-to-the-l4.go.jp / 〉 Summary of the Invention [Problem to be solved by the invention]

[0004] Until now, there has been no information available about how a Level 4 autonomous truck (ADT) is required to behave once it enters a logistics facility. Because satellite signals are difficult to receive inside a logistics facility, it is difficult for a standard GPS to accurately determine its own location. Therefore, it is thought that a 3D digital map of the facility and a driving route will be necessary inside the facility, but there are two types of autonomous trucks: those that can generate their own driving route inside the facility on their own, and those that cannot.

[0005] Therefore, an object of the present disclosure is to provide a berth information linkage system that can appropriately manage berths even when different types of self-driving trucks are present. [Means for solving the problem]

[0006] The berth information linkage system of the present disclosure includes a reservation information storage unit, an authentication information receiving unit, a berth number transmitting unit, and an in-park 3D digital map transmitting unit.

[0007] The reservation information storage unit stores the ID of the autonomous truck in association with the reserved berth number. The authentication information receiving unit receives authentication information including the ID and the type of autonomous truck from an entry authentication system that authenticates the autonomous truck when it enters a logistics facility. The berth number sending unit sends the reserved berth number linked to the ID to an FM system that remotely controls the autonomous truck if the type is a first type. The 3D digital map sending unit sends a 3D digital map of the logistics facility in association with the ID, along with a driving route to the reserved berth number, to the FM system or the corresponding autonomous truck if the type is a second type. [Effects of the Invention]

[0008] According to the berth information linkage system disclosed herein, berths can be managed appropriately even when different types of self-driving trucks are present. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing the configuration of a berth control system according to a first embodiment. [Figure 2] FIG. 1 is a block diagram showing the functional configuration of a bath information linkage system according to a first embodiment. [Figure 3] FIG. 4 is a diagram showing an example of reservations stored in a reservation information storage unit. [Figure 4] FIG. 10 is a sequence diagram showing berth reservation and first type berth designation operations. [Figure 5] FIG. 10 is a sequence diagram showing berth reservation and second type berth designation operations. [Figure 6] FIG. 10 is a sequence diagram showing a first type of berth designation operation when there is a next reservation. [Figure 7] FIG. 10 is a sequence diagram showing a second type of berth designation operation when there is a next reservation. [Figure 8] FIG. 10 is a sequence diagram showing a first type of operation for specifying a refueling / charging / filling point and an exit gate in the case of refueling / charging / filling and exiting. [Figure 9] FIG. 10 is a sequence diagram showing a second type of operation for specifying a refueling / charging / filling point and an exit gate in the case of refueling / charging / filling and exiting. [Figure 10] FIG. 10 is a sequence diagram showing the operation of specifying a first type of exit and refueling / charging / filling point when managing refueling / charging / filling outside a logistics facility. [Figure 11] A sequence diagram showing the operation of specifying a second type of exit and refueling / charging / filling point when managing refueling / charging / filling outside a logistics facility. [Figure 12] FIG. 2 is a diagram showing an example of the functional configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail. Note that components having the same functions are assigned the same numbers, and redundant explanations will be omitted. [Example]

[0011] The configuration of the berth control system of the first embodiment will be described below with reference to Fig. 1. As shown in the figure, the berth control system 1 of the present embodiment includes a berth information linkage system 105, a berth reservation system 110, an entry authentication system 115, a berth presence information system 120, a berth sensor group 120-a, b, ..., an FM (fleet management) system 125, a display device 130, an information input terminal 135, N (N is a natural number) autonomously driven trucks (ADTs) 140-1, ... 140-N, an in-yard 3D digital map system with driving routes 145, an autonomously driven truck database 150, and a cargo information system 155.

[0012] When describing common characteristics of the berth sensor group 120-a, b, ..., the subnumbers will be omitted and they will simply be referred to as berth sensor 120. Similarly, when describing common characteristics of the automatically driven trucks (ADTs) 140-1, ..., 140-N, they will be referred to as automatically driven trucks 140 or ADT 140. Each system and terminology included in the berth control system 1 will be explained below.

[0013] <Birth Information Linkage System 105> Berth information linkage system 105 is a system that includes a function that allows a tenant company (hereinafter also referred to as tenant) of a warehouse within a logistics facility to specify a berth and accepts berth reservations from logistics companies that operate trucks in response to that specification, a function that links with berth presence information system 120 to check whether another ADT 140 or the like is present in the reserved berth, and a function that transmits information necessary for the ADT 140 to travel to the specified berth to FM system 125 and ADT 140. Berth information linkage system 105 may be realized by a single device or a group of multiple devices. Similarly, each of the following systems may be realized by a single device or a group of multiple devices.

[0014] <Berth Reservation System 110> The berth reservation system 110 is typically a system used by tenants and logistics companies when reserving berths. The berth reservation system 110 is also used to change berth reservations. The berth reservation system 110 has a function of sending completion notifications to the berth information linkage system 105 to notify the completion of tasks such as unloading, loading, refueling, charging, and filling with hydrogen or other power sources.

[0015] <Entry authentication system 115> The entrance authentication system 115 is a system that checks vehicles that have permission to enter and prompts the user to determine the berth number that is the destination of the vehicle. The entrance authentication system 115 determines whether the entering vehicle is registered with the tenant. Registration is performed in advance by connecting to the berth information linkage system 105. Berth reservation system 110 or This is executed on the information input terminal 135 or the like. The entry authentication system 115 identifies the vehicle using the vehicle number, ETC on-board unit information, etc. The entry authentication system 115 also determines the type of ADT 140 (described later). If the result of the entry authentication shows that the vehicle is registered, the entry authentication system 115 allows the vehicle to enter. If the vehicle is not registered, it instructs the vehicle to leave.

[0016] <Berth Availability Information System 120> Berth vacant information system 120 is a system that determines whether or not a truck or other vehicle is present in each berth located on each floor within the logistics facility, generates berth vacant information indicating the presence / absence status of each berth, and transmits this information in real time to berth information linkage system 105. It is preferable that berth vacant information be managed separately for each tenant's usage area set by contract with each tenant / the system administrator. Berth vacant information system 120 includes berth sensor group 120-a, b, ...

[0017] <Birth Sensor 120> The berth sensor 120 can be realized by, for example, a conventional ultrasonic sensor, a camera, etc. In the case of image determination using a camera, luggage or a vehicle in the berth may be detected and treated as "vehicle present."

[0018] <FM(フリートマネジメント)システム125> The FM (Fleet Management) system 125 is a system that manages the operation and monitors the travel of the ADT 140 owned by an autonomous truck operating company. The FM system 125 is a system that remotely controls the ADT 140, and manages the departure time, current location information, estimated time of arrival (ETA) after passing a specific location, etc. for each ADT 140 ID.

[0019] <Display device 130> For example, if a logistics facility is operated with a mixture of ADTs 140 and manned trucks, it is necessary to notify the manned trucks of the berths, etc. designated by the system. The display device 130 is installed near the entrance to the logistics facility or on each floor, and has the function of displaying the berths, etc. designated by the system to manned trucks that have passed authentication at the time of entry and manned trucks that have completed work.

[0020] <Information input terminal 135> The information input terminal 135 is a terminal that can input information to the berth information linkage system 105. Typically, the information input terminal 135 is a terminal operated by an administrator of the berth information linkage system 105, and is a terminal that is used, for example, when the administrator of the berth information linkage system 105 changes reservation information and specifies and inputs new reservation information. In some cases, a tenant may operate the information input terminal 135 to input reservation information. In the figure, the berth information linkage system 105 and the information input terminal 135 are depicted separately, but the information input terminal 135 may be considered to be included within the berth information linkage system 105.

[0021] Autonomous Driving Truck (ADT) 140 In this disclosure, an autonomously driven truck (ADT) 140 refers to a truck that travels autonomously between logistics facilities and enters the logistics facilities for tasks such as unloading and loading. In this disclosure, the ADT 140 is described as being unmanned. There are two types of ADT 140 (first type and second type).

[0022] <Type 1> The first type is a type that holds a digital map of the interior of the logistics facility building and has a driving route generation function.

[0023] <Second Type> The second type is a type that does not have a driving route generation function.

[0024] <3D digital map system 145 with driving route> The in-yard 3D digital map system with driving routes 145 is composed of an in-yard 3D digital map system database (not shown) and a map configuration system (not shown) that picks up from the database a map that includes a route from the entrance to the designated berth, creates a driving route, and generates an in-yard 3D digital map with driving routes. When the in-yard 3D digital map system with driving routes 145 confirms the second type of ADT 140, it transmits the generated in-yard 3D digital map with driving routes to the berth information linkage system 105.

[0025] <Database of 150 Self-Driving Trucks> The self-driving truck database 150 is a database that stores the ID of the ADT 140, vehicle inspection information for each ADT 140 ID, inspection information, etc.

[0026] <id> The ID is an identifier for the ADT 140, and may typically be a vehicle number, ETC on-board device information, etc. The ID of the ADT 140 is used for berth reservations and work completion notifications by the berth reservation system 110, truck management by the FM system 125, entry authentication by the entry authentication system 115, truck management by the autonomous driving truck database 150, cargo management by the cargo information system 155, etc.

[0027] <Cargo Information System 155> The cargo information system 155 is a system that manages, for each ADT 140 ID, a packing list, the final destination of the cargo, tenant information at the arrival facility, and the like.

[0028] The functional configuration of the berth information linkage system 105 will be described below with reference to Fig. 2. As shown in the figure, the berth information linkage system 105 includes a reservation information receiving unit 1050, a reservation information storage unit 105z, an authentication information receiving unit 1051, an aircraft information request transmitting unit 1052, an aircraft information receiving unit 1053, an aircraft reservation matching unit 1054, a berth number transmitting unit 1055, a notification transmitting unit 1056, an alternative berth receiving unit 1057, an automatic alternative berth allocation unit 1058, an in-park 3D digital map transmitting unit 105a, a completion notification receiving unit 105b, a reservation confirmation unit 105c, a refueling / charging / filling point designating unit 105d, and an exit gate designating unit 105e.

[0029] In this disclosure, each receiving unit and each transmitting unit is given a different name depending on its function, but when implemented, they may be realized as a single receiver that covers all the functions of each receiving unit, and a single transmitter that covers all the functions of each transmitting unit.

[0030] The reservation information storage unit 105z stores the ID of the ADT 140 in association with the reserved berth number. The reservation information may be managed, for example, as in the table shown in FIG. 3. In the example shown in FIG. 3, for the ID "0000xxx" of the ADT 140, berth number "6" is reserved with a start time of "18:00", an end time of "18:30", and a purpose of "unloading". The next reservation for the same ID is berth number "6" with a start time of "18:30", an end time of "19:00", and a purpose of "loading". Therefore, it can be seen that this ADT 140 is a truck that will unload cargo brought from another logistics facility at berth 6 from 18:00, complete unloading in the 30 minutes until 18:30, start loading at the same berth 6 from 18:30, and complete loading at 19:00. As in this "0000xxx" example, it is common to see unloading and loading operations performed as a set within a single logistics facility.

[0031] The berth for unloading and the berth for loading may be different. For example, in the example shown in the figure, for ADT140 ID "0000yyy", berth number "3" is reserved with a start time of "15:00", an end time of "15:30", and a purpose of "unloading". The next reservation for the same ID is berth number "7" with a start time of "15:30", an end time of "16:00", and a purpose of "loading". Therefore, this truck will unload at berth 3, but will then move to berth 7 for loading. In such a pattern, it is necessary to properly indicate the driving route to ADT140 between unloading and loading.

[0032] In addition to this, there are trucks such as ID "0000zzz" that only perform unloading work and then return to a vehicle depot or the like. There are also trucks such as ID "0000aaa" that depart from a vehicle depot or the like and only perform loading work at a logistics facility.

[0033] Note that the table in FIG. 3 is merely one example of display, and for example, a time table format may be adopted as a way of displaying reservation information, or other methods may be adopted.

[0034] Hereinafter, referring to FIG. 4, the birth reservation and the first type of birth designation operation will be described.

[0035] <Birth Reservation Operation> Hereinafter, the birth reservation operation of the birth control system 1 will be described. First, the tenant uses the birth reservation system 110 to input the birth number, purpose, etc. that he / she wants to reserve. The logistics company inputs the ID of the ADT 140 to be used, the start time, the end time, etc. The information in which the ID of the ADT 140, the birth number, the start time, the end time, the purpose, etc. are linked is called reservation information. The birth reservation system 110 acquires the input reservation information (S1101) and transmits the reservation information to the birth information cooperation system 105 (S1102).

[0036] The reservation information receiving unit 1050 of the birth information cooperation system 105 receives the reservation information (S1050). The reservation information storage unit 105z of the birth information cooperation system 105 stores the received reservation information (S105z).

[0037] Note that the reservation information may be automatically generated by the cooperation between the birth information cooperation system 105 and the birth reservation system 110. In this case, the reservation information input operation of the tenant or the logistics company is omitted, and the reservation information acquisition operation in step S1101, the reservation information transmission operation in step S1102, the reservation information reception operation in step S1050, the reservation information storage operation in step S105z, etc. are automatically executed.

[0038] <Birth Designation Operation When the ADT 140 Is of the First Type> The berth designation operation of the berth control system 1 when the ADT 140 is of the first type will be described below. When the first type ADT 140 approaches the entrance to the logistics facility, entry authentication begins. The entry authentication system 115 performs entry authentication of the ADT 140 entering the logistics facility (S1151). The entry authentication system 115 receives authentication information including the ID and type from the ADT 140, and transmits the received authentication information to the berth information linkage system 105 (S1152).

[0039] The authentication information receiving unit 1051 of the berth information linkage system 105 receives the authentication information (S1051). The vacant lot information request sending unit 1052 of the berth information linkage system 105 sends a vacant lot information request to the berth vacant lot information system 120 (S1052). The vacant lot information request is a command to request berth vacant lot information that indicates the occupied / vacant status of each berth within the current logistics facility.

[0040] The berth availability information system 120 receives the availability information request (S1201). When the berth availability information system 120 receives the availability information request, it generates berth availability information and transmits it to the berth linkage system 105 (S1202).

[0041] The berth information linkage system 105's vacant information receiving unit 1053 receives the berth vacant information (S1053). The vacant reservation matching unit 1054 matches the received berth vacant information with the berth number reserved corresponding to the ADT 140 ID acquired when the authentication information was received, and checks whether the reserved berth number is currently vacant or occupied (whether it is occupied by another truck, luggage, lift, etc.) (S1054).

[0042] <If the reserved berth number is empty> If the reserved berth number is vacant, the berth number transmitting unit 1055 of the berth information linkage system 105 transmits the reserved berth number linked to the ID to the FM system 125 (S1055).

[0043] The FM system 125 receives the berth number (S1251). The FM system 125 commands the corresponding ADT 140 to head to the received berth number. Upon receiving the destination berth number, the ADT 140 generates a travel route using a 3D digital map of the yard held within the ADT 140, and then begins traveling. The FM system 125 remotely monitors and controls the corresponding ADT 140. If the target truck is a manned truck, the berth number transmitting unit 1055 of the berth information linkage system 105 transmits the reserved berth number to the display device 130 (S1055). The display device 130 receives the berth number (S1301). The display device 130 displays the received berth number (S1302). The driver of the manned truck checks the berth number displayed on the display device 130 and drives the truck to the designated berth. Alternatively, a ticket issuing machine (not shown) may be provided instead of the display device 130, and the ticket issuing machine may issue a ticket displaying the destination berth number. In this case, the driver of the manned truck checks the berth number displayed on the ticket and drives the truck to the designated berth. Alternatively, the destination berth number may be displayed on a mobile device carried by the driver instead of the display device 130.

[0044] <If the reserved berth number is already occupied> If the reserved berth number is occupied, the notification sending unit 1056 sends a notification to the berth reservation system 110 indicating that the reserved berth is currently unavailable (S1056). The berth reservation system 110 receives the notification (S1103). An alternative berth (also called an "alternate berth") is then designated, and several methods of designation are possible. As a typical example, the administrator of the berth information linkage system 105 operates the information input terminal 135 to input the berth number of the alternative berth, and the information input terminal 135 may then transmit the berth number of the alternative berth to the berth information linkage system 105 (S1351). The alternative berth receiving unit 1057 of the berth information linkage system 105 receives the berth number of the alternative berth (S1057).

[0045] Alternatively, the tenant may operate the berth reservation system 110 to input new reservation information specifying an alternative berth. The berth reservation system 110 may obtain the new reservation information (S1101) and transmit it to the berth information cooperation system 105 (S1102).

[0046] The berth information cooperation system 105 does not necessarily have to obtain the berth number of the alternative berth and the new reservation information specifying the alternative berth from the information input terminal 135 or the berth reservation system 110. For example, the alternative berth automatic allocation unit 1058 of the berth information cooperation system 105 may automatically allocate one of the berths that are empty among the current berth occupancy information as the alternative berth (S1058).

[0047] When obtaining the information of the alternative berth from the information input terminal 135 or the berth reservation system 110, the alternative berth automatic allocation unit 1058 can be omitted.

[0048] The berth number transmission unit 1055 of the berth information cooperation system 105 transmits the berth number of the newly received or automatically allocated alternative berth to the FM system 125 (S1055).

[0049] The FM system 125 receives the berth number (S1251) and instructs the corresponding ADT140 to head to the received berth number. The ADT140 that has received the destination berth number generates a travel route using the in-field 3D digital map held in the ADT140 and then starts traveling. The FM system 125 remotely monitors / controls the corresponding ADT140. When the target truck is a manned truck, the berth number transmission unit 1055 of the berth information cooperation system 105 transmits the reserved berth number to the display device 130 (S1055). The display device 130 receives the berth number (S1301) and displays the received berth number (S1302). As described above, a ticket issuing machine, a mobile terminal owned by the driver, etc. may be used instead of the display device 130.

[0050] <Berth Specifying Operation When ADT140 is of the Second Type> The berth designation operation when the ADT 140 is of the second type will be described below with reference to Fig. 5. Even when the ADT 140 is of the second type, the same processes as in Fig. 4 are executed: berth reservation (S1101, S1102, S1050, S105z), acquisition of authentication information (S1151, S1152, S1051), acquisition of berth availability information (S1052, S1201, S1202, S1053), and comparison of the berth availability information with the reserved berth number (S1054).

[0051] <If the reserved berth number is empty> If the reserved berth number is vacant, the 3D digital map transmission unit 105a of the berth information linkage system 105 transmits a 3D digital map of the logistics facility's interior, linked to the ID and including a driving route to the reserved berth number, to the FM system 125 or the corresponding ADT 140 (S105a).

[0052] The FM system 125 or the corresponding ADT 140 receives the 3D digital map of the venue with the driving route (S125a, S140a). When the FM system 125 receives the 3D digital map of the venue with the driving route, the FM system 125 remotely controls the corresponding ADT 140 according to the 3D digital map of the venue with the driving route. When the ADT 140 receives the 3D digital map of the venue with the driving route, the ADT 140 starts driving according to the 3D digital map of the venue with the driving route. The FM system 125 remotely monitors / controls the corresponding ADT 140. <If the reserved berth number is already occupied> If the reserved berth number is available, the berth reservation system 110 is notified (S1056, S1103) and the berth number of the alternative berth is obtained (S1351+S1057, or S1101+S1102+S1057, or S1058) in the same manner as in the first type.

[0053] The in-vehicle 3D digital map transmission unit 105a of the berth information linkage system 105 transmits an in-vehicle 3D digital map with a driving route to the newly received or automatically assigned berth number to the FM system 125 or the corresponding ADT 140 (S105a).

[0054] When the FM system 125 receives the 3D digital map of the venue with the driving route, the FM system 125 remotely controls the corresponding ADT 140 according to the 3D digital map of the venue with the driving route. When the ADT 140 receives the 3D digital map of the venue with the driving route, the ADT 140 starts driving according to the 3D digital map of the venue with the driving route. The FM system 125 remotely monitors / controls the corresponding ADT 140. <Berth designation operation when there is a next reservation and the ADT 140 is the first type> Hereinafter, with reference to FIG. 6, a description will be given of the berth designation operation when there is a next reservation and the ADT 140 is of the first type.

[0055] When work at a designated berth for a certain ADT 140 is completed, the logistics company operates the berth reservation system 110 to make the necessary inputs. The berth reservation system 110 sends a completion notification, including the ID and type, to the berth information linkage system 105 to notify that work at the reserved berth number has been completed (S110b).

[0056] The completion notification receiving unit 105b of the berth information linkage system 105 receives the completion notification (S105b). When the completion notification is received, the reservation confirmation unit 105c of the berth information linkage system 105 confirms the next reservation for the ID corresponding to the completion notification (S105c). Here, a case will be described in which the confirmation in step S105c shows that a next reservation exists. In this case, as in the example of FIG. 4, the berth availability information is obtained (S1052, S1201, S1202, S1053), and the berth availability information is compared with the reserved berth number (S1054).

[0057] <If the reserved berth number is empty> If the reserved berth number is vacant, the berth number transmitting unit 1055 transmits the next reserved berth number linked to the ID to the FM system 125 (S1055). Next, step S1251 is executed. In the case of a manned truck, steps S1301 and S1302 are executed on the display device 130 installed on each floor. As mentioned above, a ticket issuing machine may be used instead of the display device 130. Also, the destination berth may be displayed on a mobile terminal or the like owned by the driver instead of the display device 130.

[0058] <If the reserved berth number is already occupied> If the reserved berth number is available, notification to the berth reservation system 110 (S1056, S1103) is carried out as described above, and the berth number of the alternative berth is obtained (S1351+S1057, or S1101+S1102+S1057, or S1058).

[0059] The berth number transmitting unit 1055 of the berth information linkage system 105 transmits the berth number of the newly received or automatically assigned alternative berth to the FM system 125 (S1055). Next, step S1251 is executed. In the case of a manned truck, steps S1301 and S1302 are executed on the display device 130 installed on each floor. As mentioned above, a ticket issuing machine, a mobile terminal owned by the driver, or the like may be used instead of the display device 130.

[0060] <Berth designation operation when there is a next reservation and the ADT 140 is the second type> Below, the berth designation operation when there is a next reservation and the ADT 140 is of the second type will be described with reference to Fig. 7. Even when the ADT 140 is of the second type, the same processes as in Fig. 6 are executed: obtaining a completion notice (S110b, S105b), confirming the next reservation (S105c), obtaining berth availability information (S1052, S1201, S1202, S1053), and comparing the berth availability information with the reserved berth number (S1054).

[0061] <If the reserved berth number is empty> If the reserved berth number is vacant, the 3D digital map transmission unit 105a of the berth information linkage system 105 transmits a 3D digital map of the logistics facility, linked to the ID and including a driving route to the reserved berth number, to the FM system 125 or the corresponding ADT 140 (S105a). Next, step S125a or step S140a is executed.

[0062] <If the reserved berth number is already occupied> If the reserved berth number is available, notification to the berth reservation system 110 (S1056, S1103) is carried out as described above, and the berth number of the alternative berth is obtained (S1351+S1057, or S1101+S1102+S1057, or S1058).

[0063] The 3D digital map transmission unit 105a of the berth information linkage system 105 transmits the 3D digital map of the berth, including the driving route to the newly received or automatically assigned berth number, to the FM system 125 or the corresponding ADT 140 (S105a). Then, step S125a or step S140a is executed.

[0064] <If there is no next reservation and the ADT140 is the first type, the refueling / charging / filling point and exit point Fixed movement Made> Hereinafter, with reference to FIG. 8, the operation of specifying a refueling / charging / filling point and an exit gate when there is no next reservation and the ADT 140 is of the first type will be described.

[0065] When work at a specified berth for a certain ADT 140 is completed, the tenant operates the berth reservation system 110 to make the necessary inputs. The berth reservation system 110 sends a completion notification including the ID and type to the berth information linkage system 105 (S110b).

[0066] The completion notification receiving unit 105b of the berth information linkage system 105 receives the completion notification (S105b). The reservation confirmation unit 105c of the berth information linkage system 105 confirms the next reservation for the ID corresponding to the completion notification (S105c). Here, a case will be described where the confirmation in step S105c shows that there is no next reservation. In this case, the ADT 140 will either leave the logistics facility after refueling / charging / filling, or will leave the logistics facility without refueling / charging / filling. Whether refueling / charging / filling is performed within the logistics facility or on the logistics facility premises depends on the specifications of the logistics facility (with refueling / charging / filling management, or without refueling / charging / filling management).

[0067] <When refueling / charging / filling management is in place> If a logistics facility has refueling / charging / filling management, the refueling / charging / filling point designation unit 105d of the berth information linkage system 105 designates a refueling / charging / filling point (S105d). A refueling / charging / filling station may be designated as the refueling / charging / filling point, or each refueling / charging / filling booth within the refueling / charging / filling station may be designated as a booth number. The berth number transmission unit 1055 transmits the designated refueling / charging / filling point to the FM system 125 (S1055-a).

[0068] The FM system 125 receives the refueling / charging / filling point (S1251-a). The FM system 125 commands the corresponding ADT 140 to head to the received refueling / charging / filling point. Upon receiving the refueling / charging / filling point, the ADT 140 generates a driving route using a 3D digital map of the facility stored within the ADT 140, and then starts driving. The FM system 125 remotely monitors and controls the corresponding ADT 140. When the refueling / charging / filling is completed, the berth reservation system 110 sends a refueling / charging / filling completion notification including an ID and type, notifying that the refueling / charging / filling operation has been completed (S110b-a).

[0069] The completion notification receiving unit 105b of the berth information linkage system 105 receives the refueling / charging / filling completion notification (S105b-a).

[0070] <Without refueling / charging / filling management> If there is no refueling / charging / filling management in the logistics facility, the above refueling / charging / filling operations (steps S105d, S1055-a, S1251-a, S110b-a, S105b-a) are skipped.

[0071] <<Entry Actions>> The exit designation unit 105e of the berth information linkage system 105 designates an exit (S105e). If a logistics facility has multiple exits, these exits may be assigned identifiers such as numbers, symbols, or kanji characters indicating directions (for example, West Exit 5, East Exit 1, etc.). The berth number transmission unit 1055 of the berth information linkage system 105 transmits the designated exit to the FM system 125 (S1055-b).

[0072] The FM system 125 receives the exit (S1251-b). The FM system 125 commands the corresponding ADT 140 to head to the received exit. Upon receiving the exit, the ADT 140 generates a driving route using a 3D digital map of the venue held within the ADT 140, and then starts driving. The FM system 125 remotely monitors and controls the corresponding ADT 140. <If there is no next reservation and the ADT140 is the second type, the refueling / charging / filling point and exit point Fixed movement Made> Hereinafter, with reference to FIG. 9, the operation of specifying a refueling / charging / filling point and an exit gate when there is no next reservation and the ADT 140 is of the second type will be described.

[0073] As described above, a notification of completion of work at the specified berth is sent and received (S110b, S105b), the next reservation is confirmed (S105c), and as a result of the confirmation in step S105c, it is assumed that there is no next reservation.As described above, the ADT 140 will leave the logistics facility after refueling / charging / filling, or will leave the logistics facility without refueling / charging / filling.

[0074] <When refueling / charging / filling management is in place> When fueling / charging / filling management is performed in the logistics facility, the fueling / charging / filling point designation unit 105d of the berth information linkage system 105 designates a fueling / charging / filling point (S105d).

[0075] The in-park 3D digital map transmission unit 105a transmits an in-park 3D digital map with a driving route to the specified refueling / charging / filling point to the FM system 125 or the corresponding ADT 140 (S105a-a).

[0076] When the FM system 125 receives the 3D digital map of the venue with the driving route (S125a-a), the FM system 125 remotely controls the corresponding ADT 140 in accordance with the 3D digital map of the venue with the driving route. When the ADT 140 receives the 3D digital map of the venue with the driving route (S140a-a), the ADT 140 starts driving in accordance with the 3D digital map of the venue with the driving route. The FM system 125 remotely monitors / controls the corresponding ADT 140. When refueling / charging / filling is completed, the berth reservation system 110 transmits a refueling / charging / filling completion notification (S110b-a). The completion notification receiving unit 105b of the berth information linkage system 105 receives the refueling / charging / filling completion notification (S105b-a).

[0077] <Without refueling / charging / filling management> If there is no refueling / charging / filling management in the logistics facility, the above refueling / charging / filling operations (steps S105d, S105a-a, S125a-a or S140a-a, S110b-a, S105b-a) are skipped.

[0078] <<Entry Actions>> The exit designation unit 105e of the berth information linkage system 105 designates an exit (S105e). The interior 3D digital map transmission unit 105a of the berth information linkage system 105 transmits an interior 3D digital map with a driving route to the designated exit to the FM system 125 or the corresponding ADT 140 (S105a-b).

[0079] When the FM system 125 receives the 3D digital map of the venue with the driving route (S125a-b), the FM system 125 remotely controls the corresponding ADT 140 in accordance with the 3D digital map of the venue with the driving route. When the ADT 140 receives the 3D digital map of the venue with the driving route (S140a-b), the ADT 140 starts driving in accordance with the 3D digital map of the venue with the driving route. The FM system 125 remotely monitors / controls the corresponding ADT 140.

[0080] <Type 1 exit and refueling / charging / filling point designation operation when managing refueling / charging / filling outside a logistics facility> Hereinafter, with reference to FIG. 10, a first type of exit and refueling / charging / filling point designation operation when managing refueling / charging / filling outside a logistics facility will be described.

[0081] As mentioned above, if a refueling / charging / filling point is located within a logistics facility or on the logistics facility premises, it is preferable to execute the processing shown in the sequence diagrams of Figures 8 and 9. However, for various reasons, there may be refueling / charging / filling points outside the logistics facility premises, and the logistics facility may want to manage the refueling / charging / filling operations of ADT140 at refueling / charging / filling points outside the premises.

[0082] In this case, if the ADT 140 is the first type, steps S110b, S105b, and S105c are executed as shown in FIG. 10. If there is no next reservation, steps S105e, S1055-b, and S1251-b are executed to specify an exit for the ADT 140. The ADT 140 exits the specified exit and leaves the logistics facility. Steps S105d, S1055-a, and S1251-a are then executed to specify a refueling / charging / filling point outside the premises for the ADT 140. The ADT 140 generates a driving route to the specified refueling / charging / filling point and then starts driving. The FM system 125 remotely monitors and controls the corresponding ADT 140. After the refueling / charging / filling operation is completed, processing for transmitting and receiving a refueling / charging / filling completion notification (S110b-a, S105b-a) is executed.

[0083] <Second type of exit and refueling / charging / filling point designation operation when managing refueling / charging / filling outside a logistics facility> Hereinafter, with reference to FIG. 11, a second type of exit and refueling / charging / filling point designation operation when managing refueling / charging / filling outside a logistics facility will be described.

[0084] In this case, steps S110b, S105b, and S105c are executed as shown in FIG. 11 , and if there is no next reservation, steps S105e, S105a-b, and S125a-b (S140a-b) are executed, and an in-park 3D digital map with a driving route to the exit is transmitted to the FM system 125 or ADT 140. The ADT 140 exits the designated exit and leaves the logistics facility. Thereafter, steps S105d and S105a-a are executed, and an out-park 3D digital map with a driving route to an off-site refueling / charging / filling point is transmitted to the FM system 125 or ADT 140.

[0085] When the FM system 125 receives an off-site 3D digital map with a driving route to an off-site refueling / charging / filling point (S125a-a), the FM system 125 remotely controls the corresponding ADT 140 according to the off-site 3D digital map with the driving route.

[0086] When the ADT 140 receives an off-site 3D digital map with a driving route to a refueling / charging / filling point outside the site (S140a-a), the ADT 140 starts driving according to the off-site 3D digital map with the driving route. The FM system 125 remotely monitors and controls the corresponding ADT 140. After the refueling / charging / filling operation is completed, the sending and receiving process of a refueling / charging / filling completion notification (S110b-a, S105b-a) is executed.

[0087] According to the berth control system 1 and berth information linkage system 105 disclosed herein, the berth number is transmitted to the first type ADT 140, and a 3D digital map of the premises with the driving route is transmitted to the second type ADT 140, so that berths can be managed appropriately even if different types of autonomous trucks are present.

[0088] Furthermore, according to the berth control system 1 and berth information linkage system 105 disclosed herein, if a reserved berth number is currently occupied, a newly received or automatically assigned berth number or a 3D digital map of the premises with the driving route to that berth number is transmitted. Therefore, even if the berth cannot be used as originally reserved, berths can be managed appropriately for each of the different types of self-driving trucks.

[0089] Furthermore, the berth control system 1 and berth information linkage system 105 disclosed herein are configured to check the next reservation when a work completion notification is received, and if there is a next reservation, to transmit the berth number corresponding to the next reservation or a 3D digital map of the premises with the driving route to that berth number. Therefore, even if ADT 140 has multiple work reserved for different berths, it can appropriately manage berths for each of different types of autonomous trucks.

[0090] Furthermore, the berth control system 1 and berth information linkage system 105 disclosed herein are configured to check the next reservation when a work completion notification is received, and if there is no next reservation, to transmit the exit gate, refueling / charging / filling point, or a 3D digital map of the premises with the driving route to the exit gate, refueling / charging / filling point, or the berth information linkage system 105, thereby making it possible to appropriately manage the exit of different types of autonomous trucks from the logistics facility.

[0091] <Additional Notes> The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered to be circuitry or processing circuitry. A processor may also be a programmed processor that executes programs stored in memory.

[0092] In this specification, a circuitry, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0093] If the hardware is a processor considered to be a type of circuitry, the circuitry, means, or unit is a combination of the hardware and software used to configure the hardware and / or processor.

[0094] The various processes described above can be implemented by loading a program that executes each step of the above method into the recording unit 10020 of the computer shown in Figure 12 and operating the control unit 10010, input unit 10030, output unit 10040, etc.

[0095] The program describing the processing contents can be recorded on a computer-readable recording medium, which may be, for example, a magnetic recording device, an optical disk, a magneto-optical recording medium, a semiconductor memory, or any other suitable recording medium.

[0096] The program may be distributed, for example, by selling, transferring, lending, etc. a portable recording medium such as a DVD or CD-ROM on which the program is recorded. Furthermore, the program may be stored in a storage device of a server computer, and then transferred from the server computer to another computer via a network, thereby distributing the program.

[0097] A computer that executes such a program may first temporarily store the program recorded on a portable recording medium or transferred from a server computer in its own storage device. Then, when executing a process, the computer reads the program stored on its own recording medium and executes the process in accordance with the read program. Alternatively, the computer may read the program directly from a portable recording medium and execute the process in accordance with the program. Furthermore, the computer may execute the process in accordance with the program each time a program is transferred from a server computer to the computer. The server computer may not transfer the program to the computer, but may instead execute the process through a so-called ASP (Application Service Provider) service, which realizes the processing function by issuing an execution instruction and obtaining the results. Furthermore, the server computer may execute the process on a terminal using a so-called SaaS (Software as a Service) service, which allows users to use part of the server computer along with the program. In this embodiment, the program includes information used for computer processing that is equivalent to a program (such as data that is not a direct instruction to the computer but has properties that define computer processing).

[0098] Furthermore, in this embodiment, the device is configured by executing a predetermined program on a computer, but at least a part of the processing contents may be realized by hardware.< / id>

Claims

1. a reservation information storage unit that stores the ID of the self-driving truck and the reserved berth number in association with each other; an authentication information receiving unit that receives authentication information including the ID and the type of the autonomous truck from an entry authentication system that authenticates the autonomous truck when the autonomous truck enters a logistics facility; a berth number transmitting unit that transmits the reserved berth number linked to the ID to an FM system that remotely controls the autonomously driven truck when the type is a first type; and an in-plant 3D digital map transmission unit that transmits, when the type is a second type, a 3D digital map of the logistics facility along with a travel route to the reserved berth number linked to the ID to the FM system or the corresponding automatically driven truck. Bath information linkage system.

2. The berth information linkage system according to claim 1, a berth vacancy information receiving unit that receives, when the authentication information is received, berth vacancy information indicating the current vehicle presence / vacancy status of each berth from a berth vacancy information system that detects vehicle presence / vacancy in each berth; a berth availability check unit for checking the received berth availability information against the reserved berth number; The birth number transmission unit If the reserved berth number is currently occupied and the type is a first type, the newly received or automatically assigned berth number is transmitted to the FM system; The in-venue 3D digital map transmission unit If the reserved berth number is currently occupied and the type is a second type, the 3D digital map of the yard with the driving route to the newly received or automatically assigned berth number is transmitted to the FM system or the corresponding automatically operated truck. Bath information linkage system.

3. The berth information linkage system according to claim 1, a completion notification receiving unit that receives a completion notification including the ID and the type, and notifying that work at the reserved berth number has been completed; a reservation confirmation unit that confirms the next reservation for the ID corresponding to the completion notification when the completion notification is received; The birth number transmission unit If there is a next reservation and the type is the first type, the next reserved berth number linked to the ID is transmitted to the FM system, The in-venue 3D digital map transmission unit If there is a next reservation and the type is a second type, the 3D digital map of the yard, which is linked to the ID and includes a driving route to the next reserved berth number, is transmitted to the FM system or the corresponding automatically driven truck. Bath information linkage system.

4. The berth information linkage system according to claim 3, The birth number transmission unit If there is no next reservation and the type is the first type, transmit a pre-designated exit to the FM system; The in-venue 3D digital map transmission unit If there is no next reservation and the type is a second type, the 3D digital map of the facility with a driving route to a pre-specified exit is transmitted to the FM system or the corresponding self-driving truck. Bath information linkage system.

5. The berth information linkage system according to claim 4, The birth number transmission unit When the type of the autonomous truck that has exited from the exit is a first type, a pre-designated refueling / charging / filling point outside the premises of the logistics facility is transmitted to the FM system; The in-venue 3D digital map transmission unit When the type of the self-driving truck that has exited from the exit is a second type, an outside 3D digital map with a driving route to a pre-designated refueling / charging / filling point outside the premises of the logistics facility is transmitted to the FM system or the corresponding self-driving truck. Bath information linkage system.

6. The berth information linkage system according to claim 3, The birth number transmission unit If there is no next reservation and the type is a first type, transmitting a pre-designated refueling / charging / filling point to the FM system; The in-venue 3D digital map transmission unit If there is no next reservation and the type is a second type, a 3D digital map of the facility with a driving route to a pre-specified refueling / charging / filling point is transmitted to the FM system or the corresponding self-driving truck. Bath information linkage system.

7. The berth information linkage system according to claim 6, The completion notification receiving unit receiving a refueling / charging / filling completion notification including the ID and the type and notifying that the refueling / charging / filling operation has been completed; The birth number transmission unit When the refueling / charging / filling completion notification is received and the type is a first type, transmitting a pre-designated exit to the FM system; The in-venue 3D digital map transmission unit When the refueling / charging / filling completion notification is received and the type is a second type, a 3D digital map of the facility with a driving route to a pre-specified exit is transmitted to the FM system or the corresponding self-driving truck. Bath information linkage system.

8. A berth control system including an entry authentication system that authenticates an autonomously driven truck when the autonomously driven truck enters a logistics facility, an FM system that remotely controls the autonomously driven truck, and a berth information linkage system, The berth information linkage system includes: a reservation information storage unit that stores the ID of the autonomously driven truck in association with the reserved berth number; an authentication information receiving unit that receives authentication information including the ID and the type of the autonomous truck from the entry authentication system; a berth number transmitting unit that transmits the reserved berth number associated with the ID to the FM system when the type is a first type; and an in-plant 3D digital map transmission unit that transmits, when the type is a second type, a 3D digital map of the logistics facility along with a travel route to the reserved berth number linked to the ID to the FM system or the corresponding automatically driven truck. Berth control system.

9. A berth information linking method executed by a berth information linking system, A step of linking and storing the ID of the self-driving truck and the reserved berth number; receiving authentication information including the ID and the type of the autonomous truck from an entry authentication system that authenticates the autonomous truck when the autonomous truck enters a logistics facility; If the type is a first type, transmitting the reserved berth number associated with the ID to an FM system that remotely controls the autonomous truck; and a step of transmitting, when the type is a second type, a 3D digital map of the logistics facility, including a driving route to the reserved berth number linked to the ID, to the FM system or the corresponding autonomous driving truck. How to link birth information.

10. A program that causes a computer to function as the birth information linkage system according to any one of claims 1 to 7.

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