Unmanned delivery vehicles

Abstract

This makes it easier for recipients to retrieve packages from the cargo compartment of unmanned delivery vehicles. [Solution] The unmanned delivery vehicle 2 comprises a cargo compartment 21, a door 22 that switches between an upright position that closes the cargo compartment and a sideways position that opens the cargo compartment and is connected to the floor of the cargo compartment, a moving unit (first conveyor mechanism 23, second conveyor mechanism 24) that moves the cargo 5 onto the sideways-positioned door, a cargo detection unit (sensor 210) that detects that at least a part of the cargo is located above the door, a communication unit 211 that receives commands regarding the delivery of the cargo, a driving unit that autonomously drives to the delivery destination of the cargo, and a control unit 212. After arriving at the delivery destination, the control unit switches the door to the sideways position, moves the cargo in the cargo compartment onto the sideways-positioned door via the moving unit, and stops the movement by the moving unit based on a detection signal from the cargo detection unit.

Description

Technical Field

[0001] The technology disclosed herein relates to unmanned delivery vehicles.

Background Art

[0002] Patent Document 1 describes a conventional remotely operated transport vehicle. This transport vehicle goes to a place where it is difficult for people to approach, such as a disaster site, and loads and unloads cargo. The transport vehicle has an opening and closing door for the cargo compartment, and the floor and door of the cargo compartment have a first conveyor and a second conveyor that have the same transport direction. When the transport vehicle arrives at the destination, the operator opens the door to the horizontal state by remote operation. Then, the operator rotates and drives the first conveyor and the second conveyor outward from the cargo compartment by remote operation to move the cargo from the cargo compartment to the door. Thereafter, the operator lowers the door to the road surface by remote operation to unload the cargo.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, for the purpose of labor saving in the logistics field, for example, in the home delivery service, attempts have been made to deliver goods to the consignee by an unmanned delivery vehicle capable of autonomous driving. In such an unmanned delivery vehicle, different from the conventional remotely operated transport vehicle described above, remote operation by an operator is performed only in an emergency. If a conventional remotely operated transport vehicle is used for home delivery service, one operator is always required for one remotely operated transport vehicle, so there is a problem that labor costs increase.

[0005] Furthermore, unmanned delivery vehicles used in home delivery services require a mechanism to reliably deliver packages to recipients. For example, from the perspective of improving delivery efficiency, it is preferable that the size of packages delivered by unmanned delivery vehicles be as large as possible, corresponding to the size of the cargo compartment. This is to ensure that there is no empty space in the cargo compartment of the unmanned delivery vehicle while a package is being delivered. However, if the package is large and there is almost no empty space in the cargo compartment, the recipient will have difficulty retrieving the package from the cargo compartment of the unmanned delivery vehicle.

[0006] The technology disclosed herein makes it easier for recipients to retrieve packages from the cargo compartment of an unmanned delivery vehicle. [Means for solving the problem]

[0007] The technology disclosed herein relates to an unmanned delivery vehicle. This unmanned delivery vehicle is A luggage compartment for storing luggage, A door that rotates vertically to switch between an upright position that closes the cargo compartment and a sideways position that opens the cargo compartment and is connected to the floor of the cargo compartment, A moving unit for moving the cargo in the cargo compartment onto the sideways-facing door, A luggage detection unit that detects that at least a portion of the luggage is located above the door, A communications unit that receives instructions regarding the delivery of the aforementioned package, A driving unit autonomously travels to the delivery destination of the package based on a command received by the communication unit, It comprises at least a control unit that controls the delivery of the aforementioned cargo, After arriving at the delivery destination, the control unit switches the door to a sideways position, moves the cargo in the cargo compartment towards the sideways-positioned door via the moving unit, and stops the movement by the moving unit based on a detection signal from the cargo detection unit.

[0008] In this configuration, once the communication unit receives a command, the unmanned delivery vehicle autonomously drives to the delivery destination using the driving unit. After the unmanned delivery vehicle arrives at the destination, the control unit performs at least control related to the handover of the package.

[0009] Specifically, the control unit switches the door from an upright position to a sideways position. As the cargo compartment opens, the sideways-positioned door aligns with the floor of the cargo compartment. The control unit also moves the cargo stored in the cargo compartment towards the sideways-positioned door via a moving unit. The cargo moves from the cargo compartment towards the door.

[0010] The unmanned delivery vehicle is equipped with a cargo detection unit. The cargo detection unit detects that at least a portion of the cargo is located above the door. The cargo detection unit may also detect that the entire cargo is located above the door. Based on the detection signal from the cargo detection unit, the control unit stops the movement by the moving unit. When the movement by the moving unit stops, at least a portion of the cargo is outside the cargo compartment. The recipient can receive the cargo reliably from the unmanned delivery vehicle because they can directly touch the cargo. Based on the detection signal from the cargo detection unit, the control unit can move the cargo in the cargo compartment above the door without remote operation by an operator. The unmanned delivery vehicle can reliably deliver the cargo to the recipient.

[0011] Furthermore, unmanned delivery vehicles can accommodate large packages that would otherwise take up very little space in the cargo compartment. This is because at least a portion of the package will be outside the cargo compartment during handover, making it easier to receive. Delivering large packages increases the delivery efficiency of unmanned delivery vehicles.

[0012] The control unit may, when a method for delivering the package to the consignee is specified by a command received by the communication unit, determine, based on a detection signal from the package detection unit, that the package is located at a predetermined position above the door, and stop the movement by the moving unit.

[0013] Based on the fact that the package is positioned in a predetermined location above the door, the control unit stops the movement by the moving part, so that the package is pulled out of the cargo compartment and at least a portion of it is positioned above the door. The unmanned delivery vehicle can hand over the package directly to the recipient. The recipient can easily receive the package from the unmanned delivery vehicle.

[0014] The control unit may, when a delivery method is specified by a command received by the communication unit, determine that the package has passed over the door based on a detection signal from the package detection unit, and stop the movement by the moving unit.

[0015] When packages are left at a designated location rather than being handed directly to the recipient, the unmanned delivery vehicle places the packages from its cargo compartment on the ground, floor, in a delivery box, on a shelf, or on a table in front of the entrance. The mobile unit moves the packages from the cargo compartment towards the top of the door. The control unit determines, based on a detection signal from the package detection unit, that the packages have passed over the door and stops the movement by the mobile unit. After passing over the door, the packages are placed on the ground, floor, in a delivery box, on a shelf, or on a table in front of the entrance.

[0016] The aforementioned unmanned delivery vehicle further includes an obstacle detection unit that detects obstacles that would obstruct the opening and closing of the door, The control unit may, based on the detection result of the obstacle detection unit, switch the door from the upright position to the sideways position if there is no obstacle.

[0017] Unmanned delivery vehicles, even after arriving at their destination via autonomous driving, will autonomously perform a series of actions, such as opening the doors and unloading the cargo from the cargo compartment, without relying on remote control by an operator. Unmanned delivery vehicles are required to avoid interference with surrounding objects during the cargo handover process.

[0018] Therefore, the obstacle detection unit detects obstacles that hinder the opening and closing of the door. If there are no obstacles around the driverless delivery vehicle based on the detection result of the obstacle detection unit, the door switches from the upright position to the horizontal position. The driverless delivery vehicle can safely open the door without remote operation by an operator and can stably perform the delivery of goods.

[0019] The control unit may switch the door from the horizontal position to the upright position when there is no load on the door and no obstacle based on the detection result of the obstacle detection unit.

[0020] After the delivery of the goods is completed at the delivery destination, the driverless delivery vehicle autonomously returns, for example, to the delivery origin after closing the cargo compartment. After sending the goods out of the cargo compartment, the driverless delivery vehicle autonomously performs the operation of closing the door without depending on remote operation by an operator. Also in this case, the driverless delivery vehicle is required to avoid interference with surrounding objects.

[0021] After delivering the goods to the recipient or after performing the drop-off of the goods, the control unit switches the door from the horizontal position to the upright position when there is no load on the door and no obstacle based on the detection result of the obstacle detection unit. The driverless delivery vehicle can safely close the door without remote operation by an operator.

[0022] The moving unit may have a conveyor mechanism located on the floor of the cargo compartment and conveying the goods toward the door.

[0023] The conveyor mechanism can stably convey the goods from the cargo compartment toward the door. The conveyor mechanism may be a mechanism having an endless belt (for example, a belt). The conveyor mechanism may be a mechanism having a large number of rollers.

[0024] The moving unit further has a second conveyor mechanism provided on the door, The second conveyor mechanism may be continuous with the conveyor mechanism when the door is in the horizontal position.

[0025] The second conveyor mechanism can transport the cargo that has come out of the cargo compartment, position the cargo in a predetermined location above the door, and allow the cargo to pass through the door and be lowered from above the door.

[0026] The control unit may, when a delivery method is specified by a command received by the communication unit, drive the conveyor mechanism and the second conveyor mechanism in the outbound direction to position the package above the door at a location corresponding to the delivery location, and then, while continuing to drive the second conveyor mechanism in the outbound direction, move the unmanned delivery vehicle in the opposite direction to the outbound direction using the travel unit to lower the package from above the door to the delivery location.

[0027] In other words, the unmanned delivery vehicle synchronizes the drive of the second conveyor mechanism with the movement of the unmanned delivery vehicle by the running gear. This synchronized drive between the second conveyor mechanism and the running gear allows the package to be positioned above the door, corresponding to the designated delivery location, while the door moves relative to the package without the package moving. The unmanned delivery vehicle can then unload the package from above the door to the designated delivery location. In the case of a delivery method, the unmanned delivery vehicle can accurately place the package at the designated delivery location.

[0028] The aforementioned unmanned delivery vehicle further includes a lifting mechanism that changes the height of the door when it is in a sideways position, The control unit may, when the collection of the package is specified by a command received by the communication unit, raise the door with the lifting unit while the tip of the second conveyor mechanism of the sideways-facing door is pressed against the bottom edge of the package, thereby creating a gap between the package and the floor, and while driving the second conveyor mechanism in the direction of pulling in the package, move the unmanned delivery vehicle with the traveling unit in the opposite direction to the pulling direction, thereby placing the package on the door and pulling the package into the cargo compartment by driving the second conveyor mechanism and the conveyor mechanism.

[0029] When collecting packages, the unmanned delivery vehicle synchronizes the drive of the second conveyor mechanism with the movement of the vehicle itself. Specifically, with the tip of the second conveyor mechanism of the sideways-facing door pressed against the bottom edge of the package, the door is raised by the lifting mechanism. As the edge of the package is lifted, the package placed on the loading surface tilts diagonally, creating a gap between the package and the loading surface. The "loading surface" here refers to the surface on which the package is placed. The loading surface consists of a floor, shelf, platform, or ground.

[0030] After the package is tilted at an angle, the second conveyor mechanism is driven in the direction of retraction of the package, while the travel unit moves the unmanned delivery vehicle in the opposite direction of retraction. The door moves relative to the package and is inserted into the gap between the package and the placement surface. The package is then placed on top of the door.

[0031] Once the cargo is placed on top of the door, the second conveyor mechanism and the main conveyor mechanism pull the cargo into the cargo compartment. The unmanned delivery vehicle can then reliably retrieve the cargo. [Effects of the Invention]

[0032] The aforementioned unmanned delivery vehicle makes it easier for recipients to retrieve packages from the cargo compartment. [Brief explanation of the drawing]

[0033] [Figure 1] Figure 1 shows the package delivery system. [Figure 2] Figure 2 shows an unmanned delivery vehicle. [Figure 3] Figure 3 is a block diagram of an unmanned delivery vehicle. [Figure 4] Figure 4 shows the opening and closing of doors and the movement of cargo in an unmanned delivery vehicle. [Figure 5] Figure 5 shows the operation procedure of an unmanned delivery vehicle when handing over a package to the recipient. [Figure 6] Figure 6 shows the operation of an unmanned delivery vehicle when leaving packages in a delivery box. [Figure 7]Figure 7 is a portion of a flowchart illustrating the control procedure for an unmanned delivery vehicle. [Figure 8] Figure 8 is a portion of a flowchart illustrating the control procedure for an unmanned delivery vehicle. [Figure 9] Figure 9 shows the operation of an unmanned delivery vehicle when leaving a package in a delivery box, according to a modified example. [Figure 10] Figure 10 shows various modified examples of the movable part. [Figure 11] Figure 11 shows a modified example of the movable part. [Figure 12] Figure 12 shows the operation of an unmanned delivery vehicle in a modified configuration. [Figure 13] Figure 13 shows the process of an unmanned delivery vehicle picking up a package. [Modes for carrying out the invention]

[0034] The following describes an embodiment of an unmanned delivery vehicle with reference to the drawings. The unmanned delivery vehicle described here is an example.

[0035] (Delivery system) Figure 1 shows a delivery system 1 for a package 5 equipped with an unmanned delivery vehicle 2. The delivery system 1 is a system that delivers the package 5 to a user 10 using the unmanned delivery vehicle 2. User 10 is the recipient of the package. The package 5 is delivered to a location specified by user 10. The location specified by user 10 is, for example, user 10's home. User 10 can also specify a delivery destination other than their home. The package 5 is, for example, a product purchased by user 10 on an e-commerce site. However, the product is not limited to a product purchased on an e-commerce site. Also, the package 5 delivered to user 10 is not limited to a product. The delivery system 1 also uses the unmanned delivery vehicle 2 to collect the package 5 from user 10.

[0036] The delivery system 1 includes a package station 11. The package station 11 has a relay function for the delivery of packages 5. The package station 11 is associated with a predetermined delivery area that is within the range of direct delivery by the unmanned delivery vehicle 2, and temporarily stores packages 5 destined for delivery destinations within the delivery area. The unmanned delivery vehicle 2 delivers packages 5 from the package station 11 to the user 10. The use of the unmanned delivery vehicle 2 reduces the need for manpower in last-mile delivery. The unmanned delivery vehicle 2 also transports packages 5 picked up from the user 10 back to the package station 11. The package station 11 temporarily stores packages 5 picked up from the user 10.

[0037] The cargo station 11 has the function of transferring the stored cargo 5 to the cargo compartment 21 of the unmanned delivery vehicle 2, which will be described later. The cargo station 11 also has the function of taking the cargo 5 from the cargo compartment 21 of the unmanned delivery vehicle 2 and storing it in the cargo station 11. These transfers of cargo 5 are performed automatically by the cargo station 11 without human intervention.

[0038] Furthermore, the luggage station 11 not only transfers luggage between itself and the unmanned delivery vehicle 2, but also has the function of handing over luggage to the user 10. The user 10 can also go to the luggage station 11 and pick up luggage 5 there.

[0039] The delivery system 1 includes a management center 3. The management center 3 manages the entire delivery system 1. The management center 3 is connected to a wide-area communication network 41. The wide-area communication network 41 is, for example, the internet. The parcel station 11 is also connected to the wide-area communication network 41. The unmanned delivery vehicle 2 and the terminal 42 owned by the user 10 are connected to the wide-area communication network 41 via mobile communication. The terminal 42 is, for example, a smartphone or tablet. The management center 3 sends and receives information regarding the transportation of parcels to and from the unmanned delivery vehicle 2, the parcel station 11, or the terminal 42.

[0040] (Unmanned delivery vehicle) Figure 2 shows the exterior of the unmanned delivery vehicle 2. Figure 3 is a block diagram of the unmanned delivery vehicle 2. Figure 4 shows the unmanned delivery vehicle 2 with its roof removed, exposing the interior. The unmanned delivery vehicle 2 is an autonomous mobile robot (AMR) capable of autonomous driving. The unmanned delivery vehicle 2 has, for example, SLAM (Simultaneous Localization and Mapping) functionality. With the SLAM functionality, the unmanned delivery vehicle 2 can autonomously navigate within the delivery area using a map (described later) and an ambient environment detection sensor 27.

[0041] The unmanned delivery vehicle 2 is equipped with a cargo compartment 21. The cargo compartment 21 accommodates the cargo 5. The cargo compartment 21 opens to the side of the unmanned delivery vehicle 2.

[0042] The opening of the cargo compartment 21 is opened and closed by the door 22. The solid line in Figure 4 shows the door 22 in the open position. The door 22 rotates vertically as shown by the dashed-dot arrow in Figure 4. The door 22 switches between a sideways position that opens the cargo compartment 21 (see solid line) and an upright position that closes the cargo compartment 21 (see dashed-dot line). When the door 22 is in the sideways position, the top surface of the door 22 is aligned with the floor of the cargo compartment 21.

[0043] Figure 5 schematically shows the cargo compartment 21 and door 22 of the unmanned delivery vehicle 2. The unmanned delivery vehicle 2 has an opening and closing mechanism 29 for the door 22. The opening and closing mechanism 29 has a telescopic cylinder. As shown on page 51 of Figure 5, when the cylinder is retracted, the door 22 is in an upright position, and as shown on page 52 of Figure 5, when the telescopic cylinder is extended, the door 22 is in a sideways position.

[0044] The unmanned delivery vehicle 2 has a first conveyor mechanism 23. The first conveyor mechanism 23 is located on the floor of the cargo compartment 21. The first conveyor mechanism 23 is a belt conveyor mechanism. As shown in Figure 5, the first belt 231 is wrapped around a first drive pulley 232 and a first driven pulley 233. The first belt 231 is arranged to run along the floor surface of the cargo compartment 21. The cargo 5 contained in the cargo compartment 21 rests on the first belt 231. The first belt 231 also travels in the vehicle width direction of the unmanned delivery vehicle 2 as the first drive pulley 232 is rotated by the motor 234. The vehicle width direction is the direction from the back left to the front right and from the front right to the back left in Figure 4. As the first belt 231 moves, the cargo 5 is transported from inside the cargo compartment 21 to outside the cargo compartment 21, or from outside the cargo compartment 21 to inside the cargo compartment 21.

[0045] The unmanned delivery vehicle 2 has a second conveyor mechanism 24. The second conveyor mechanism 24 is installed on the door 22. The second conveyor mechanism 24 is a belt conveyor mechanism. As shown in Figure 5, the second belt 241 is wrapped around the second drive pulley 242 and the second driven pulley 243. When the door 22 is in a sideways position, the first conveyor mechanism 23 and the second conveyor mechanism 24 are continuous, as shown on P52 in Figure 5. More specifically, the first belt 231 and the second belt 241 are aligned horizontally. The second belt 241 travels in the width direction of the unmanned delivery vehicle 2 as the second drive pulley 242 is rotated by the motor 244. By synchronizing the movement of the first belt 231 and the second belt 241, the cargo 5 contained in the cargo compartment 21 moves from the cargo compartment 21 to the top of the door 22. Furthermore, the luggage 5 above the door 22 moves from above the door 22 into the luggage compartment 21. Also, as will be described later, the luggage 5 above the door 22 is lowered from the door 22 or placed on top of the door 22 by the movement of the second belt 241.

[0046] Furthermore, by connecting the first drive pulley 232 of the first conveyor mechanism 23 and the second drive pulley 242 of the second conveyor mechanism 24, the motor 234 may be omitted, or the motor 244 may be omitted altogether.

[0047] As shown in Figure 3, the unmanned delivery vehicle 2 is equipped with a drive motor 25. The drive motor 25 receives power from the battery and drives the wheels 251, more precisely the drive wheels. The unmanned delivery vehicle 2 can travel on the ground using the wheels 251. The unmanned delivery vehicle 2 is equipped with a steering mechanism 26. The steering mechanism 26 allows the unmanned delivery vehicle 2 to change its direction of travel. The steering mechanism 26 can be of various types. The steering mechanism 26 may change the direction of travel of the unmanned delivery vehicle 2, for example, by changing the orientation of the wheels 251. The drive motor 25, wheels 251, and steering mechanism 26 constitute the running gear of the unmanned delivery vehicle 2.

[0048] Furthermore, if the two drive motors 25 connected to each of the two drive wheels of the unmanned delivery vehicle 2 are independent of each other, the steering mechanism 26 may change the direction of travel of the unmanned delivery vehicle 2 by making the rotation speeds of the two independent drive wheels different.

[0049] Furthermore, if the drive wheels are Mecanum wheels or omni wheels, the steering mechanism 26 may change the direction of travel of the unmanned delivery vehicle 2 by making the rotation directions of the multiple drive wheels different. Alternatively, the unmanned delivery vehicle 2 may be configured to move in parallel by making all the wheels 251 drive wheels and having them all facing the same direction. In this case, the unmanned delivery vehicle 2 can move in parallel in the vehicle width direction by orienting all the wheels 251 in the vehicle width direction.

[0050] The unmanned delivery vehicle 2 is equipped with an ambient environment detection sensor 27. The ambient environment detection sensor 27 is, for example, LiDAR (Light Detection And Ranging). The ambient environment detection sensor 27 is, for example, a camera. The unmanned delivery vehicle 2 shown in Figure 2 is equipped with four cameras 271 on the front, rear, left, and right. The four cameras 271 capture images of the front, rear, left, and right of the unmanned delivery vehicle 2. The ambient environment detection sensor 27 is, for example, both LiDAR and cameras.

[0051] The unmanned delivery vehicle 2 is equipped with a memory unit 28. The memory unit 28 stores a map of the delivery area in which the unmanned delivery vehicle 2 operates. The unmanned delivery vehicle 2 may also acquire a pre-created map from an external source and store it in the memory unit 28. Before the unmanned delivery vehicle 2 starts its delivery operations, an operator may manually drive the unmanned delivery vehicle 2 within the delivery area and create or update the map using the surrounding environment detection sensor 27 during that drive.

[0052] The unmanned delivery vehicle 2 is equipped with a sensor 210. The sensor 210 is mounted on the door 22, as shown in Figure 5. The sensor 210 detects when the package 5 is located above the door 22. The sensor 210 is an example of a package detection unit. The sensor 210 is, for example, a limit switch. The limit switch outputs an ON signal when it comes into contact with the package 5 and turns OFF when the package 5 moves away. If the limit switch is mounted in a predetermined position on the door 22, it is possible to detect, based on the ON / OFF status of the limit switch, that the package 5 has been pulled out of the cargo compartment 21 and that at least a portion of the package 5 is located above the door 22. Note that the sensor 210 is not limited to a limit switch. The sensor 210 may be, for example, an optical sensor. The sensor 210 may be, for example, a camera or a combination of a camera and an image recognition device.

[0053] The unmanned delivery vehicle 2 is equipped with a communication unit 211. As described above, the communication unit 211 performs mobile communication. As will be described later, the unmanned delivery vehicle 2 receives delivery instructions or collection instructions from the management center 3 or the cargo station 11 via the communication unit 211.

[0054] The unmanned delivery vehicle 2 is equipped with a control unit 212. The control unit 212 controls the unmanned delivery vehicle 2. The control unit 212 is electrically connected to the travel motor 25, steering mechanism 26, surrounding environment detection sensor 27, memory unit 28, opening / closing mechanism 29, first conveyor mechanism 23, second conveyor mechanism 24, sensor 210, and communication unit 211.

[0055] Upon receiving a delivery or collection order via the communication unit 211, the control unit 212 controls the unmanned delivery vehicle 2 according to the received delivery or collection order. The unmanned delivery vehicle 2 autonomously travels from the cargo station 11 to the delivery or collection destination specified by the delivery or collection order. After arriving at the delivery or collection destination, the unmanned delivery vehicle 2 performs a package handover operation or a package retrieval operation, as described below. After the package handover is completed, the package retrieval may be performed immediately at the same location. Details of the package handover operation or package retrieval operation will be described below. Once the package handover or package retrieval is completed, the unmanned delivery vehicle 2 autonomously travels back to the cargo station 11.

[0056] (The act of handing over luggage) In the delivery system 1, two methods are pre-set for the handover of packages 5 after the unmanned delivery vehicle 2 arrives at the delivery destination: (1) hand-delivery method and (2) contactless delivery method. The hand-delivery method is a method in which the unmanned delivery vehicle 2 directly hands over the package 5 to the recipient, while the contactless delivery method is a method in which the unmanned delivery vehicle 2 places the package on a designated surface. The designated surface may be, for example, the ground in front of the entrance, the floor, the bottom of a delivery box, a shelf, or a table.

[0057] Figure 5 shows the operation procedure of the unmanned delivery vehicle 2 in a hand-delivery system. First, in process P51, the door 22 is closed. In the following process P52, the opening / closing mechanism 29 opens the door 22. The door 22 switches from an upright position to a sideways position (see the white arrow in Figure 5). Then, in process P53, the first conveyor mechanism 23 and the second conveyor mechanism 24 are driven in the direction of sending out the package 5, that is, to the right in Figure 5. The package 5 in the cargo compartment 21 is transported toward the door 22 by the first conveyor mechanism 23 and the second conveyor mechanism 24 (see the black arrow in Figure 5). When the package 5 reaches a predetermined position above the door 22, the package 5 comes into contact with the sensor 210, and the sensor 210 outputs an ON signal. The control unit 212 receives the ON signal from the sensor 210 and stops the first conveyor mechanism 23 and the second conveyor mechanism 24. The package 5 stops above the door 22. The recipient, user 10, can easily lift the package 5 from the door 22.

[0058] Figure 6 shows the operation of the unmanned delivery vehicle 2 in the contactless delivery method. Figure 6 shows an example in which the unmanned delivery vehicle 2 places the package 5 on the bottom surface 431 inside the delivery box 43. Even in the contactless delivery method, the unmanned delivery vehicle 2 performs the processes P51 and P52 described above. The height of the sideways-facing door 22 corresponds to the height of the bottom surface 431 inside the delivery box 43 where the package 5 is placed, and the tip of the door 22 (right end in Figure 6) is located near the opening edge of the delivery box 43. The bottom surface 431 is an example of a placement surface.

[0059] Even in the contactless delivery method, in process P53, the first conveyor mechanism 23 and the second conveyor mechanism 24 are driven in the direction of sending out the package 5. The package 5 in the package compartment 21 is transported toward the door 22 by the first conveyor mechanism 23 and the second conveyor mechanism 24. When the package 5 comes into contact with the sensor 210, the sensor 210 outputs an ON signal. The control unit 212 does not stop the first conveyor mechanism 23 and the second conveyor mechanism 24 even after receiving the ON signal, but continues to drive them. The package 5 passes over the door 22 and is located inside the delivery box 43. In process P54 of Figure 6, when the package 5 has completely passed over the door 22 and been lowered from above the door 22, the sensor 210 switches from ON to OFF. The control unit 212, upon receiving that the sensor 210 has switched from ON to OFF, stops the first conveyor mechanism 23 and the second conveyor mechanism 24. Depending on the installation location of the sensor 210, the sensor 210 may switch from on to off before the package 5 has completely passed over the door 22. In such cases, the first conveyor mechanism 23 and the second conveyor mechanism 24 may be stopped after a predetermined time has elapsed since the sensor 210 switched from on to off. The operation of the unmanned delivery vehicle 2 in the delivery method is then completed.

[0060] Figures 7 and 8 are flowcharts showing the control procedure for the unmanned delivery vehicle 2 related to the delivery of package 5. First, in step S71 after the start, the control unit 212 of the unmanned delivery vehicle 2, which is waiting at the package station 11, determines whether it has received a delivery instruction from the management center 3 via the package station 11. Step S71 is repeated until a delivery instruction is received. The delivery instruction includes at least information on the delivery destination and the handover method. It is assumed that package 5 is already stored in the cargo compartment 21 of the unmanned delivery vehicle 2.

[0061] Upon receiving a delivery instruction, in step S72, the unmanned delivery vehicle 2 begins traveling from the cargo station 11 to the delivery destination. In step S73, the control unit 212 determines whether the vehicle has arrived at the delivery destination. The unmanned delivery vehicle 2 continues traveling in step S72 until it arrives at the delivery destination. Upon arrival at the delivery destination, the unmanned delivery vehicle 2 stops in step S74.

[0062] In step S75, the control unit 212 determines whether the delivery method for the package 5 is a hand-delivery method. If it is a hand-delivery method, in step S76, the control unit 212 reports to the management center 3 via the communication unit 211 that the unmanned delivery vehicle 2 has arrived at the delivery destination. Upon receiving the arrival report, the management center 3 notifies the terminal 42 of the user 10 at the delivery destination of the arrival of the unmanned delivery vehicle 2. Upon receiving the notification, the user 10 goes to the unmanned delivery vehicle 2 to receive the package.

[0063] User 10, upon receiving the arrival notification, may change the delivery method of package 5 from hand delivery to contactless delivery. This is because there may be cases where user 10 cannot directly receive the package from the unmanned delivery vehicle 2, such as when user 10 is far away from the unmanned delivery vehicle 2 when it arrives at the delivery destination. User 10 who wishes to change the method can do so using terminal 42. Terminal 42 notifies management center 3 of the change, and management center 3 forwards the change to unmanned delivery vehicle 2.

[0064] In step S77, the control unit 212 determines whether the method of handing over the package 5 remains the same as the hand-delivery method. If there is no change, the unmanned delivery vehicle 2 performs the hand-delivery operation in step S78.

[0065] On the other hand, if the delivery method for the package 5 is a contactless delivery method in step S75, or if the delivery method for the package 5 is changed to a contactless delivery method in step S77, the unmanned delivery vehicle 2 performs a contactless delivery operation in step S79.

[0066] In step S78, after the handover of the package 5 from the unmanned delivery vehicle 2 to the user 10 is completed, or in step S79, after the unmanned delivery vehicle 2 has completed the delivery of the package, in step S710, the control unit 212 reports to the management center 3 via the communication unit 211 that the delivery of the package has been completed, and in step S711, the unmanned delivery vehicle 2 is moved from the delivery destination to the package station 11.

[0067] Figure 8 shows the control flow for the hand-delivery operation in step S78 and the control flow for the unattended delivery operation in step S79. First, in step S781 of the hand-delivery operation, the control unit 212 authenticates the user 10. Various known methods can be used for authentication. For example, authentication of the user 10 may be performed using short-range wireless communication between the user 10's terminal 42 and the unmanned delivery vehicle 2.

[0068] After authentication is complete, in step S782, the control unit 212 uses the surrounding environment detection sensor 27 of the unmanned delivery vehicle 2 to determine whether there are any obstacles when opening the door 22. The surrounding environment detection sensor 27 is used not only when the unmanned delivery vehicle 2 is moving, but also when opening and closing the door 22. Step S782 is repeated until there are no obstacles. The unmanned delivery vehicle 2 may change its surroundings to a state where there are no obstacles, for example, by changing its stopping position. If the determination in step S782 is Yes, the control unit 212 opens the door 22 through the opening and closing mechanism 29 in step S783. The door 22 is then in a sideways position (see P52 in Figure 5). Note that determining whether there are any obstacles when opening the door 22 and changing the stopping position to a state where there are no obstacles may also be done between steps S73 and S76.

[0069] In step S784, the control unit 212 drives the first conveyor mechanism 23 and the second conveyor mechanism 24, respectively. The cargo 5 in the cargo compartment 21 is transported towards the top of the door 22. Then, in step S785, the control unit 210 determines whether or not it has detected the cargo 5. The first conveyor mechanism 23 and the second conveyor mechanism 24 continue to be driven until the sensor 210 detects the cargo 5.

[0070] If the sensor 210 detects the package 5 in step S785, the control unit 212 stops the first conveyor mechanism 23 and the second conveyor mechanism 24 in step S786. The package 5 is located above the door 22 (see P53 in Figure 5). At this time, the sensor 210 remains on.

[0071] In step S787, the control unit 212 determines whether the sensor 210 has turned from on to off. When user 10 picks up the package 5 on top of door 22, the sensor 210 turns from on to off. Step S787 is repeated until the sensor 210 turns off.

[0072] When sensor 210 switches from on to off, control unit 212 uses ambient environment detection sensor 27 to determine if there are any obstacles to closing door 22 (step S788). Step S788 is repeated until there are no obstacles, and if there are no obstacles, in step S789, control unit 212 closes door 22 through opening / closing mechanism 29. Door 22 switches from a sideways position to an upright position.

[0073] Meanwhile, in step S791 of the delivery operation, the control unit 212 uses the surrounding environment detection sensor 27 of the unmanned delivery vehicle 2 to determine whether there are any obstacles when opening the door 22. If the operating range of the door 22 changes depending on the destination of the delivery, the obstacle detection range may be changed according to the operating range of the door 22. Step S791 is repeated until there are no obstacles. If the determination in step S791 is Yes, the control unit 212 opens the door 22 through the opening / closing mechanism 29 in step S792. The door 22 then faces sideways.

[0074] In step S793, the control unit 212 drives the first conveyor mechanism 23 and the second conveyor mechanism 24, respectively. The cargo 5 in the cargo compartment 21 is transported towards the top of the door 22. Then, in step S794, it is determined whether the sensor 210 has detected the cargo 5. The control unit 212 continues to drive the first conveyor mechanism 23 and the second conveyor mechanism 24, respectively, until the sensor 210 detects the cargo 5.

[0075] If the sensor 210 detects the package 5 in step S794, the control unit 212 continues to drive the first conveyor mechanism 23 and the second conveyor mechanism 24 in step S795. Then, in step S796, the control unit 212 determines whether the sensor 210 has stopped detecting the package 5. The control unit 212 continues to drive the first conveyor mechanism 23 and the second conveyor mechanism 24 until the sensor 210 stops detecting the package 5.

[0076] In step S796, if the sensor 210 no longer detects the package 5, the control unit 212 stops the first conveyor mechanism 23 and the second conveyor mechanism 24 in step S797. The package 5 passes over the door 22 and is placed, for example, on the bottom surface 431 of the delivery box 43 (see P54 in Figure 6).

[0077] In step S798, the control unit 212 uses the surrounding environment detection sensor 27 to determine whether there are any obstacles to closing the door 22. Step S798 is repeated until there are no obstacles. If there are no obstacles, the control unit 212 closes the door 22 through the opening / closing mechanism 29 in step S799. The door 22 switches from a horizontal position to an upright position.

[0078] As explained above, in the handover method, the unmanned delivery vehicle 2 sends the package 5 out of the cargo compartment 21 until at least a portion of the package 5 is positioned above the door 22. The recipient user 10 can directly touch the package and therefore receive the package reliably from the unmanned delivery vehicle 2.

[0079] Based on detection signals from the sensor 210, the unmanned delivery vehicle 2 can move the package 5 from the cargo compartment 21 to the top of the door 22 without remote operation by an operator. The unmanned delivery vehicle 2 can reliably hand over the package 5 to the user 10.

[0080] Furthermore, even in the contactless delivery method, the unmanned delivery vehicle 2 can place the package 5 from the cargo compartment 21 into the delivery box 43 or the like, based on the detection signal from the sensor 210, without remote operation by an operator.

[0081] Furthermore, the unmanned delivery vehicle 2 uses the surrounding environment detection sensor 27 and sensor 210, which act as obstacle detection units, to confirm that there are no obstacles present at the time of opening or closing the door 22, and then opens or closes the door 22. The unmanned delivery vehicle 2 can autonomously and safely perform a series of operations related to the delivery of the package 5 without remote control by an operator. Note that the package 5 on top of the door 22 when closing the door 22 is one of the obstacles, and sensor 210 is included in the obstacle detection unit.

[0082] (Variation 1) In a delivery system where packages are left at the door, it is preferable that the height of the surface on which the package 5 is placed, for example, the bottom surface 431 of the delivery box 43, corresponds to the height of the sideways-facing door 22. The height of the tip of the sideways-facing door 22 of the unmanned delivery vehicle 2 may be adjustable.

[0083] For example, Figure 901 in the upper part of Figure 9 shows an example configuration in which the vertical angle of the sideways-facing door 22 can be changed. The sideways-facing door 22 is not limited to being horizontal. As shown in Figure 901, in a delivery, the door 22 may be tilted downward relative to the horizontal so that the height of the tip of the door 22 corresponds to the height of the surface on which the package 5 is placed. The sideways-facing door 22 may also be tilted upward relative to the horizontal.

[0084] Furthermore, Figure 902 below Figure 9 shows an example configuration in which the cargo compartment 21 and door 22 can be raised and lowered. In other words, the unmanned delivery vehicle 2 may be equipped with a lifting mechanism 213. The unmanned delivery vehicle 2 can use the lifting mechanism 213 to adjust the height of the cargo compartment 21 and door 22 to match the height of the loading surface on which the cargo 5 is placed. In a delivery method, the unmanned delivery vehicle 2 can stably place the cargo 5 at the designated location.

[0085] (Modification 2) As shown in Figure 5 or 6, the first conveyor mechanism 23 and the second conveyor mechanism 24 of the unmanned delivery vehicle 2 can stably transport the cargo 5 from the cargo compartment 21 toward the door 22. For example, as shown in Figure 1001 above in Figure 10, the second conveyor mechanism at the door 22 may be omitted in the unmanned delivery vehicle 2. The first conveyor mechanism 23 can transport the cargo 5 until at least a portion of the cargo 5 is located outside the cargo compartment 21.

[0086] Furthermore, the first conveyor mechanism 23 and the second conveyor mechanism 24 are not limited to mechanisms having belts 231 and 241, but may also be roller conveyor mechanisms having multiple rollers.

[0087] The moving part of the unmanned delivery vehicle 2 is not limited to a conveyor mechanism. Figure 1002 in Figure 10 shows a modified example of the moving part. The moving part may have a pusher 220 that pushes the cargo 5. The pusher 220 moves in a direction that pushes the cargo 5 out of the cargo compartment 21, for example, by a ball screw mechanism 221. The ball screw mechanism 221 has a ball screw that extends in the direction of the cargo being delivered. The cargo 5 pushed by the pusher 220 moves from the cargo compartment 21 onto the door 22.

[0088] Figure 1003 below Figure 10 shows a modified example of the movable part. The pusher 220 may be moved by the X-link 222 in a direction that pushes the load 5 out of the cargo compartment 21.

[0089] Furthermore, the conveyor mechanism, as a moving part, has the advantage of not only sending the cargo 5 out of the cargo compartment 21, but also being able to pull the cargo 5 back into the cargo compartment 21 when retrieving it, as will be described later.

[0090] (Variation 3) Figure 11 shows a modified version of the conveyor mechanism. The unmanned delivery vehicle 2 may have a third conveyor mechanism 214 in addition to the first conveyor mechanism 23 and the second conveyor mechanism 24. The third conveyor mechanism 214 may be provided on the second door 215 of the cargo compartment 21. The second door 215 opens and closes the ceiling of the cargo compartment 21. Door 22 and the second door 215 are connected so as to be deployable and foldable. The unmanned delivery vehicle 2 has a second opening and closing mechanism 216 for opening and closing the second door 215. The second opening and closing mechanism 216 may be a mechanism having an extendable cylinder, similar to the opening and closing mechanism 29.

[0091] The third conveyor mechanism 214 is a belt conveyor mechanism, similar to the first conveyor mechanism 23 and the second conveyor mechanism 24. The pulley of the third conveyor mechanism 214 is connected to the second driven pulley 243 of the second conveyor mechanism 24. When the second belt 241 of the second conveyor mechanism 24 moves, the belt of the third conveyor mechanism 214 also moves in the same direction.

[0092] As shown in process P111 of Figure 11, when the unmanned delivery vehicle 2 arrives at the delivery destination, the door 22 and the second door 215 open. As shown in process P112 of Figure 11, first, the telescopic cylinder of the opening / closing mechanism 29 extends, switching the door 22 to a sideways position. Then, as shown in process P113 of Figure 11, the telescopic cylinder of the second opening / closing mechanism 216 extends, changing the position of the second door 215. The door 22 and the second door 215 effectively form a ramp spanning between the cargo compartment 21 and the ground 9, which serves as the loading surface.

[0093] As the first conveyor mechanism 23, the second conveyor mechanism 24, and the third conveyor mechanism 214 are driven, the cargo 5 in the cargo compartment 21 is placed on the ground 9, passing over the door 22 and the second door 215 from the cargo compartment. The unmanned delivery vehicle 2 having the second door 215 is advantageous when placing the cargo 5 on the ground 9 as a drop-off delivery because the length of the ramp is long.

[0094] (Modification 4) As mentioned above, the unmanned delivery vehicle 2, which has Mecanum wheels or Omni wheels, is capable of moving in the width direction. When the unmanned delivery vehicle 2, which is capable of moving in the width direction, is to place the package 5, it may send the package 5 out of the cargo compartment 21 in the procedure shown in Figure 12. Also, after the package 5 has been handed over, if an obstacle is detected in response to the opening and closing of the door 22, the unmanned delivery vehicle 2 may be moved in the opposite direction to the direction of the package's movement with the door 22 open until no obstacle is detected.

[0095] Process P121 in Figure 12 is the same as process P53 in Figure 5. That is, after the door 22 is turned to a sideways position, the load 5 is positioned on top of the door 22 by driving the first conveyor mechanism 23 and the second conveyor mechanism 24.

[0096] In process P122, the unmanned delivery vehicle 2 moves toward the delivery box 43, thereby moving the door 22 carrying the package 5 into the delivery box 43. Processes 121 and 122 may be swapped. In other words, after the unmanned delivery vehicle 2 moves toward the delivery box 43 and moves the door 22 into the delivery box 43, the package 5 may be positioned on top of the door 22 by driving the first conveyor mechanism 23 and the second conveyor mechanism 24.

[0097] In the subsequent process P123, the second conveyor mechanism 24 moves the second belt 241 in the direction of package delivery, i.e., to the right in Figure 12, while the unmanned delivery vehicle 2 moves in the opposite direction to the package delivery direction, i.e., to the left in Figure 12. The door 22 moves relative to the package 5 so that the door 22 passes between the package 5 and the bottom surface 431 without changing the position of the package 5. Thus, in process P124, the package 5 is lowered from above the door 22. In the case of a drop-off method, the unmanned delivery vehicle 2 can accurately place the package 5 at the designated drop-off location. Alternatively, instead of the unmanned delivery vehicle 2 moving left and right in Figure 12, only the conveyor mechanism may move left and right relative to the unmanned delivery vehicle 2. Known mechanisms (chain drive, belt drive, link mechanism, etc.) are used to move the conveyor mechanism relative to the unmanned delivery vehicle 2.

[0098] Furthermore, when the unmanned delivery vehicle 2, which is capable of moving in the width direction, picks up the package 5, it may pull the package 5 from the delivery box 43 to the cargo compartment 21, for example, using the procedure shown in Figure 13. Here, it is assumed that the end of the package 5 protrudes from the bottom surface 431 of the delivery box 43.

[0099] First, in process P131 of Figure 13, the unmanned delivery vehicle 2 switches its door 22 to a sideways position and approaches the delivery box 43 until the tip of the door 22 touches the bottom edge of the package 5.

[0100] When the tip of the door 22 catches the bottom edge of the package 5, in the subsequent process P132, the unmanned delivery vehicle 2 moves the cargo compartment 21 and the door 22 upward. The package 5, with its end lifted by the door 22, tilts diagonally. A gap is created between the package 5 and the bottom surface 431. Then, while the second conveyor mechanism 24 moves the second belt 241 in the direction in which the package 5 is being pulled in, that is, to the left in Figure 13, the unmanned delivery vehicle 2 moves in the opposite direction to the direction in which the package is being pulled in, that is, to the right in Figure 13. Without changing the position of the package 5, the door 22 moves relative to the package 5 so that it enters the gap between the package 5 and the bottom surface 431. Thus, in process P133, the package 5 is placed on top of the door 22. After that, the first conveyor mechanism 23 and the second conveyor mechanism 24 are driven, and the package 5 is placed in the cargo compartment 21.

[0101] The unmanned delivery vehicle 2 moves away from the delivery box 43. Then, in process P134, the door 22 closes the cargo compartment 21, completing the retrieval of the package 5. The unmanned delivery vehicle 2 can reliably retrieve the package 5. [Explanation of Symbols]

[0102] 2. Unmanned delivery vehicles 21. Cargo area 22 doors 23. First conveyor mechanism (moving section) 24. Second conveyor mechanism (moving section) 210 Sensor (Luggage detection unit) 211 Communications Department 212 Control Unit 213 Lifting mechanism (lifting section) 431 Bottom surface (mounting surface) 5. Luggage 9. Ground (mounting surface)

Claims

1. A luggage compartment for storing luggage, A door that rotates vertically to switch between an upright position that closes the cargo compartment and a sideways position that opens the cargo compartment and is connected to the floor of the cargo compartment, A moving unit for moving the cargo in the cargo compartment onto the sideways-facing door, A luggage detection unit that detects that at least a portion of the luggage is located above the door, A communications unit that receives instructions regarding the delivery of the aforementioned package, A driving unit autonomously travels to the delivery destination of the package based on a command received by the communication unit, It comprises at least a control unit that controls the delivery of the aforementioned cargo, The control unit, upon arrival at the delivery destination, switches the door to a sideways position, moves the cargo in the cargo compartment toward the sideways-positioned door via the moving unit, and stops the movement by the moving unit based on a detection signal from the cargo detection unit. Unmanned delivery vehicle.

2. In the unmanned delivery vehicle described in claim 1, When the control unit receives a command from the communication unit specifying a method for directly handing over the package to the consignee, the control unit determines, based on the detection signal from the package detection unit, that the package is located in a predetermined position above the door, and stops the movement by the moving unit. Unmanned delivery vehicle.

3. In the unmanned delivery vehicle described in claim 1, When the control unit receives a command from the communication unit and a delivery method is specified, the control unit determines, based on the detection signal from the package detection unit, that the package has passed over the door and stops the movement by the moving unit. Unmanned delivery vehicle.

4. In the unmanned delivery vehicle described in claim 1, The system further includes an obstacle detection unit that detects obstacles that would hinder the opening and closing of the aforementioned door. The control unit, based on the detection result of the obstacle detection unit, switches the door from the upright position to the sideways position if there is no obstacle. Unmanned delivery vehicle.

5. In the unmanned delivery vehicle described in claim 4, Based on the detection result of the obstacle detection unit, the control unit switches the door from the sideways position to the upright position if there is no luggage on the door and no obstacles. Unmanned delivery vehicle.

6. In the unmanned delivery vehicle described in claim 1, The moving part is located on the floor of the cargo compartment and has a conveyor mechanism that transports the cargo toward the door. Unmanned delivery vehicle.

7. In the unmanned delivery vehicle described in claim 6, The moving part further includes a second conveyor mechanism provided on the door, The second conveyor mechanism is continuous with the conveyor mechanism when the door is in a sideways position. Unmanned delivery vehicle.

8. In the unmanned delivery vehicle described in claim 7, When a delivery method is specified by a command received by the communication unit, the control unit drives the conveyor mechanism and the second conveyor mechanism in the outward direction to position the package above the door at a location corresponding to the delivery location. Then, while continuing to drive the second conveyor mechanism in the outward direction, the control unit moves the unmanned delivery vehicle in the opposite direction to the outward direction using the travel unit, thereby lowering the package from above the door to the delivery location. Unmanned delivery vehicle.

9. In the unmanned delivery vehicle according to claim 7 or 8, The door, which is positioned sideways, is further equipped with a lifting mechanism to change its height. When the control unit receives a command from the communication unit specifying the collection of the package, the control unit raises the door using the lifting unit while the tip of the second conveyor mechanism of the sideways-facing door is in contact with the edge of the lower surface of the package placed on the loading surface, thereby creating a gap between the package and the loading surface, and while driving the second conveyor mechanism in the direction of pulling in the package, the unmanned delivery vehicle is moved in the opposite direction to the pulling direction using the traveling unit, thereby placing the package on the door and pulling the package into the cargo compartment by driving the second conveyor mechanism and the conveyor mechanism. Unmanned delivery vehicle.

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