Vehicle transport management system, vehicle transport management method and program

Abstract

To provide a vehicle transportation management system capable of transporting a self-driving vehicle that gets disabled to self-drive to a facility that has a function to restore the same to the state to drive.SOLUTION: A vehicle transportation management system includes multiple facilities (17a, 17b, 17c, 17d) each of which has a different function to restore a self-driving vehicle (15) depending on the cause of the inability of the self-driving vehicle (15) when the self-driving vehicle (15) becomes unable to drive in an automatic parking lot (3). When the self-driving vehicle (15) becomes unable to drive and stops in the automatic parking lot (3), a facility is selected out of the multiple facilities (17a, 17b, 17c, 17d) which has a function to restore the self-driving vehicle (15) to a state capable of driving depending on the causes of the self-driving vehicles (15) not being able to run. A vehicle transport robot (11) transports the self-driving vehicle (15) that cannot drive to the selected facility.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle transportation management system, a vehicle transportation management method, and a program. [Background technology]

[0002] For example, a method for operating an automatic towing robot is known in which, when an automatically-operated vehicle breaks down in a vehicle parking lot, a waiting automatic towing robot tows the broken-down automatically-operated vehicle to a predetermined location (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2016 / 0115702 Summary of the Invention [Problem to be solved by the invention]

[0004] In this case, for example, when an autonomous vehicle becomes unable to run and stops due to a lack of drive energy, it is preferable to have the autonomous vehicle towed by an automatic towing robot to a facility where drive energy can be replenished, and when an autonomous vehicle becomes unable to run and stops due to a malfunction of the vehicle function, it is preferable to have the autonomous vehicle towed by an automatic towing robot to a facility where the vehicle function can be restored. In other words, when an autonomous vehicle becomes unable to run and stops, it is desirable to have the autonomous vehicle towed by an automatic towing robot to a facility that has a function to return the vehicle to a runnable state for the reason why the autonomous vehicle is unable to run. However, the above-mentioned patent documents do not suggest anything about this. [Means for solving the problem]

[0005] Therefore, according to the present invention, a vehicle transport management system is provided which comprises a vehicle transport robot that is automatically driven to transport vehicles, a management server that manages the operation of the vehicle transport robot, and a plurality of facilities each having different functions that can restore the vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and is stopped, in which when a vehicle becomes unable to drive and is stopped, the cause of the vehicle's inability to drive is obtained by the management server, a facility having the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive is selected from the plurality of facilities, and the undriveable vehicle is transported to the selected facility by the vehicle transport robot. Furthermore, according to the present invention, a plurality of facilities each having a different function for restoring a vehicle to a drivable state according to the cause of the vehicle being unable to run when the vehicle is stopped is provided, The management server that manages the operation of the vehicle transport robot A vehicle transport management method is provided which, when a vehicle becomes unable to travel and stops, obtains the cause of the vehicle being unable to travel, selects from among a plurality of facilities a facility having a function capable of restoring the vehicle to a drivable state for the obtained cause of the vehicle being unable to travel, and transports the unable to travel vehicle to the selected facility by a vehicle transport robot. Further, according to the present invention, there is provided a program for controlling a vehicle transport management system having a plurality of facilities each having a different function capable of restoring a vehicle to a drivable state according to a cause of the vehicle being unable to travel when the vehicle is stopped due to being unable to travel, comprising: The management server that manages the operation of the vehicle transport robot A program is provided that causes a computer to obtain the cause of the vehicle becoming unable to travel when the vehicle is stopped because it is unable to travel, select a facility from among a plurality of facilities that has a function of restoring the vehicle to a drivable state for the obtained cause of the vehicle being unable to travel, and transport the unable to travel vehicle to the selected facility by a vehicle transport robot. Effect of the Invention

[0006] When a vehicle becomes unable to run, it can be transported to a facility that has the function of restoring the vehicle to a runnable state. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a plan view diagrammatically illustrating an automated parking lot. [Diagram 2] FIG. 2 is a plan view diagrammatically showing an automated parking lot. [Diagram 3] FIG. 3 is a plan view diagrammatically showing an automated parking lot. [Figure 4] FIG. 4 is a diagram illustrating the incoming and outgoing warehouse management server. [Diagram 5] FIG. 5 is a diagram illustrating an autonomous vehicle. [Figure 6] 6A, 6B, and 6C are diagrams illustrating the vehicle transport robot 11. FIG. [Figure 7] 7A and 7B are diagrams for explaining the loading operation of a manually-operated vehicle onto a vehicle transport robot. [Figure 8] 8A and 8B are diagrams for explaining the loading and unloading operation of a manually operated vehicle from a vehicle transport robot. [Figure 9] FIG. 9 is a diagram illustrating the leading portion of the vehicle transport robot. [Figure 10] FIG. 10 is a diagram showing the current state of the vehicle transport robot. [Figure 11] FIG. 11 is a diagram showing a list of the current states of the vehicle transport robot. [Figure 12] FIG. 12 is a flowchart for managing the vehicle transport robot. [Figure 13] FIG. 13 is a flowchart for controlling the operation of the vehicle transport robot. [Figure 14] FIG. 14 is a flow chart for carrying out the incoming / outgoing management control. [Figure 15] FIG. 15 is a flowchart for controlling vehicle operation. [Figure 16] FIG. 16 is a flowchart for performing vehicle function diagnosis. [Figure 17] FIG. 17 is a flowchart for executing the disabled vehicle handling process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Figures 1 to 3 are plan views diagrammatically showing the same automated parking lot. With reference to Figures 1 to 3, 1 denotes a road, 2 denotes a facility such as a department store, 3 denotes an automated parking lot, 4 denotes the parking area of ​​the automated parking lot 3, 5 denotes a number of parking spaces set in the parking area 4, 6 denotes a vehicle already parked in the parking space 5, 7 denotes an entrance gate to the parking area 4, 8 denotes an exit gate from the parking area 4, 9 denotes a boarding and disembarking area, 10 denotes a waiting area for a vehicle transport robot to transport a vehicle, 11 denotes a number of vehicle transport robots waiting in the waiting area 10, and 12 denotes a parking management facility. Within this parking management facility 12, an entry / exit management server 13 for managing entry and exit is installed.

[0009] 1 to 3, a large number of infrastructure sensors 14 are arranged in the automated parking lot 3 to identify vehicles entering and leaving the automated parking lot 3, detect fixed structures and moving objects in the parking lot area 4, and detect the parking status of vehicles in the parking lot area 4. As these infrastructure sensors 14, cameras, laser sensors, etc. are used. In this case, for example, if a camera is used as the infrastructure sensor 14, image signals captured by each infrastructure sensor 14 are transmitted to an entrance / exit management server 13 installed in the parking management facility 12.

[0010] In the automated parking lot 3 shown in Figures 1 to 3, when an entry request is made for an automated vehicle, the automated vehicle is automatically driven to an empty parking space 5 after the passenger gets off the automated vehicle at the boarding and alighting area 9, and when a departure request is made for an automated vehicle, the automated vehicle parked in the parking space 5 is automatically driven to the boarding and alighting area 9. On the other hand, when an entry request is made for a manually driven vehicle, the manually driven vehicle is transported to an empty parking space 5 by an automated vehicle transport robot 11 after the passenger gets off the manually driven vehicle at the boarding and alighting area 9, and when a departure request is made for a manually driven vehicle, the manually driven vehicle parked in the parking space 5 is transported to the boarding and alighting area 9 by the automated vehicle transport robot 11.

[0011] In this way, the automated parking lot 3 shown in Figures 1 to 3 provides an automated parking service that can automatically park both manually-driven vehicles and automatically-driven vehicles, i.e., an auto valet parking service. Figure 1 shows, with arrows, an example of the entry and exit actions when the parking space 5 designated for an automatically-driven vehicle 15 that has requested to enter is the parking space 5a, and Figure 2 shows, with arrows, an example of the entry and exit actions when the parking space 5 designated for a manually-driven vehicle 16 that has requested to enter is the parking space 5a.

[0012] That is, when autonomous vehicle 15 enters the parking lot, after autonomous vehicle 15 arrives at the boarding / alighting area 9 and a passenger disembarks from autonomous vehicle 15, autonomous vehicle 15 is moved to parking space 5a by autonomous driving as shown by the solid arrow in Fig. 1, and parked in parking space 5a. On the other hand, when autonomous vehicle 15 leaves the parking lot, autonomous vehicle 15 parked in parking space 5a is moved from parking space 5a to the boarding / alighting area 9 by autonomous driving as shown by the dashed arrow in Fig. 1.

[0013] On the other hand, when the manually driven vehicle 16 enters the parking area, as the manually driven vehicle 16 arrives at the boarding / alighting area 9 and the passenger disembarks from the manually driven vehicle 16, one 11a of the vehicle transport robots 11 waiting at the waiting area 10 is automatically driven to move toward the manually driven vehicle 16 as shown by solid arrow R1 in Fig. 2, and the manually driven vehicle 16 stopped at the boarding / alighting area 9 is loaded onto the vehicle transport robot 11a. Next, the vehicle transport robot 11a carrying the manually driven vehicle 16 is automatically driven to move to the parking space 5a as shown by solid arrow R2 in Fig. 2, and the loaded manually driven vehicle 16 is unloaded from the vehicle transport robot 11a in the parking space 5a. Next, the empty vehicle transport robot 11a that has unloaded the manually driven vehicle 16 moves to the parking space 5a as shown by solid arrow R3 in Fig. 2 As shown by the solid arrow R3 in FIG.

[0014] Furthermore, when the manually driven vehicle 16 leaves the parking area 10, one of the vehicle transport robots 11, 11b, is automatically driven to move toward the parking space 5a as shown by the dashed arrow S1 in Fig. 2, and the manually driven vehicle 16 stopped in the parking space 5a is loaded onto the vehicle transport robot 11b. Next, the vehicle transport robot 11b carrying the manually driven vehicle 16 is automatically driven to move to the boarding and disembarking area 9 as shown by the dashed arrow S2 in Fig. 2, and at the boarding and disembarking area 9, the loaded manually driven vehicle 16 is unloaded from the vehicle transport robot 11b. Next, the empty vehicle transport robot 11b that has unloaded the manually driven vehicle 16 is automatically driven back to the waiting area 10.

[0015] Next, the entry / exit management server 13, the autonomous vehicle 15, and the vehicle transport robot 11 shown in Fig. 1 and Fig. 2 will be described in order. Fig. 4 shows the entry / exit management server 13 shown in Fig. 1. Referring to Fig. 4, an electronic control unit 20 is provided in the entry / exit management server 13. This electronic control unit 20 is made up of a digital computer, and includes a CPU (microprocessor) 22, a memory 23 made up of ROM and RAM, and an input / output port 24, which are connected to each other by a bidirectional bus 21. As shown in Fig. 4, detection signals from various sensors 25 including each infrastructure sensor 14 are input to the electronic control unit 20. Also, map data of the parking lot area 4 is stored in the memory 23 of the electronic control unit 20.

[0016] FIG. 5 diagrammatically illustrates an example of the autonomous vehicle 15 shown in FIG. 1. Referring to FIG. 5, 30 indicates an electronic control unit mounted in the autonomous vehicle 15, 31 indicates a vehicle drive unit consisting of, for example, an electric motor for applying driving force to the drive wheels of the autonomous vehicle 15, 32 indicates a braking device for braking the autonomous vehicle 15, and 33 indicates a steering device for steering the autonomous vehicle 15. As shown in FIG. 5, the electronic control unit 30 is a digital computer and includes a CPU (microprocessor) 35, memory 36 consisting of ROM and RAM, and input / output ports 37, which are connected to each other by a bidirectional bus 34. Meanwhile, the autonomous vehicle 15 is equipped with various sensors 38 necessary for the autonomous vehicle 15 to perform autonomous driving, that is, sensors for detecting the state of the autonomous vehicle 15 and surrounding detection sensors for detecting the surroundings of the autonomous vehicle 15. In this case, an acceleration sensor, a speed sensor, and an azimuth sensor are used as sensors for detecting the state of the autonomous vehicle 15, and an on-board camera, a lidar, a radar, etc. that photograph the front, side, and rear of the autonomous vehicle 15 are used as surrounding detection sensors that detect the surroundings of the autonomous vehicle 15.

[0017] The autonomous vehicle 15 is also provided with a GNSS (Global Navigation Satellite System) receiver 39, a map data storage device 40, a navigation device 41, and various devices 42. The GNSS receiver 39 can detect the current position of the autonomous vehicle 15 (for example, the latitude and longitude of the autonomous vehicle 15) based on information obtained from a plurality of artificial satellites. Therefore, the current position of the autonomous vehicle 15 can be acquired by the GNSS receiver 39. For example, a GPS receiver is used as the GNSS receiver 39. Meanwhile, the map data storage device 40 stores map data and the like necessary for the autonomous vehicle 15 to perform autonomous driving. These various sensors 38, the GNSS receiver 39, the map data storage device 40, the navigation device 41, and the various devices 42 are connected to the electronic control unit 30. In addition, the autonomous vehicle 15 is equipped with a communication device 43 for communicating with the inventory management server 13, and as shown in Figure 4, a communication device 26 for communicating with the autonomous vehicle 15 is provided within the inventory management server 13.

[0018] Fig. 6A shows a plan view diagrammatically illustrating the vehicle transport robot 11 shown in Fig. 2, and Fig. 6B and Fig. 6C show side views of the vehicle transport robot 11 shown in Fig. 6A. With reference to Fig. 6A, Fig. 6B and Fig. 6C, 50 denotes the leading part of the transport robot, 51 denotes a carriage part connected to the leading part 50 of the transport robot and capable of moving up and down in the vertical direction, 52 denotes front wheels consisting of driving wheels, 53 denotes rear wheels consisting of driven wheels, and 54 denotes a lifting link device arranged between the rear wheels 53 and the carriage part 51. The carriage part 51 is composed of a front carriage part 51a and a rear carriage part 51b slidably connected to the front carriage part 51a.

[0019] As shown in FIG. 6A, a pair of wheel support arms 55 that can rotate 90 degrees from a retreated position shown by a solid line to a projected position shown by a broken line are arranged on both sides of the front cart section 51a and the rear cart section 51b. The rotational movement of the pair of arms 55 and the sliding movement of the rear cart section 51b relative to the front cart section 51a are performed by a hydraulic cylinder or an electric motor. Meanwhile, the cart section 51 is controlled to move up and down between a lowered position shown in FIG. 6B and an elevated position shown in FIG. 6C. In this case, a hydraulic cylinder or an electric motor for controlling the lifting and lowering of the cart is provided at the connection section between the front cart section 51a and the leading section 50 of the transport robot, and the lifting and lowering of the cart section 51 is controlled by the hydraulic cylinder or electric motor for controlling the lifting and lowering of the cart and the hydraulic cylinder or electric motor for driving the lifting and lowering link device 54.

[0020] When loading the manually-operated vehicle 16 onto the vehicle transport robot 11, the arm pair 55 is held in a retreated position as shown by solid lines in Fig. 6A, and the cart unit 51 is held in a lowered position as shown in Fig. 6B. Next, in this state, the vehicle transport robot 11 is moved to a vehicle loading preparation position in which the cart unit 51 is aligned with the longitudinal axis of the manually-operated vehicle 16 as shown in Fig. 7A. Next, the vehicle transport robot 11 is retreated, and the cart unit 51 enters below the manually-operated vehicle 16 as shown in Fig. 7B. Next, all the arms 55 are rotated to the protruding position, and then the cart unit 51 is raised. When the cart unit 51 is raised, all the wheels of the manually-operated vehicle 16 are supported by the corresponding arm pairs 55, and thereby the manually-operated vehicle 16 is loaded onto the vehicle transport robot 11. The distance between the front cart section 51a and the rear cart section 51b is adjusted according to the wheel base of the manually operated vehicle 16 to be loaded.

[0021] On the other hand, when the manually-operated vehicle 16 is to be unloaded from the vehicle transport robot 11, the vehicle transport robot 11 is moved to an unloading location. This is shown in FIG. 8A. Next, the platform unit 51 is lowered, and the loaded manually-operated vehicle 16 is lowered onto the ground. Next, all the arms 55 are rotated to the retracted position. Next, the vehicle transport robot 11 is moved forward with the platform unit 51 aligned with the longitudinal axis of the manually-operated vehicle 16, and is moved to a travel preparation position where the platform unit 51 has completely exited from under the manually-operated vehicle 16, as shown in FIG. 8B.

[0022] FIG. 9 diagrammatically shows an example of the transport robot head 50 of the vehicle transport robot 11 shown in FIG. 6A, FIG. 6B, and FIG. 6C. Referring to FIG. 9, 60 indicates an electronic control unit mounted in the transport robot head 50, 61 indicates a vehicle drive unit consisting of, for example, an electric motor for applying a driving force to the front wheels 52 of the vehicle transport robot 11, 62 indicates a braking device for braking the vehicle transport robot 11, and 63 indicates a steering device for steering the front wheels 52. As shown in FIG. 9, the electronic control unit 60 is made up of a digital computer and includes a CPU (microprocessor) 65, a memory 66 consisting of ROM and RAM, and an input / output port 67, which are connected to each other by a bidirectional bus 64. Meanwhile, the vehicle transport robot 11 is provided with various sensors 68 necessary for the vehicle transport robot 11 to perform automatic driving, that is, a sensor for detecting the state of the vehicle transport robot 11 and a surrounding detection sensor for detecting the surroundings of the vehicle transport robot 11. In this case, an acceleration sensor, a speed sensor, and an azimuth sensor are used as sensors for detecting the state of the vehicle transport robot 11, and an on-board camera, a lidar, a radar, etc. that photograph the front, side, and rear of the vehicle transport robot 11 are used as surrounding detection sensors that detect the surroundings of the vehicle transport robot 11.

[0023] The transport robot head 50 is also provided with a map data storage device 69 and a GNSS receiver 70. The GNSS receiver 70 can detect the current position of the vehicle transport robot 11 (for example, the latitude and longitude of the vehicle transport robot 11) based on information obtained from a plurality of artificial satellites. The map data storage device 69 stores map data of the parking lot area 4 required for the vehicle transport robot 11 to perform automatic driving. These various sensors 68, the map data storage device 69, and the GNSS receiver 70 are connected to the electronic control unit 60. A drive device 71 such as a hydraulic cylinder or an electric motor that controls the lifting and lowering of the cart unit 51 and the rotation of the arm 55 is also connected to the electronic control unit 60. The transport robot head 50 is also equipped with a communication device 72 for communicating with the warehouse entry and exit management server 13.

[0024] Next, the entry and exit operation of the autonomous vehicle 15 into and from the autonomous parking lot 3 will be described in more detail with reference to FIG. 1. In an embodiment according to the present invention, when a user using an autonomous parking service parks his / her autonomous vehicle 15 in the autonomous parking lot 3, for example, when the autonomous vehicle 15 arrives at the boarding / alighting area 9, the user transmits an entry request together with a vehicle ID for identifying the vehicle from the user's mobile terminal to the entry / exit management server 13 via a communication network. When the entry / exit management server 13 receives the entry request, the entry / exit management server 13 sets a travel route for the vehicle that allows the vehicle to reach the set parking space 5a from the boarding / alighting area 9 without coming into contact with other vehicles or pedestrians, as shown by the solid arrow in FIG. 1, and transmits this set travel route to the user's autonomous vehicle 15. When the user's autonomous vehicle 15 receives the set travel route from the boarding / alighting area 9 to the vacant parking space 5a, the vehicle is automatically driven along the set travel route.

[0025] On the other hand, the same is true when the user causes the autonomous vehicle 15 to leave the automated parking lot 3. For example, when the user arrives at the boarding / alighting area 9, the user transmits a request for leaving together with a vehicle ID for identifying the vehicle from the user's mobile terminal to the entry / exit management server 13 via a communication network. When the entry / exit management server 13 receives the request for leaving, it sets a driving route for the autonomous vehicle 15 that allows the autonomous vehicle 15 to reach the boarding / alighting area 9 from the parked space 5a without coming into contact with other vehicles or pedestrians, and transmits this set driving route to the user's autonomous vehicle 15. When the user's autonomous vehicle 15 receives the set driving route from the entry / exit management server 13, it is automatically driven to move from the parked space 5a to the boarding / alighting area 9 along the set driving route.

[0026] Next, the entry and exit operations of the manually driven vehicle 16 into and from the automatic parking lot 3 will be described in more detail with reference to Fig. 2. In an embodiment according to the present invention, when a user using an automatic parking service parks his / her manually driven vehicle 16 in the automatic parking lot 3, for example, when the manually driven vehicle 16 arrives at the boarding and alighting area 9, the user transmits an entry request together with a vehicle ID for identifying the vehicle from, for example, the user's mobile terminal to the entry and exit management server 13 via a communication network. When the entry and exit management server 13 receives the entry request, it automatically drives the vehicle transport robot 11 to the boarding and alighting area 9 and loads the manually driven vehicle 16 parked at the boarding and alighting area 9 onto the vehicle transport robot 11, and then moves the vehicle transport robot 11 carrying the manually driven vehicle 16 to the boarding and alighting area 9 as shown in Fig. 2. fruit As shown by the arrow in the line, the vehicle is moved from the boarding / alighting area 9 to the set parking space 5a.

[0027] The same is true when a user causes a manually driven vehicle 16 to leave the automated parking lot 3. For example, when the user arrives at the boarding / alighting area 9, the user transmits a request for leaving together with a vehicle ID for identifying the vehicle from the user's mobile terminal via a communication network to the entry / exit management server 13. When the entry / exit management server 13 receives the request for leaving, the vehicle transport robot 11 moves by automatic driving to the parking space 5a, and the manually driven vehicle 16 parked in the parking space 5a is loaded onto the vehicle transport robot 11. Next, the vehicle transport robot 11 carrying the manually driven vehicle 16 is moved to the parking space 5a in the manner shown in FIG. Break Move the vehicle to platform 9 as indicated by the arrow on the line.

[0028] In this way, in the embodiment of the present invention, the vehicle transport robot 11 is managed by the entry / exit management server 13. First, the management of the vehicle transport robot 11 by the entry / exit management server 13 will be described. The entry / exit management server 13 constantly acquires the current states Xi (i=1, 2...5), Yi (i=1, 2...5), and R0 of all the vehicle transport robots 11, No. 1 to No. S, present in the automated parking lot 3, as shown in Fig. 10, based on the image signals captured by each infrastructure sensor 14 or the position information of the vehicle transport robot 11 received from each vehicle transport robot 11. In the list of Fig. 11, the contents of each state Xi, Yi, and R0 are shown separately for the state at the time of entry and the state at the time of exit.

[0029] 11, when the manually-operated vehicle 16 enters the parking lot, R0 indicates that the vehicle is waiting at the waiting area 10, X1 indicates that the vehicle is traveling toward the vehicle loading preparation position (FIG. 7A) at the boarding / disembarking area 9, X2 indicates that the vehicle is stopped at the boarding / disembarking area 9 for vehicle loading processing, X3 indicates that the vehicle is traveling toward the vehicle unloading position at the parking space 5, X4 indicates that the vehicle is stopped at the parking space 5 for vehicle unloading processing, and X5 indicates that the vehicle is traveling to return to the waiting area 10. Also, when the manually-operated vehicle 16 leaves the parking lot, R0 indicates that the vehicle is waiting at the waiting area, Y1 indicates that the vehicle is traveling toward the vehicle loading preparation position (FIG. 7A) at the parking space 5, Y2 indicates that the vehicle is stopped at the parking space 5 for vehicle loading processing, Y3 indicates that the vehicle is traveling toward the vehicle unloading position at the boarding / disembarking area 9, Y4 indicates that the vehicle is stopped at the boarding / disembarking area 9 for vehicle unloading processing, and Y5 indicates that the vehicle is traveling to return to the waiting area 10.

[0030] In the embodiment of the present invention, as described below, a request for the next process to be executed by the vehicle transport robot 11 is transmitted from the vehicle transport robot 11 to the storage / retrieval management server 13. When the storage / retrieval management server 13 receives the request for the next process to be executed, it determines the next process to be executed based on the current state of the vehicle transport robot 11, and transmits the determined process request to the vehicle transport robot 11. car Operation commands are issued to both transport robots 11. In this manner, in this embodiment of the present invention, the behavior of the vehicle transport robot 11 is managed by the storage / retrieval management server 13. A management routine for managing this vehicle transport robot 11 is shown in FIG. 12, and this routine is repeatedly executed in the electronic control unit 20 of the storage / retrieval management server 13.

[0031] 12, first, in step 100, the current states of all vehicle transport robots 11 shown in FIG. 10 are updated based on the image signals captured by each infrastructure sensor 14 or the position information of the vehicle transport robot 11 received from the vehicle transport robot 11. Next, in step 101, it is determined whether or not the vehicle transport robot 11 has received a request for the next process to be performed from the vehicle transport robot 11. If it is determined that the request for the next process to be performed has not been received from the vehicle transport robot 11, the processing cycle ends. On the other hand, if it is determined that the request for the next process to be performed has been received from the vehicle transport robot 11, the process proceeds to step 102.

[0032] In step 102, a command for the vehicle transport robot 11 is issued based on the current state of the vehicle transport robot 11 that issued the request for the next process to be executed. request For example, when loading of the manually-operated vehicle 16 at the boarding / alighting area 9 is completed, a request for the next process to be executed is issued from the vehicle transport robot 11. At this time, the current state of the vehicle transport robot 11 is stopped for the vehicle loading process at the boarding / alighting area 9 indicated by X2 in FIG. 11. Therefore, in step 102, the next process is determined to be to move the vehicle transport robot 11 to an empty parking space 5 and unload the manually-operated vehicle 16 from the vehicle transport robot 11. request It is determined as a process.

[0033] In step 102, the next requestOnce the process is determined, in step 103, the movement destination of the vehicle transport robot 11 is set. In the above example, from among the multiple parking spaces 5, an empty parking space 5 is set as the movement destination of the vehicle transport robot 11. Once the movement destination is set, the process proceeds to step 104, where a travel route from the boarding / disembarking area 9 to the empty parking space 5 is set based on the map data of the parking lot area 4 stored in the memory 32. Next, in step 105, a travel trajectory and travel speed of the vehicle transport robot 11 that does not come into contact with other vehicles or structures are determined. Next, in step 106, a driving execution command for the vehicle transport robot 11 is issued, and then in step 107, a command for the vehicle transport robot 11 to operate is issued. request The processing, the set vacant parking space 5, the driving route, the driving trajectory, the driving speed and the driving execution command are transmitted from the entry / exit management server 13 to the vehicle transport robot 11.

[0034] When an operation execution command is sent from the warehouse entry / exit management server 13 to the vehicle transport robot 11, automatic operation control of the vehicle transport robot 11 is started. Fig. 13 shows an operation control routine for controlling the operation of the vehicle transport robot 11. This routine is repeatedly executed by the electronic control unit 60 mounted on the transport robot front part 50 of the vehicle transport robot 11.

[0035] Referring to FIG. 13, first, in step 200, the vehicle transport robot 11 determined by the warehouse entry / exit management server 13 is requestProcessing is acquired. Next, in step 201, the movement destination set in the entry / exit management server 13 is acquired, then in step 202, the travel route set in the entry / exit management server 13 is acquired, and in step 203, the travel track and travel speed set in the entry / exit management server 13 are acquired. Next, in step 204, the travel control of the vehicle transport robot 11 is performed along the set travel track based on the detection results of the surrounding detection sensors such as a camera, a lidar (LIDAR), and a radar that capture the front of the vehicle transport robot 11, so as not to come into contact with other vehicles or pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached the movement destination, and in the above example, whether the vehicle transport robot 11 has reached the set vacant parking space 5. Vehicle transport robot 11 If it is determined that the vehicle transport robot 11 has not reached the destination, the process returns to step 204, and the automatic operation of the vehicle transport robot 11 continues. On the other hand, if it is determined in step 205 that the vehicle transport robot 11 has reached the destination, the process proceeds to step 206.

[0036] In step 206, the vehicle transport robot 11 request In the above example, a process is executed to unload the manually-operated vehicle 16 from the vehicle transport robot 11. That is, the platform unit 51 is lowered, the loaded manually-operated vehicle 16 is lowered onto the ground in the parking space 5, then all the arms 55 are rotated to the retreated position, and then the vehicle transport robot 11 is moved forward, and as shown in FIG. 8B, the platform unit 51 is moved to the travel preparation position where it has completely come out from under the manually-operated vehicle 16. In step 207, a command is issued to the vehicle transport robot 11. request In the above example, it is determined whether the process of unloading the manually operated vehicle 16 from the vehicle transport robot 11 is completed, that is, whether the cart unit 51 has been moved to the travel preparation position. request If it is determined that the process is not complete, the process returns to step 206 and the vehicle transport robot 11 is requestThe process continues. Meanwhile, in step 207, request If it is determined that the process is completed, the process proceeds to step 208, where a request for the next process to be executed by the vehicle transport robot 11 is received. Enter It is transmitted to the delivery management server 13.

[0037] In this way, the vehicle transport robot 11 is controlled using the management routine for the vehicle transport robot 11 shown in Fig. 12 and the operation control routine for the vehicle transport robot 11 shown in Fig. 13, and therefore, even when there is an entry / leave request from the manually driven vehicle 16, the vehicle transport robot 11 is controlled using the management routine for the vehicle transport robot 11 shown in Fig. 12 and the operation control routine for the vehicle transport robot 11 shown in Fig. 13. Next, with reference to Fig. 14, an entry / leave management control routine executed in the electronic control unit 20 when the entry / leave management server 13 receives an entry / leave request from the automatically driven vehicle 15 or manually driven vehicle 16 will be described. Referring to FIG. 14, first, in step 300, it is determined whether the vehicle requesting entry is an autonomous vehicle 15 or a manually driven vehicle 16. When it is determined that the vehicle requesting entry is an autonomous vehicle 15, the process proceeds to step 301, where an empty parking space 5 is set as the destination of movement of the autonomous vehicle 15 from among a large number of parking spaces 5. Once the destination of movement is set, the process proceeds to step 302, where a driving route from the boarding / alighting area 9 to the empty parking space 5 is set based on the map data of the parking lot area 4 stored in the memory 32. Next, in step 303, a driving trajectory and a driving speed of the autonomous vehicle 15 that do not come into contact with other vehicles or structures are determined. Next, in step 304, an autonomous driving execution command for the autonomous vehicle 15 is issued, and then, in step 305, the set empty parking space 5, the driving route, the driving trajectory, the driving speed, and the autonomous driving execution command are transmitted from the entry / exit management server 13 to the autonomous vehicle 15.

[0038] When an automatic driving execution command is transmitted from the warehouse entry / exit management server 13 to the automatic driving vehicle 15, automatic driving control of the automatic driving vehicle 15 is started. Fig. 15 shows a vehicle driving control routine for controlling the driving of the automatic driving vehicle 15. This routine is repeatedly executed by the electronic control unit 30 mounted on the automatic driving vehicle 15.

[0039] Referring to FIG. 15, first, in step 400, the destination of the movement set in the entry / exit management server 13 is acquired, then, in step 401, the travel route set in the entry / exit management server 13 is acquired, and in step 402, the travel track and travel speed set in the entry / exit management server 13 are acquired. Next, in step 403, the travel control of the autonomous vehicle 15 is performed along the set travel track based on the detection results of the surrounding detection sensors such as a camera, a lidar (LIDAR), and a radar that capture the front of the autonomous vehicle 15, so as not to come into contact with other vehicles or pedestrians. Next, in step 404, it is determined whether the autonomous vehicle 15 has reached the destination of the movement. When it is determined that the autonomous vehicle 15 has not reached the destination of the movement, the process returns to step 403, and the autonomous driving of the autonomous vehicle 15 continues. On the other hand, when it is determined in step 404 that the autonomous vehicle 15 has reached the destination of the movement, that is, when parking in the vacant parking space 5 is completed, the entry management is terminated.

[0040] On the other hand, entry / exit management control when the user wishes to exit the autonomous vehicle 15 is also executed using the entry / exit management control routine shown in FIG. 14. However, in this case, in step 301 of FIG. 14, the boarding / exiting area 9 is set as the destination of movement of the autonomous vehicle 15, in step 302, a driving route from the parking space 5 where the autonomous vehicle 15 is currently parked to the boarding / exiting area 9 is set, in step 303, a driving track and driving speed of the autonomous vehicle 15 that will not come into contact with other vehicles or structures are set, in step 304, an autonomous driving execution command for the autonomous vehicle 15 is issued, and in step 305, the set destination of movement, driving route, driving track, driving speed, and autonomous driving execution command are transmitted from the entry / exit management server 13 to the autonomous vehicle 15. When the autonomous vehicle 15 receives the set destination of movement, driving route, driving track, driving speed, and autonomous driving execution command, the autonomous vehicle 15 is set as shown in FIG. 15. 15 The process of leaving the autonomous vehicle 15 is carried out by the driving control routine.

[0041] 14, when it is determined that the vehicle requesting entry / exit is a manually driven vehicle 16, the process proceeds to step 306, where one vehicle transport robot 11 is selected from among the vehicle transport robots 11 waiting in the waiting area 10. Next, in step 307, a processing request is made to the selected vehicle transport robot 11. That is, when a manually driven vehicle 16 is requesting entry, a request is made for the manually driven vehicle 16 to enter the warehouse, and when a manually driven vehicle 16 is requesting exit, a request is made for the manually driven vehicle 16 to leave the warehouse. In this case, when the manually driven vehicle 16 requests to enter the parking lot, in the management routine for the vehicle transport robot 11 shown in FIG. 12, a process is executed in which the vehicle transport robot 11 is moved to the boarding and alighting area 9 and the manually driven vehicle 16 is loaded onto the vehicle transport robot 11, and when the manually driven vehicle 16 requests to leave the parking lot, a process is executed in which the vehicle transport robot 11 is moved to the manually driven vehicle 16 parked in the parking space 5 and the manually driven vehicle 16 is loaded onto the vehicle transport robot 11, and then the vehicle transport robot 11 is moved to the boarding and alighting area 9 and the manually driven vehicle 16 is loaded and unloaded from the vehicle transport robot 11.

[0042] Incidentally, for example, when the autonomous vehicle 15 becomes unable to run and stops due to a lack of drive energy of the autonomous vehicle 15, it is preferable to have the autonomous vehicle 15 transported by the vehicle transport robot 11 to a facility where drive energy can be replenished, and when the autonomous vehicle 15 becomes unable to run and stops due to a malfunction of the vehicle function, it is preferable to have the autonomous vehicle 15 transported by the vehicle transport robot 11 to a facility where the vehicle function can be restored. Therefore, in an embodiment according to the present invention, when the autonomous vehicle 15 becomes unable to run and stops, it is arranged for the vehicle transport robot 11 to transport the autonomous vehicle 15 to a facility having a function to restore the vehicle to a runnable state for the reason why the autonomous vehicle 15 becomes unable to run.

[0043] Next, the cause of the inability of the automatically driven vehicle 15 to travel will be described. Various types of energy are used to drive the automatically driven vehicle 15. For example, when an internal combustion engine is used as the drive source of the automatically driven vehicle 15, the drive energy of the automatically driven vehicle 15 is oil fuel such as gasoline, and when an electric motor is used as the drive source of the automatically driven vehicle 15, the drive energy of the automatically driven vehicle 15 is the output of a battery or the output of a fuel cell. The cause of the automatically driven vehicle 15 being unable to travel differs depending on the type of energy, and within the electronic control unit 30 of the automatically driven vehicle 15, a determination operation for the cause of the automatically driven vehicle 15 being unable to travel is performed based on detection signals from various devices 42.

[0044] For example, in an autonomous vehicle 15 that uses oil fuel, the remaining amount of oil fuel is constantly detected, and when the remaining amount of oil fuel is below a preset lower limit and the autonomous vehicle 15 becomes unable to run and stops, the cause of the autonomous vehicle 15's inability to run is determined to be a lack of oil fuel. On the other hand, in an autonomous vehicle 15 that is driven by an electric motor and the electric motor is operated by a supply of power from a battery, the remaining charge in the battery is constantly detected, and when the remaining charge in the battery is below a preset lower limit and the autonomous vehicle 15 becomes unable to run and stops, the cause of the autonomous vehicle 15's inability to run is determined to be a lack of remaining charge in the battery. Furthermore, in an autonomous vehicle 15 that is driven by an electric motor that is operated by power supply from a fuel cell, the remaining amount of hydrogen in the hydrogen tank is constantly detected, and if the remaining amount of hydrogen is below a preset lower limit and the autonomous vehicle 15 becomes unable to run and stops, the cause of the autonomous vehicle 15's inability to run is determined to be a lack of remaining hydrogen.

[0045] On the other hand, a typical example of a malfunction of a vehicle function is a flat tire of the autonomous vehicle 15. In this case, when a tire goes flat and the air pressure in the tire drops, the tire rotation speed changes, and therefore, it is possible to detect that the tire has gone flat from the change in the tire rotation speed. Therefore, in an embodiment according to the present invention, the change in the tire rotation speed is constantly detected and it is constantly determined whether or not the tire has gone flat based on the change in the tire rotation speed. When it is determined that a tire of the autonomous vehicle 15 has gone flat and the autonomous vehicle 15 becomes unable to run and stops, the cause of the inability of the autonomous vehicle 15 to run is determined to be a flat tire of the autonomous vehicle 15.

[0046] Next, a description will be given of facilities that have the function of restoring the vehicle to a drivable state when the autonomous vehicle 15 is unable to travel due to a lack of oil fuel such as gasoline. When the autonomous vehicle 15 is stopped due to a lack of oil fuel, the autonomous vehicle 15 can travel by refilling the oil fuel. Therefore, when the autonomous vehicle 15 is unable to travel due to a lack of oil fuel, a facility that has the function of restoring the vehicle to a drivable state when the autonomous vehicle 15 is unable to travel due to a lack of residual charge in the battery is a gas station. Also, when the autonomous vehicle 15 is stopped due to a lack of residual charge in the battery, the autonomous vehicle 15 can travel by charging the battery. Therefore, when the autonomous vehicle 15 is unable to travel due to a lack of residual charge in the battery, a facility that has the function of restoring the vehicle to a drivable state when the autonomous vehicle 15 is unable to travel due to a lack of residual charge in the battery is a charging station.

[0047] On the other hand, when the autonomous vehicle 15 stops due to a lack of remaining hydrogen, the autonomous vehicle 15 can be made to move by refilling with hydrogen. Therefore, when the cause of the autonomous vehicle 15 being unable to move is determined to be a lack of remaining hydrogen, the facility that has the function of restoring the vehicle to a state in which it can be driven, despite the cause being that it is unable to move, is a hydrogen station. Also, when the autonomous vehicle 15 stops due to a flat tire, the autonomous vehicle 15 can be made to move by changing or repairing the tire. Therefore, when the cause of the autonomous vehicle 15 being unable to move is determined to be a flat tire, the facility that has the function of restoring the vehicle to a state in which it can be driven, despite the cause being that it is unable to move, is a repair facility such as a repair shop.

[0048] In an embodiment according to the present invention, the autonomous vehicle 15 performs an operation to determine the cause of the autonomous vehicle 15 being unable to drive, and when the autonomous vehicle 15 becomes unable to drive and stops, one of the facilities having the function of restoring the vehicle to a driveable state for the determined cause of the vehicle's inability to drive, i.e., a gas station, a charging station, a hydrogen station, or a repair facility, is selected, and the autonomous vehicle 15 that is unable to drive is transported to the selected facility by the vehicle transport robot 11.

[0049] That is, in an embodiment according to the present invention, as shown in Fig. 1 to Fig. 3, a gas station 17a, a charging station 17b, a hydrogen station 17c, and a repair facility 17d are installed in the automatic parking lot 3, and when an automatic vehicle 15 becomes unable to run and stops in the automatic parking lot 3, a facility having a function of restoring the vehicle to a runnable state for the cause of the inability of the automatic vehicle 15, that is, one of the gas station 17a, the charging station 17b, the hydrogen station 17c, and the repair facility 17d, is selected, and the automatic vehicle 15 that is unable to run is transported to the selected facility by the vehicle transport robot 11. Fig. 3 illustrates a typical example of the transport work of the automatic vehicle 15 that is unable to run by the vehicle transport robot 11. Note that this example shows a case where the automatic vehicle 15 that is unable to run is transported to the repair facility 17d by the vehicle transport robot 11.

[0050] In Fig. 3, 15a indicates an autonomous vehicle that is unable to travel and stopped in the parking lot area 4, and hereinafter, this autonomous vehicle 15a that is unable to travel and stopped is referred to as the incapable vehicle 15a. In an embodiment according to the present invention, when an autonomous vehicle 15 becomes unable to travel and stops, a transport request for the incapable vehicle 15a is issued to one of the vehicle transport robots 11 waiting in the waiting area 10. When a transport request for the incapable vehicle 15a is issued to the vehicle transport robot 11, the vehicle transport robot 11 is moved from the waiting area 10 to a vehicle loading preparation position K1 (Fig. 7A) for the incapable vehicle 15a, as shown by a solid arrow, and then the incapable vehicle 15a is loaded onto the vehicle transport robot 11.

[0051] Next, the vehicle transport robot 11 carrying the incapable vehicle 15a is moved to a pre-designated location indicated by K2 in the repair facility 17d, and the incapable vehicle 15a is unloaded from the vehicle transport robot 11 to the pre-designated location K2. Next, the empty vehicle transport robot 11 is returned to the waiting location 10, as indicated by the solid arrow.

[0052] In order to carry out the transport operation of such a vehicle 15a that cannot be driven, the current state Zi of the vehicle transport robot 11 is set in advance even when a vehicle that cannot be driven occurs, as shown in the list in Fig. 11. As shown in Fig. 11, when a vehicle that cannot be driven occurs, R0 indicates that the vehicle is waiting at the waiting place 10, Z1 indicates that the vehicle is traveling toward the loading preparation position (Fig. 7A) for the vehicle that cannot be driven 15a, Z2 indicates that the vehicle is stopped for loading processing of the vehicle that cannot be driven 15a, Z3 indicates that the vehicle is traveling toward the vehicle unloading position in the selected facility, Z4 indicates that the vehicle is stopped for unloading processing in the selected facility, and Z5 indicates that the vehicle is traveling to return to the waiting place 10.

[0053] FIG. 16 shows a diagnostic routine for the vehicle functions of the autonomous vehicle 15, which is repeatedly executed in the electronic control unit 30 of the autonomous vehicle 15.

[0054] 16, first, in step 500, the cause of the inability of the autonomous vehicle 15 to run is determined based on the detected amount of remaining oil fuel, the detected amount of remaining charge in the battery, the detected amount of remaining hydrogen, and the detected change in tire rotation speed. Next, in step 501, it is determined whether the autonomous vehicle 15 has become unable to run and has stopped. When the autonomous vehicle 15 is not stopped, or Self If the autonomous vehicle 15 stops for a reason other than being unable to drive, the processing cycle ends. On the other hand, if it is determined that the autonomous vehicle 15 has stopped because it is unable to drive, the process proceeds to step 502. In step 502, the cause of the autonomous vehicle 15 being unable to drive is determined based on the result of the determination work of the cause of the autonomous vehicle 15 being unable to drive performed in step 500. Next, in step 503 In step S20, the determined cause of the vehicle being unable to be driven and the vehicle ID are transmitted to the entry / exit management server 13.

[0055] FIG. 17 shows a non-traveling vehicle handling processing routine for carrying out a non-traveling vehicle transport operation. This routine is repeatedly executed by the electronic control unit 20 of the warehouse entry / delivery management server 13.

[0056] 17, first, in step 600, a vehicle 15a that cannot be driven and is present in the automated parking lot 3 is detected. This detection of the vehicle 15a that cannot be driven is performed based on information on the autonomous vehicle 15 that cannot be driven transmitted from the autonomous vehicle 15 to the entry / exit management server 13, or on image signals captured by each infrastructure sensor 14. Next, in step 601, one vehicle transport robot 11 is selected from the vehicle transport robots 11 waiting in the waiting area 10. Next, in step 602, a processing request is issued to the selected vehicle transport robot 11, i.e., a request is issued to transport the vehicle 15a that cannot be driven by the selected vehicle transport robot 11.

[0057] When a request is made for the selected vehicle transport robot 11 to transport the incapable vehicle 15a, the vehicle transport robot management routine shown in FIG. 12 issues various commands to the selected vehicle transport robot 11 required to transport the incapable vehicle 15a, and the operation of the vehicle transport robot 11 is controlled by the vehicle transport robot 11 operation control routine shown in FIG. 13.

[0058] That is, when a request for the selected vehicle transport robot 11 to transport the vehicle 15a that cannot travel is issued, in step 101 of the vehicle transport robot management routine shown in Fig. 12, it is determined that a request for transport processing of the vehicle 15a that cannot travel has been made, and the process proceeds to step 102. In step 102, the vehicle transport robot 11 is assigned a transport request based on the current state of the selected vehicle transport robot 11. requestWhen a request for transporting the non-traveling vehicle 15a is received, the current state of the vehicle transport robot 11 is waiting at the waiting area 10 indicated by R0 in FIG. 11. Therefore, in step 102, the vehicle transport robot 11 is moved from the waiting area 10 to the loading preparation position K1 (FIG. 3) for the non-traveling vehicle 15a, and the process of loading the non-traveling vehicle 15a onto the vehicle transport robot 11 is determined as the next step. request It is determined as a process.

[0059] In step 102, the next request Once the process has been decided, in step 103, the movement destination of the vehicle transport robot 11 is set. At this time, the loading preparation position K1 (FIG. 3) of the vehicle 15a that cannot move is set as the movement destination of the vehicle transport robot 11. Once the movement destination has been set, the process proceeds to step 104, where a travel route from the waiting area 10 to the loading preparation position K1 (FIG. 3) is set based on the map data of the parking lot area 4 stored in the memory 32. Next, in step 105, a travel trajectory and travel speed of the vehicle transport robot 11 that will not come into contact with other vehicles or structures are determined. Next, in step 106, a drive execution command is issued for the vehicle transport robot 11, and then in step 107, a command is issued to the vehicle transport robot 11. request The process, loading preparation position K1, travel route, travel trajectory, travel speed, and driving execution command are transmitted from the warehouse entry / exit management server 13 to the vehicle transport robot 11.

[0060] When an operation execution command is sent from the entry / exit management server 13 to the vehicle transport robot 11, the operation control routine of the vehicle transport robot 11 shown in Fig. 13 is executed, and the vehicle transport robot 11 starts transporting the vehicle 15a that cannot run. That is, referring to Fig. 13, first, in step 200, the vehicle transport robot 11 determines the vehicle operation execution command for the vehicle transport robot 11 in the entry / exit management server 13. requestIn step 201, the moving destination set in the storage / shipping management server 13, that is, the loading preparation position K1 (FIG. 3), is acquired, and in step 202, the traveling route set in the storage / shipping management server 13 is acquired, and in step 203, the traveling track and traveling speed set in the storage / shipping management server 13 are acquired.

[0061] Next, in step 204, the vehicle transport robot 11 is controlled to travel along the set travel trajectory based on the detection results of surrounding detection sensors such as a camera, a lidar, and a radar that capture images of the area in front of the vehicle transport robot 11, so as not to come into contact with other vehicles or pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached the destination, i.e., the loading preparation position K1. If it is determined that the autonomous vehicle 6 has not reached the destination, i.e., the loading preparation position K1, the process returns to step 204, and the autonomous driving of the vehicle transport robot 11 continues. On the other hand, if it is determined in step 205 that the vehicle transport robot 11 has reached the destination, i.e., the loading preparation position K1, the process proceeds to step 206.

[0062] In step 206, the vehicle transport robot 11 request In step 207, a process is executed to load the non-running vehicle 15a onto the vehicle transport robot 11. That is, the vehicle transport robot 11 is moved backward and the cart unit 51 is moved to enter under the non-running vehicle 15a. Next, all the arms 55 are rotated to the protruding position, and then the cart unit 51 is raised. When the cart unit 51 is raised, all the wheels of the non-running vehicle 15a are supported by the corresponding arm pairs 55, and the non-running vehicle 15a is thereby loaded onto the vehicle transport robot 11. In step 207, a command is issued to the vehicle transport robot 11 to load the non-running vehicle 15a onto the vehicle transport robot 11. request It is determined whether the process, that is, the process of loading the vehicle 15a that cannot travel onto the vehicle transport robot 11, has been completed. requestIf it is determined that the process is not complete, the process returns to step 206 and the vehicle transport robot 11 is request The process continues. Meanwhile, in step 207, request If it is determined that the process is completed, the process proceeds to step 208, where a request for the next process to be executed by the vehicle transport robot 11 is received. Enter It is transmitted to the delivery management server 13.

[0063] When the warehouse entry / outlet management server 13 receives a request for the next process to be executed by the vehicle transport robot 11, it is determined in step 101 of the vehicle transport robot management routine shown in Fig. 12 that a request for the next process to be executed by the vehicle transport robot 11 has been received, and the process proceeds to step 102. In step 102, the warehouse entry / outlet management server 13 determines a next process to be executed by the vehicle transport robot 11 based on the current state of the vehicle transport robot 11 that issued the request for the next process to be executed. request At this time, the current state of the vehicle transport robot 11 is stopped for loading processing of the vehicle 15a that cannot run, as indicated by Z2 in FIG. 11. Therefore, in step 102, the vehicle transport robot 11 that has loaded the vehicle 15a that cannot run is moved to the next destination, and the process of unloading the vehicle 15a that cannot run from the vehicle transport robot 11 is determined as the next process. request It is determined as a process.

[0064] In step 102, the next request When the process is determined, in step 103, a facility having a function capable of restoring the vehicle to a drivable state for the reason for the inability of the autonomous vehicle 15 to a drivable state for the autonomous vehicle 15 that is received from the inability to drive is selected from among the gas station 17a, the charging station 17b, the hydrogen station 17c, and the repair facility 17d, and a pre-designated location within the selected facility is set as the movement destination of the vehicle transport robot 11. In this case, the example shown in Fig. 3 shows a case where a pre-designated location K2 within the repair facility 17d is selected as a facility having a function capable of restoring the vehicle to a drivable state for the reason for the inability of the autonomous vehicle 15 to a drivable state for the autonomous vehicle 15 that is not able to drive.

[0065] Now, if in step 103, for example, a pre-specified location within the repair facility 17d is set as the movement destination of the vehicle transport robot 11, the process proceeds to step 104, where a travel route from the current position to the pre-specified location within the repair facility 17d is set based on the map data of the parking lot area 4 stored in the memory 32. Next, in step 105, a travel trajectory and travel speed of the vehicle transport robot 11 that will not come into contact with other vehicles or structures are determined. Next, in step 106, a command to operate the vehicle transport robot 11 is issued, and then in step 107, a command to operate the vehicle transport robot 11 is issued. request The process, the destination of the movement, that is, a pre-specified location within the repair facility 17d, the travel route, the travel trajectory, the travel speed, and a driving execution command are transmitted from the warehouse entry / delivery management server 13 to the vehicle transport robot 11.

[0066] When an operation execution command is sent from the entry / output management server 13 to the vehicle transport robot 11, the operation control routine of the vehicle transport robot 11 shown in Fig. 13 is executed, and the process of moving the vehicle transport robot 11 carrying the broken-down vehicle 15a to a pre-designated location in the repair facility 17d and unloading the inoperable vehicle 15a from the vehicle transport robot 11 is started. That is, referring to Fig. 13, first, in step 200, the vehicle transport robot 11 determines the operation execution command for the vehicle transport robot 11 in the entry / output management server 13. request Processing, that is, the vehicle transport robot 11 carrying the vehicle 15a that cannot be driven is moved to a pre-designated location in the repair facility 17d, and the vehicle 15a that cannot be driven is unloaded from the vehicle transport robot 11. request Next, in step 201, a moving destination set in the incoming / outgoing management server 13, i.e., a location designated in advance in the repair facility 17d, is acquired, then in step 202, a travel route set in the incoming / outgoing management server 13 is acquired, and in step 203, a travel track and a travel speed set in the incoming / outgoing management server 13 are acquired.

[0067] Next, in step 204, the vehicle transport robot 11 is controlled to travel along the set travel path based on the detection results of surrounding detection sensors such as a camera, a lidar, and a radar that capture images of the area in front of the vehicle transport robot 11, so as not to come into contact with other vehicles or pedestrians. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached the destination, i.e., a pre-designated location in the repair facility 17d. If it is determined that the vehicle transport robot 11 has not reached the destination, i.e., a pre-designated location in the repair facility 17d, the process returns to step 204, and the automatic operation of the vehicle transport robot 11 continues. On the other hand, if it is determined in step 205 that the vehicle transport robot 11 has reached the destination, i.e., a pre-designated location in the repair facility 17d, the process proceeds to step 206.

[0068] In step 206, the vehicle transport robot 11 request In the repair facility 17d, the vehicle 15a is unloaded from the vehicle transport robot 11. That is, the carriage 51 is lowered and the vehicle 15a is unloaded from the vehicle transport robot 11. Unable to drive The vehicle 15a is lowered onto the ground at a pre-designated location in the repair facility 17d, and then the entire arm 55 is rotated to the retreated position, and then the vehicle transport robot 11 is moved forward, and the carriage unit 51 is Unrunnable vehicle 15a In step 207, the vehicle transport robot 11 is moved to a travel preparation position where the vehicle transport robot 11 is completely removed from under the vehicle transport robot 11. request It is determined whether the process, that is, the process of unloading the broken-down vehicle 15a from the vehicle transport robot 11, is completed. request If it is determined that the process is not complete, the process returns to step 206 and the vehicle transport robot 11 is request The process continues. Meanwhile, in step 207, request If it is determined that the process is completed, the process proceeds to step 208, where a request for the next process to be executed by the vehicle transport robot 11 is received. Enter It is transmitted to the delivery management server 13.

[0069] Next, the process to be executed next by the vehicle transport robot 11 is executed. In this case, in the example shown in Fig. 3, the process to be executed next is to return the vehicle transport robot 11 to the waiting place 10 as shown by the dashed line in Fig. 3.

[0070] The transport operation of the vehicle 15a that cannot be driven by the vehicle transport robot 11 described above can also be applied to the case where the vehicle transport robot 11 transports a vehicle that has become unable to be driven on a general road.

[0071] Therefore, in an embodiment of the present invention, the vehicle transport management system comprises a vehicle transport robot 11 that is automatically driven to transport vehicles, a management server 13 that manages the operation of the vehicle transport robot 11, and a plurality of facilities 17a, 17b, 17c, 17d, each of which has a different function that can restore the vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, and when the vehicle becomes unable to drive and stops, the cause of the vehicle's inability to drive is obtained by the management server 13, a facility having the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive is selected from the plurality of facilities 17a, 17b, 17c, 17d, and the vehicle that is unable to drive is transported to the selected facility by the vehicle transport robot 11.

[0072] Furthermore, in an embodiment of the present invention, a vehicle transport management method is provided in which a plurality of facilities 17a, 17b, 17c, 17d, each having a different function capable of restoring a vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, is prepared, and when a vehicle becomes unable to drive and stops, the cause of the vehicle's inability to drive is obtained, a facility having the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive is selected from the plurality of facilities 17a, 17b, 17c, 17d, and the unable to drive vehicle is transported to the selected facility by a vehicle transport robot 11.

[0073] In addition, in an embodiment of the present invention, there is provided a program used to control a vehicle transport management system having a plurality of facilities 17a, 17b, 17c, 17d, each having a different function capable of restoring a vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, the program causing a computer to obtain the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, select a facility from among the plurality of facilities 17a, 17b, 17c, 17d that has the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive, and transport the unable to drive vehicle to the selected facility by a vehicle transport robot 11.

[0074] In the embodiment according to the present invention, the causes of the inability to run include a lack of drive energy of the vehicle and a malfunction of the vehicle equipment, and the facilities 17a, 17b, 17c, and 17d include a facility having a function of resolving the drive energy shortage and restoring the vehicle to a runnable state, and a facility having a function of resolving the malfunction of the vehicle equipment and restoring the vehicle to a runnable state. In this case, the drive energy shortage of the vehicle is a shortage of oil fuel, and the facility having a function of resolving the drive energy shortage and restoring the vehicle to a runnable state is the fueling station 17a. In this case, the drive energy shortage of the vehicle is a shortage of hydrogen fuel, and the facility having a function of resolving the drive energy shortage and restoring the vehicle to a runnable state is the hydrogen station 17c. In this case, the drive energy shortage of the vehicle is a shortage of the battery charge, and the facility having a function of resolving the drive energy shortage and restoring the vehicle to a runnable state is the charging station 17b. In this case, the malfunction of the vehicle equipment is a flat tire of the wheel, and the facility having a function of resolving the malfunction of the vehicle equipment and restoring the vehicle to a runnable state is the repair facility 17d. In this case, the cause of the vehicle's inability to travel is determined in the vehicle, and the cause of the vehicle's inability to travel obtained as a result of the determination is transmitted from the vehicle to the management server 13.

[0075] Furthermore, in an embodiment according to the present invention, the management server 13 manages the entry and exit of the automatic parking lot 3 where manually driven vehicles 15 and automatically driven vehicles 16 can be parked, and when entering the automatic parking lot 3, the automatically driven vehicle 15 is automatically driven to the set parking space 5, and the manually driven vehicle 16 is transported to the set parking space 5 by the vehicle transport robot 11, and when the automatically driven vehicle 15 becomes unable to drive and stops within the automatic parking lot 3, the cause of the inability to drive is obtained by the management server 13, a facility having the function of restoring the automatically driven vehicle 15 to a driveable state for the obtained cause of the inability to drive is selected from among the multiple facilities 17a, 17b, 17c, 17d, and the automatically driven vehicle 15a that is unable to drive is transported to the selected facility by the vehicle transport robot 11.

[0076] In this case, when an autonomous vehicle 15 becomes unable to drive and stops within the automated parking lot 3, the vehicle transport robot 11 is moved toward the autonomous vehicle 15a that is unable to drive, the autonomous vehicle 15a that is unable to drive is then loaded onto the vehicle transport robot 11, the vehicle transport robot 11 carrying the autonomous vehicle 15a that is unable to drive is moved to a selected facility, and the autonomous vehicle 15a that is unable to drive is unloaded from the vehicle transport robot 11 at the selected facility. [Explanation of symbols]

[0077] 3. Automatic Parking Lot 5 Parking Space 6. Parked vehicles 9. Boarding and alighting points 10 Waiting Area 11 Vehicle transport robot 13. Inventory management server 14 Infrastructure Sensors 15 Self-driving vehicles 16 Manually operated vehicles 17a Gas station 17b Charging station 17c Hydrogen Station 17d Repair Facility

Claims

1. A vehicle transport management system comprising a vehicle transport robot that is automatically driven to transport vehicles, a management server that manages the operation of the vehicle transport robot, and a plurality of facilities each having different functions that can restore the vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and is stopped, wherein when a vehicle becomes unable to drive and is stopped, the cause of the vehicle's inability to drive is obtained by the management server, a facility having the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive is selected from the plurality of facilities, and the undriveable vehicle is transported to the selected facility by the vehicle transport robot.

2. 2. The vehicle transportation management system according to claim 1, wherein the causes of the inability to drive include a lack of drive energy for the vehicle and a malfunction of vehicle equipment, and the facilities include a facility having a function capable of resolving the lack of drive energy to return the vehicle to a driveable state, and a facility having a function capable of resolving the malfunction of the vehicle equipment to return the vehicle to a driveable state.

3. 3. The vehicle transport management system according to claim 2, wherein the drive energy shortage of the vehicle is a fuel shortage, and the facility having the function of resolving the drive energy shortage and restoring the vehicle to a drivable state is a gas station.

4. 3. The vehicle transport management system according to claim 2, wherein the drive energy shortage of the vehicle is a hydrogen fuel shortage, and the facility having the function of resolving the drive energy shortage and restoring the vehicle to a drivable state is a hydrogen station.

5. 3. The vehicle transport management system according to claim 2, wherein the insufficient driving energy of the vehicle is a shortage of a charge amount of the battery, and the facility having a function of resolving the insufficient driving energy and restoring the vehicle to a drivable state is a charging station.

6. 3. The vehicle transport management system according to claim 2, wherein the malfunction of the vehicle equipment is a flat wheel, and the facility capable of fixing the malfunction of the vehicle equipment and restoring the vehicle to a drivable state is a repair facility.

7. The vehicle transport management system of claim 1, wherein the management server manages the entry and exit of automatic parking lots where manually driven vehicles and automatically driven vehicles can be parked, and when entering the automatic parking lot, the automatically driven vehicle is automatically driven to a set parking space and the manually driven vehicle is transported to the set parking space by a vehicle transport robot, and when an automatically driven vehicle becomes unable to drive and stops in the automatic parking lot, the cause of the inability to drive is obtained by the management server, a facility having the function of restoring the automatically driven vehicle to a driveable state for the obtained cause of the inability to drive is selected from among a plurality of facilities, and the automatically driven vehicle that is unable to drive is transported to the selected facility by the vehicle transport robot.

8. A vehicle transport management system as described in claim 7, wherein, when an autonomous vehicle becomes unable to drive and stops in an automated parking lot, a vehicle transport robot is moved toward the autonomous vehicle that is unable to drive, the autonomous vehicle that is unable to drive is then loaded onto the vehicle transport robot, the vehicle transport robot carrying the autonomous vehicle that is unable to drive is moved to the selected facility, and the autonomous vehicle that is unable to drive is unloaded from the vehicle transport robot at the selected facility.

9. 2. The vehicle transport management system according to claim 1, wherein a determination operation for determining the cause of the vehicle's inability to travel is performed in the vehicle, and the cause of the vehicle's inability to travel obtained as a result of the determination operation is transmitted from the vehicle to the management server.

10. This vehicle transport management method provides a plurality of facilities each having different functions capable of restoring a vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, a management server that manages the operation of a vehicle transport robot acquires the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, selects from the plurality of facilities a facility having the function of restoring the vehicle to a driveable state for the acquired cause of the vehicle's inability to drive, and transports the unable to drive vehicle to the selected facility by the vehicle transport robot.

11. A program used to control a vehicle transport management system equipped with a plurality of facilities, each having different functions capable of restoring a vehicle to a driveable state depending on the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, the program causing a computer to function such that a management server that manages the operation of a vehicle transport robot obtains the cause of the vehicle's inability to drive when the vehicle becomes unable to drive and stops, selects from among the plurality of facilities a facility having the function of restoring the vehicle to a driveable state for the obtained cause of the vehicle's inability to drive, and transports the unable to drive vehicle to the selected facility by the vehicle transport robot.

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