Vehicle transport management system, vehicle transport management method and program

Abstract

To provide a vehicle transportation management system capable of transporting a vehicle that has been requested to be transported by a vehicle transport robot within a short time after the transport request is made.SOLUTION: In an automatic parking lot (3) where manual-driving vehicles (16) and self-driving vehicles (15) can be parked, when entering an automatic parking lot (3), a manual-driving vehicle (16) is transported to an empty parking space (5) by a vehicle transportation robot (11). When a self-driving vehicle (15) is stopped due to a failure in the automatic parking lot (3), the manual driving vehicle (16) being transported is unloaded from the vehicle transport robot (11), and the failed self-driving vehicle (15) is loaded onto the vehicle transfer robot (11). With this, the failed self-driving vehicle (15) is collected by the vehicle transport robot (11).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] Incidentally, when a request for transport of a vehicle by a vehicle transport robot is made and a vehicle transport robot currently transporting a vehicle is traveling near the vehicle for which transport has been requested, it is preferable to use the vehicle transport robot currently transporting a vehicle to transport the vehicle for which transport has been requested, rather than moving the vehicle transport robot from its standby location, because this allows the vehicle for which transport has been requested to be transported by the vehicle transport robot within a short period of time from the request for transport. 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 robot that is automatically driven to transport a vehicle and a management server that manages the operation of the vehicle transport robot are provided, The management server Vehicle transport robot R Requesting transport of another vehicle while transporting a vehicle Received sometimes, The management server A vehicle transport management system is provided in which a vehicle being transported is unloaded from a vehicle transport robot, another vehicle is loaded onto the vehicle transport robot, and the other vehicle is collected by the vehicle transport robot. Further, according to the present invention, The management server that manages the operation of the vehicle transport robot A vehicle transport robot is used to transport vehicles. R Requesting transport of another vehicle while transporting a vehicle Received sometimes, The management server A vehicle transport management method is provided in which a vehicle being transported is unloaded from a vehicle transport robot, another vehicle is loaded onto the vehicle transport robot, and the other vehicle is collected by the vehicle transport robot. Further, according to the present invention, The management server that manages the operation of the vehicle transport robot A vehicle transport robot is used to transport vehicles. R Requesting transport of another vehicle while transporting a vehicle Received sometimes, The management server A program is provided that causes a computer to function so as to unload a vehicle being transported from the vehicle transport robot, load another vehicle onto the vehicle transport robot, and cause the vehicle transport robot to retrieve the other vehicle. Effect of the Invention

[0006] It is now possible for a vehicle requested for transportation to be transported by a vehicle transport robot within a short period of time after the request is made. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a plan view diagrammatically showing 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 executing the broken-down vehicle response 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 an operation unit 42 for performing various operations. 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 operation unit 42 are connected to the electronic control unit 30. In addition, the autonomous vehicle 15 is equipped with a communication device 43 for communicating with the 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 When 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, when 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] When an automatically operated vehicle 15 breaks down and stops in the automatic parking lot 3, it is necessary to move the broken-down vehicle as quickly as possible to a place where it does not interfere with the movement of other vehicles. In this case, in the embodiment of the present invention, the broken-down vehicle is transported by using a vehicle transport robot 11. thing In this case, when a request for transport of a broken-down vehicle by the vehicle transport robot 11 is made and a vehicle transport robot 11 currently transporting a vehicle is traveling near the broken-down vehicle for which transport has been requested, it is preferable to use the vehicle transport robot 11 currently transporting a vehicle to transport the broken-down vehicle for which transport has been requested, rather than moving an empty vehicle transport robot 11 from the waiting area 10, because this allows the vehicle transport robot 11 to transport the broken-down vehicle for which transport has been requested within a short period of time from the request for transport.

[0043] Therefore, in an embodiment of the present invention, when a request to transport another vehicle is made while the vehicle transport robot 11 is transporting a vehicle, the vehicle being transported is unloaded from the vehicle transport robot 11, the other vehicle is loaded onto the vehicle transport robot 11, and the other vehicle is recovered by the vehicle transport robot 11. Figure 3 diagrammatically shows a typical example of the recovery operation of another vehicle, i.e., a broken-down vehicle, by such a vehicle transport robot 11.

[0044] In FIG. 3, 15a indicates an automatically driven vehicle that has broken down and stopped in the parking lot area 4, and hereinafter, this automatically driven vehicle 15a that has broken down and stopped will be referred to as the broken down vehicle 15a. Meanwhile, in FIG. 3, the vehicle transport robot 11 that is equipped with the manually driven vehicle 16 and is traveling toward the broken down vehicle 15a is indicated by K1. In this case, in the embodiment according to the present invention, a command to collect the broken down vehicle 15a is issued to the vehicle transport robot 11 that is equipped with the manually driven vehicle 16 and is traveling. When a command to collect the broken down vehicle 15a is issued to the vehicle transport robot 11, the vehicle transport robot 11 is automatically driven to move from the location indicated by K1 to a location indicated by K2 that does not interfere with the travel of other vehicles, and is temporarily stopped at the location K2. That is, when a command to collect the broken down vehicle 15a is issued to the vehicle transport robot 11, the vehicle transport robot 11 is automatically driven to move to a temporary parking space indicated by K2 that does not interfere with the travel of other vehicles, and is temporarily parked in the temporary parking space K2.

[0045] Next, in the temporary parking space K2, the manually-driven vehicle 16 that was loaded on it is unloaded from the vehicle transport robot 11. Next, as indicated by the arrow T, the empty vehicle transport robot 11 is moved to the vehicle loading preparation position for the broken-down vehicle 15a indicated by K4 (FIG. 7A), and then the loading operation of the broken-down vehicle 15a onto the vehicle transport robot 11 is performed. In this manner, the recovery operation of the broken-down vehicle 15a is performed. Thereafter, the vehicle transport robot 11 carrying the broken-down vehicle 15a is moved to, for example, an empty parking space 5. The manually-driven vehicle 16 that was unloaded in the temporary parking space K2 is moved to an empty parking space 5 by the vehicle transport robot 11 that carried the manually-driven vehicle 16 or another vehicle transport robot 11.

[0046] In order to perform such recovery work of the broken-down vehicle 15a, the current state Zi of the vehicle transport robot 11 is set in advance even when a broken-down vehicle occurs, as shown in the list in Fig. 11. As shown in Fig. 11, when a broken-down vehicle occurs, Z1 indicates that the vehicle is temporarily stopped in order to recover the broken-down vehicle 15a, Z2 indicates that the vehicle is traveling toward the vehicle unloading position of the temporary parking space K2, Z3 indicates that the vehicle is stopped at the temporary parking space K2 for vehicle unloading processing, Z4 indicates that the vehicle is traveling toward the loading preparation position of the broken-down vehicle 15a, Z5 indicates that the vehicle is stopped for loading processing of the broken-down vehicle 15a, Z6 indicates that the vehicle is traveling toward the vehicle unloading position of the parking space of the broken-down vehicle 15a, and Z7 indicates that the vehicle is stopped at the parking space of the broken-down vehicle 15a for vehicle unloading processing.

[0047] FIG. 16 shows a broken-down vehicle handling processing routine for carrying out recovery work of a broken-down vehicle. This routine is repeatedly executed by the electronic control unit 20 of the entry / exit management server 13.

[0048] Referring to FIG. 16, first, in step 500, a broken-down vehicle 15a existing in the automated parking lot 3 is detected. This detection of the broken-down vehicle 15a is performed based on the breakdown information of the automated parking lot 3 transmitted from the automated parking lot 15 to the entry / exit management server 13, or on the image signals captured by each infrastructure sensor 14. Next, in step 501, based on the detection result of the broken-down vehicle 15a, it is determined whether or not the broken-down vehicle 15a exists in the automated parking lot 3. When it is determined that the broken-down vehicle 15a does not exist in the automated parking lot 3, the processing cycle is terminated. In contrast, when it is determined that the broken-down vehicle 15a exists in the automated parking lot 3, the processing proceeds to step 502, where it is determined whether or not the response to the broken-down vehicle 15a has been completed. When it is determined that the response to the broken-down vehicle 15a has been completed, the processing cycle is terminated. In contrast, when it is determined that the response to the broken-down vehicle 15a has not been completed, the processing proceeds to step 503, where the response to the broken-down vehicle 15a is performed.

[0049] That is, in step 503, the current states of all the vehicle transport robots 11 shown in FIG. 10 are acquired. Next, in step 504, the vehicle transport robot 11 to be used for transporting the broken-down vehicle 15a is determined from among the vehicle transport robots 11 equipped with the manually operated vehicle 16. In this case, for example, the vehicle transport robot 11 traveling closest to the broken-down vehicle 15a is determined as the vehicle transport robot 11 to be used for transporting the broken-down vehicle 15a, or the vehicle transport robot 11 traveling following the broken-down vehicle 15a is determined as the vehicle transport robot 11 to be used for transporting the broken-down vehicle 15a. When the vehicle transport robot 11 to be used for transporting the broken-down vehicle 15a is determined, the process proceeds to step 505, where the vehicle transport robot 11 to be used for transporting the broken-down vehicle 15a is temporarily stopped. Next, in step 506, a request is issued for the vehicle transport robot 11 to collect the broken-down vehicle 15a.

[0050] When a request is made to recover the broken-down vehicle 15a, the vehicle transport robot management routine shown in FIG. 12 issues various commands necessary to recover the broken-down vehicle 15a to the vehicle transport robot 11 that has been determined to be used to transport the broken-down vehicle 15a, and the operation of the vehicle transport robot 11 is controlled by the operation control routine for the vehicle transport robot 11 shown in FIG. 13.

[0051] That is, when a request for recovery of the broken-down vehicle 15a is issued, in step 101 of the management routine for the vehicle transport robot shown in Fig. 12, it is determined that a request for recovery of the broken-down vehicle 15a has been made, and the process proceeds to step 102. In step 102, the vehicle transport robot 11 is assigned a recovery request based on the current state of the vehicle transport robot 11 that has been determined to be used to transport the broken-down vehicle 15a. request When a request for recovery of the broken-down vehicle 15a is received, the current state of the vehicle transport robot 11 is that it is temporarily stopped in order to recover the broken-down vehicle 15a, as indicated by Z1 in FIG. 11. Therefore, in step 102, the vehicle transport robot 11 is moved to a temporary parking space K2 (FIG. 3) where it does not interfere with the travel of other vehicles, and the manual vehicle 16 is unloaded from the vehicle transport robot 11. request It is determined as a process.

[0052] In step 102, the next request When the process is determined, in step 103, the movement destination of the vehicle transport robot 11 is set. At this time, for example, based on the image signals captured by each infrastructure sensor 14, a temporary parking space K2 that does not interfere with the movement of other vehicles is searched for, and the temporary parking space K2 obtained as a result of the search that does not interfere with the movement of other vehicles is set as the movement destination of the vehicle transport robot 11. When the movement destination is set, the process proceeds to step 104, and a travel route from the boarding / disembarking area 9 to the temporary parking space K2 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 driving command for the vehicle transport robot 11 is issued. request The process, the temporary parking space K2, 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.

[0053] 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 the recovery operation of the broken-down vehicle 15a. request In step 201, the moving destination, i.e., the temporary parking space K2, set in the entry / exit management server 13 is acquired, in step 202, the traveling route set in the entry / exit management server 13 is acquired, and in step 203, the traveling track and traveling speed set in the entry / exit management server 13 are acquired.

[0054] Next, in step 204, the vehicle transport robot 11 is controlled to travel along the set travel trajectory so as not to come into contact with other vehicles or pedestrians based on the detection results of surrounding detection sensors such as a camera, a lidar, and a radar that capture images of the area ahead of the vehicle transport robot 11. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination, i.e., the temporary parking space K2. Vehicle transport robot 11 When it is determined that the vehicle transport robot 11 has not reached the destination, i.e., the temporary parking space K2, the process returns to step 204, and the automatic operation of the vehicle transport robot 11 continues. On the other hand, when it is determined in step 205 that the vehicle transport robot 11 has reached the destination, i.e., the temporary parking space K2, the process proceeds to step 206.

[0055] In step 206, the vehicle transport robot 11 request In step 207, the process of unloading the manually-operated vehicle 16 from the vehicle transport robot 11 is executed. That is, the platform unit 51 is lowered, the loaded manually-operated vehicle 16 is lowered onto the ground of the temporary parking space K2, then the entire arm 55 is rotated to the retreated position, and then the vehicle transport robot 11 is moved forward, and the platform unit 51 is moved to the travel preparation position where it has completely come out from under the manually-operated vehicle 16 as shown by K3 in FIG. 3. request It is determined whether the process, i.e., the process of unloading the manually operated vehicle 16 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.

[0056] When the warehouse 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 management routine for the vehicle transport robot shown in Fig. 12 that a request for processing has been made, and the process proceeds to step 102. In step 102, the warehouse management server 13 determines the next process to be executed for 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 that it is stopped for vehicle unloading processing in the temporary parking space K2 indicated by Z3 in FIG. 11, and therefore, in step 102, the vehicle transport robot 11 is moved toward the loading preparation position K4 (FIG. 3) for the broken-down vehicle 15a, and the process of loading the broken-down vehicle 15a onto the vehicle transport robot 11 is determined as the next step. request It is determined as a process.

[0057] In step 102, the next request When the process is determined, in step 103, the movement destination of the vehicle transport robot 11 is set. At this time, for example, based on the image signals captured by each infrastructure sensor 14, the loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a is set as the movement destination of the vehicle transport robot 11. When the movement destination is set, the process proceeds to step 104, and a travel route from the travel preparation position K3 (FIG. 3) to the loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a is set based on the map data of the parking lot area 4 stored in the memory 32. Next, in step 105, the 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, an operation execution command for the vehicle transport robot 11 is issued, and then in step 107, a command for the vehicle transport robot 11 is issued. request The loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a, the travel route, the travel trajectory, the travel speed, and a driving execution command are transmitted from the warehouse entry / return management server 13 to the vehicle transport robot 11.

[0058] 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 broken-down vehicle 15a toward the loading preparation position K4 (Fig. 3) for the broken-down vehicle 15a and loading the broken-down vehicle 15a onto the vehicle transport robot 11 is started. That is, referring to Fig. 13, first, in step 200, the vehicle transport robot 11 determines the load preparation position K4 for the broken-down vehicle 15a by the entry / output management server 13. request Processing, that is, moving the broken-down vehicle 15a toward the loading preparation position K4 (FIG. 3) and loading the broken-down vehicle 15a onto the vehicle transport robot 11. request Next, in step 201, the moving destination set in the entry / exit management server 13, i.e., the loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a, is acquired, then in step 202, the traveling route set in the entry / exit management server 13 is acquired, and in step 203, the traveling track and traveling speed set in the entry / exit management server 13 are acquired.

[0059] Next, in step 204, the vehicle transport robot 11 is controlled to travel along the set travel trajectory so as not to come into contact with other vehicles or pedestrians based on the detection results of surrounding detection sensors such as a camera, a lidar, and a radar that capture images of the area ahead of the vehicle transport robot 11. Next, in step 205, it is determined whether the vehicle transport robot 11 has reached its destination, i.e., the loading preparation position K4 (FIG. 3) for the broken-down vehicle 15a. Vehicle transport robot 11 When it is determined that the vehicle transport robot 11 has not reached the movement destination, i.e., the loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a, the process returns to step 204, and the automatic operation of the vehicle transport robot 11 continues. On the other hand, when it is determined in step 205 that the vehicle transport robot 11 has reached the movement destination, i.e., the loading preparation position K4 (FIG. 3) of the broken-down vehicle 15a, the process proceeds to step 206.

[0060] In step 206, the vehicle transport robot 11 requestIn step 207, a process is executed to load the broken-down vehicle 15a onto the vehicle transport robot 11. That is, the vehicle transport robot 11 is moved backward so that the cart unit 51 enters below the broken-down vehicle 15a. Next, all the arms 55 are rotated to the extended position, and then the cart unit 51 is raised. When the cart unit 51 is raised, all the wheels of the broken-down vehicle 15a are supported by the corresponding arm pairs 55, and the broken-down vehicle 15a is thereby loaded onto the vehicle transport robot 11. In step 208, a command is issued to the vehicle transport robot 11 to load the broken-down vehicle 15a onto the vehicle transport robot 11. request It is determined whether the process, that is, the process of loading the broken-down vehicle 15a onto 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.

[0061] 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 that it is stopped for the loading process of the broken-down vehicle 15a, which is indicated by Z5 in FIG. 11. Therefore, in step 102, the vehicle transport robot 11 carrying the broken-down vehicle 15a is moved to, for example, a parking space for broken-down vehicles, and the process of unloading the broken-down vehicle 15a from the vehicle transport robot 11 is determined as the next step. request It is determined as a process.

[0062] In step 102, the next request Once the process has been determined, in step 103, the movement destination of the vehicle transport robot 11 is set. At this time, for example, a parking space for broken-down vehicles is set as the movement destination of the vehicle transport robot 11 based on image signals captured by each infrastructure sensor 14, for example. Once the movement destination is set, the process proceeds to step 104, where a travel route from the current position to, for example, a parking space for broken-down vehicles is set based on 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 driving execution command for the vehicle transport robot 11 is issued, and then in step 107, a driving command for the vehicle transport robot 11 is issued. request Processing, for example, parking space for a broken-down vehicle, driving route, driving trajectory, driving speed, and driving execution command are transmitted from the entry / exit management server 13 to the vehicle transport robot 11 .

[0063] 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 carrying the broken-down vehicle 15a is moved to, for example, a parking space for broken-down vehicles, and the process of unloading the broken-down 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 parking space for the broken-down vehicle and starts the process of unloading the broken-down vehicle 15a from the vehicle transport robot 11. request Processing, that is, the vehicle transport robot 11 carrying the broken-down vehicle 15a is moved to, for example, a parking space for broken-down vehicles, and the broken-down vehicle 15a is unloaded from the vehicle transport robot 11. request Next, in step 201, a moving destination set in the entry / exit management server 13, for example, a parking space for a broken-down vehicle, is acquired, then in step 202, a travel route set in the entry / exit management server 13 is acquired, and in step 203, a travel trajectory and a travel speed set in the entry / exit management server 13 are acquired.

[0064] 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 its destination, for example, a parking space for a broken-down vehicle. If it is determined that the vehicle transport robot 11 has not reached its destination, for example, a parking space for a broken-down vehicle, 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 its destination, for example, a parking space for a broken-down vehicle, the process proceeds to step 206.

[0065] In step 206, the vehicle transport robot 11 request That is, the carriage 51 is lowered, the carriage 15a is lowered onto the ground of the parking space for broken-down vehicles, and then the entire arm 55 is rotated to the retreat position. Then, the vehicle transport robot 11 is moved forward, and the carriage 51 is moved to the rear position. Broken 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.

[0066] Next, the next process to be performed by the vehicle transport robot 11 is executed. In this case, the process to be performed next is to move the vehicle transport robot 11 to the temporary parking space K2 (FIG. 3) where the manually driven vehicle 16 was dropped off and return the manually driven vehicle 16 to the vehicle transport robot 11, or to return the vehicle transport robot 11 to the waiting location 10.

[0067] The recovery operation of the broken-down vehicle 15a by the vehicle transport robot 11 described above can also be applied to the case where the vehicle transport robot 11 transporting a vehicle on a general road transports another vehicle.

[0068] Therefore, in an embodiment according to the present invention, the vehicle transport management system includes a vehicle transport robot 11 that is automatically operated to transport vehicles, and a management server 13 that manages the operation of the vehicle transport robot 11, and when a request to transport another vehicle is made while the vehicle transport robot 11 is transporting a vehicle, the vehicle being transported is unloaded from the vehicle transport robot 11 and the other vehicle is loaded onto the vehicle transport robot 11, thereby allowing the other vehicle to be collected by the vehicle transport robot 11. In this way, when a request to transport another vehicle is made while the vehicle transport robot 11 is transporting a vehicle, the vehicle being transported is unloaded from the vehicle transport robot 11 and the other vehicle is loaded by the vehicle transport robot 11, thereby making it possible for the vehicle requested to be transported to be transported by the vehicle transport robot within a short time from the transport request.

[0069] Furthermore, in an embodiment of the present invention, there is provided a vehicle transport management method, in which, when a request for transport of another vehicle is received while a vehicle is being transported by a vehicle transport robot 11 for transporting a vehicle, the vehicle being transported is unloaded from the vehicle transport robot 11, the other vehicle is loaded onto the vehicle transport robot 11, and the other vehicle is collected by the vehicle transport robot 11. Also, there is provided a program that causes a computer to function so that, when a request for transport of another vehicle is received while a vehicle is being transported by a vehicle transport robot 11 for transporting a vehicle, the vehicle being transported is unloaded from the vehicle transport robot 11, the other vehicle is loaded onto the vehicle transport robot 11, and the other vehicle is collected by the vehicle transport robot 11.

[0070] 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 16 and automatically driven vehicles 15 can be parked, and when entering the automatic parking lot 3, the automatically driven vehicle 15 is automatically driven to a set parking space 5 and the manually driven vehicle 16 is transported to the set parking space 5 by a vehicle transport robot 11, and when an automatically driven vehicle 15 breaks down and is stopped within the automatic parking lot 3, the manually driven vehicle 16 being transported is unloaded from the vehicle transport robot 11 and the broken down automatically driven vehicle 15 is loaded onto the vehicle transport robot 11, whereby the broken down automatically driven vehicle 15 is recovered by the vehicle transport robot 11.

[0071] In this case, in the embodiment according to the present invention, the management server 13 monitors the presence of an automatically-driven vehicle 15 that has broken down and stopped, and when the management server 13 recognizes the presence of an automatically-driven vehicle 15 that has broken down and stopped, the manually-driven vehicle 16 being transported for storage is unloaded from the vehicle transport robot 11, and then the vehicle transport robot 11 is directed toward the broken-down automatically-driven vehicle 15, and the broken-down automatically-driven vehicle 15 is loaded onto the vehicle transport robot 11. In this case, the manually-driven vehicle 16 being transported is unloaded from the vehicle transport robot 11 to a location that does not interfere with traffic. In this case, a delay occurs in the storage process of the manually-driven vehicle 16 unloaded from the vehicle transport robot 11, but even if a delay occurs in the storage process of the manually-driven vehicle 16, no major problem occurs.

[0072] On the other hand, in an embodiment according to the present invention, when the management server 13 recognizes the presence of an autonomously driven vehicle 15 that has broken down and is stopped, a search is made among the vehicle transport robots 11 currently transporting a manually driven vehicle 16 to be stored to find the vehicle transport robot 11 that is closest to the autonomously driven vehicle 15 that has broken down and is stopped, and the manually driven vehicle 16 being transported by the searched vehicle transport robot 11 is unloaded from the vehicle transport robot 11, and the vehicle transport robot 11 is then directed toward the autonomously driven vehicle 15, and the autonomously driven vehicle 15 is loaded onto the vehicle transport robot 11. Furthermore, in an embodiment according to the present invention, when the presence of a broken-down autonomous vehicle 15 is recognized by the management server 13, a vehicle transport robot 11 that is following the broken-down autonomous vehicle 15 is searched for among the vehicle transport robots 11 currently transporting a manually driven vehicle 16 for storage, and the manually driven vehicle 16 being transported by the searched vehicle transport robot 11 is unloaded from the vehicle transport robot 11, and then the vehicle transport robot 11 is directed toward the broken-down autonomous vehicle 15, and the broken-down autonomous vehicle 15 is loaded onto the vehicle transport robot 11.

[0073] Furthermore, in an embodiment according to the present invention, when the management server 13 recognizes the presence of yet another broken-down autonomous vehicle 15, the broken-down autonomous vehicle 15 being transported is unloaded from the vehicle transport robot 11 and the broken-down autonomous vehicle 15 is loaded onto the vehicle transport robot 11, thereby causing the vehicle transport robot 11 to recover the broken-down autonomous vehicle 15. [Explanation of symbols]

[0074] 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

Claims

1. A vehicle transport management system comprising a vehicle transport robot that is automatically driven to transport vehicles, and a management server that manages the operation of the vehicle transport robot, and when the management server receives a request to transport another vehicle while a vehicle is being transported by the vehicle transport robot, the management server unloads the vehicle being transported from the vehicle transport robot and loads the other vehicle onto the vehicle transport robot, and then retrieves the other vehicle by the vehicle transport robot.

2. 2. The vehicle transport management system of claim 1, wherein the management server manages the entry and exit of an automatic parking lot where manually driven vehicles and automatically driven vehicles can be parked, and when an automatically driven vehicle enters an automatic parking lot, the management server causes the automatically driven vehicle to move to a set parking space by automatic driving, and when a manually driven vehicle enters an automatic parking lot, the management server transports the manually driven vehicle to the set parking space by a vehicle transport robot, and when an automatically driven vehicle breaks down and is stopped in the automatic parking lot, the management server unloads the manually driven vehicle being transported from the vehicle transport robot and loads the broken automatically driven vehicle onto the vehicle transport robot, and recovers the broken automatically driven vehicle by the vehicle transport robot.

3. 3. The vehicle transport management system of claim 2, wherein the management server monitors the presence of an autonomous vehicle that has broken down and been stopped, and when the management server recognizes the presence of an autonomous vehicle that has broken down and been stopped, the manually operated vehicle being transported for storage is unloaded from the vehicle transport robot, and then the vehicle transport robot is directed toward the broken autonomous vehicle and the broken autonomous vehicle is loaded onto the vehicle transport robot.

4. 4. The vehicle transport management system of claim 3, wherein when the management server recognizes the presence of an autonomous vehicle that has broken down and been stopped, a search is made for a vehicle transport robot that is closest to the autonomous vehicle that has broken down and been stopped among the vehicle transport robots that are currently transporting a manually driven vehicle to be stored, the manually driven vehicle being transported by the searched vehicle transport robot is unloaded from the vehicle transport robot, and then the vehicle transport robot is directed toward the broken autonomous vehicle and the broken autonomous vehicle is loaded onto the vehicle transport robot.

5. 4. The vehicle transport management system of claim 3, wherein when the management server recognizes the presence of a broken-down autonomous vehicle, a vehicle transport robot that is following the broken-down autonomous vehicle is searched for among vehicle transport robots that are transporting manually driven vehicles to be stored, the manually driven vehicle being transported by the searched vehicle transport robot is unloaded from the vehicle transport robot, and then the vehicle transport robot is directed toward the broken-down autonomous vehicle and the broken-down autonomous vehicle is loaded onto the vehicle transport robot.

6. 4. The vehicle transport management system according to claim 3, wherein when the management server recognizes the presence of a broken-down autonomous vehicle, the manually-operated vehicle being transported is unloaded from the vehicle transport robot to a location that does not interfere with traffic.

7. A vehicle transportation management system as described in claim 3, wherein, when the management server recognizes the presence of yet another broken-down autonomous vehicle, the broken-down autonomous vehicle being transported is unloaded from the vehicle transport robot, the broken-down autonomous vehicle is loaded onto the vehicle transport robot, and the broken-down autonomous vehicle is collected by the vehicle transport robot.

8. A vehicle transport management method in which, when a management server which manages the operation of a vehicle transport robot receives a request to transport another vehicle while a vehicle is being transported by the vehicle transport robot, the management server unloads the vehicle being transported from the vehicle transport robot, loads the other vehicle onto the vehicle transport robot, and retrieves the other vehicle by the vehicle transport robot.

9. A program that causes a computer to function such that, when a management server that manages the operation of a vehicle transport robot receives a request to transport another vehicle while a vehicle is being transported by the vehicle transport robot, the management server unloads the vehicle being transported from the vehicle transport robot, loads the other vehicle onto the vehicle transport robot, and has the other vehicle retrieved by the vehicle transport robot.

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