Delivery system, its control method, and control program

Abstract

To provide a delivery system capable of reducing loss of time and energy caused when a delivery vehicle for delivering an article travels to a charging station.SOLUTION: A delivery system includes a plurality of delivery vehicles for delivering an article to a delivery destination by electric power charged in a chargeable and dischargeable battery. A plurality of delivery vehicles are chargeable to each other. The delivery system determines a charging schedule including a combination of a charging vehicle and a charged vehicle selected from a plurality of delivery vehicles based on the delivery schedule of an article for each of the plurality of delivery vehicles and a charge remaining amount of a battery to update the delivery schedule for the charging vehicle and the charged vehicle based on the charging schedule.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a delivery system, a control method thereof, and a control program.

Background Art

[0002] Patent Document 1 discloses a conveyance system using autonomous mobile conveyance vehicles in a production line. In Patent Document 1, a charging operation is assigned to each conveyance vehicle based on the remaining charge of the conveyance vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conveyance system disclosed in Patent Document 1, the conveyance vehicle needs to travel to a charging station for charging. Therefore, when applying Patent Document 1 to a delivery system using delivery vehicles for delivering articles, time and energy losses occur due to each delivery vehicle traveling to a charging station and charging. As a result, there has been a problem that the efficiency of time and energy of the entire conveyance system decreases.

[0005] The present invention has been made in view of such circumstances, and provides a delivery system capable of reducing time and energy losses caused by a delivery vehicle for delivering articles traveling to a charging station and charging.

Means for Solving the Problems

[0006] A delivery system according to an aspect of the present invention is A delivery system comprising a plurality of delivery vehicles that deliver articles to a delivery destination using electric power charged in a rechargeable battery, wherein the plurality of delivery vehicles are rechargeable with each other, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles is determined based on an article delivery schedule for each of the plurality of delivery vehicles and a remaining charge amount of the battery, and the delivery schedules for the charging vehicle and the vehicle to be charged are updated based on the charging schedule.

[0007] Also, a control method for a delivery system according to an aspect of the present invention is a control method for a delivery system comprising a plurality of delivery vehicles that deliver articles to a delivery destination using electric power charged in a rechargeable battery, wherein the plurality of delivery vehicles are rechargeable with each other, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles is determined based on an article delivery schedule for each of the plurality of delivery vehicles and a remaining charge amount of the battery, and a computer executes a process of updating the delivery schedules for the charging vehicle and the vehicle to be charged based on the charging schedule.

[0008] Also, a control program according to an aspect of the present invention is a control program for controlling, by a computer, a delivery system comprising a plurality of delivery vehicles that deliver articles to a delivery destination using electric power charged in a rechargeable battery, wherein the plurality of delivery vehicles are rechargeable with each other, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles is determined based on an article delivery schedule for each of the plurality of delivery vehicles and a remaining charge amount of the battery, A computer executes a process of updating the delivery schedule for the charging vehicle and the vehicle to be charged based on the charging schedule.

[0009] As described above, in one aspect of the present invention, based on the delivery schedule of goods of each delivery vehicle capable of charging each other and the remaining battery charge, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from a plurality of delivery vehicles is determined, and based on the charging schedule, the delivery schedules for the charging vehicle and the vehicle to be charged are updated. Therefore, it is possible to reduce the time and energy loss caused by each delivery vehicle traveling to a charging station and charging.

[0010] The plurality of delivery vehicles may be autonomous vehicles. In addition, each of the charging vehicle and the vehicle to be charged may be mounted on a separate transport vehicle, transported toward the delivery destination of each of the goods, and then get off the transport vehicle to deliver the goods to the delivery destination.

Advantages of the Invention

[0011] According to the present invention, it is possible to provide a delivery system capable of reducing the time and energy loss caused by a delivery vehicle for delivering goods traveling to a charging station and charging.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0013] Hereinafter, specific embodiments will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions are omitted as necessary for clarity of explanation.

[0014] (First Embodiment) <Configuration of Delivery System> First, with reference to FIG. 1, a delivery system and its control method according to the first embodiment will be described. FIG. 1 is a block diagram of the delivery system according to the first embodiment. As shown in FIG. 1, the delivery system according to the present embodiment includes a transport vehicle 100, a delivery vehicle 200, and a management server 300.

[0015] Although not particularly limited, in this embodiment, after the transport vehicle 100 carrying the delivery vehicle 200 travels toward the delivery destination of the article, the delivery vehicle 200 gets off the transport vehicle 100 and delivers the article to the delivery destination. That is, the transport vehicle 100 is not essential, and the article may be delivered only by the delivery vehicle 200.

[0016] First, the transport vehicle 100 will be described. The transport vehicle 100 carries and transports the delivery vehicle 200. The transport vehicle 100 in the present embodiment is an autonomous mobile vehicle (that is, an autonomous driving vehicle), but may be a manually driven vehicle. As shown in FIG. 1, the transport vehicle 100 includes a control unit 110, a sensor unit 120, a traveling mechanism 130, and a getting-off mechanism 140. Further, the transport vehicle 100 is wirelessly connected to be communicable with the delivery vehicle 200 and the management server 300.

[0017] In addition, when the management server 300 is mounted on the transport vehicle 100, the transport vehicle 100 may be wired-connected to the management server 300. Also, in FIG. 1, only one delivery vehicle 200 is shown, but a plurality of delivery vehicles 200 may be mounted on the transport vehicle 100.

[0018] The control unit 110 controls the traveling mechanism 130 based on various information acquired from the sensor unit 120. Thereby, the transport vehicle 100 travels. Also, the control unit 110 controls the dismounting mechanism 140 for dismounting the delivery vehicle 200.

[0019] The control unit 110 includes an arithmetic unit such as a CPU (Central Processing Unit), and a storage unit such as a RAM (Random Access Memory) and a ROM (Read Only Memory) in which various control programs, data, etc. are stored. That is, the control unit 110 has the function of a computer and executes processing for controlling the traveling mechanism 130 and the dismounting mechanism 140 based on the above various control programs and the like.

[0020] In the example shown in FIG. 1, the sensor unit 120 includes an obstacle sensor 121, an acceleration sensor 122, a speed sensor 123, and an attitude sensor 124. The obstacle sensor 121 detects obstacles in front of the transport vehicle 100 in the traveling direction. Also, the obstacle sensor 121 detects obstacles when the delivery vehicle 200 dismounts from the transport vehicle 100. The obstacle sensor 121 is, for example, a radar sensor, a sonar sensor, an ultrasonic sensor, a lidar sensor, a camera, or the like. The obstacles include, for example, not only falling objects on the road, other vehicles, etc., but also people such as pedestrians, animals, etc.

[0021] The acceleration sensor 122 detects the acceleration of the transport vehicle 100. By detecting the acceleration of the transport vehicle 100, vibrations of the transport vehicle 100 due to unevenness of the road surface, etc. can also be detected. The speed sensor 123 detects the speed of the transport vehicle 100. The attitude sensor 124 detects the attitude of the transport vehicle 100. The gradient of the road on which the transport vehicle 100 is traveling can be detected by the attitude sensor 124.

[0022] The traveling mechanism 130 is a mechanism for the transport vehicle 100 to travel. For example, the traveling mechanism 130 includes a driving mechanism for the transport vehicle 100 to travel, such as a motor or an engine, a braking mechanism for the transport vehicle 100 to stop, and a steering mechanism for the transport vehicle 100 to turn.

[0023] The getting-off mechanism 140 is a mechanism for getting the delivery vehicle 200 off the transport vehicle 100. Here, with reference to FIGS. 2 and 3, an example of the getting-off mechanism 140 will be described. FIG. 2 is a perspective view showing the state of the delivery vehicle 200 getting off the transport vehicle 100. FIG. 3 is a side view showing the state of the delivery vehicle 200 getting off the transport vehicle 100.

[0024] As shown in FIGS. 2 and 3, the getting-off mechanism 140 according to this embodiment is a simple plate-shaped slope. In the example shown in FIGS. 2 and 3, the getting-off mechanism 140 also serves as an opening / closing door provided at the rear of the transport vehicle 100. The getting-off mechanism 140 is connected to one side of the lower end of the opening provided at the rear of the transport vehicle 100. Usually, the getting-off mechanism 140 is closed as an opening / closing door. On the other hand, when the delivery vehicle 200 gets off, the getting-off mechanism 140 opens as an opening / closing door and functions as a slope extending from the inside of the transport vehicle 100 to the ground.

[0025] For example, when the delivery vehicle 200 disembarks from the transport vehicle 100 to deliver an item, as shown in FIG. 1, the control unit 110 of the transport vehicle 100 instructs the control unit 210 of the delivery vehicle 200 to disembark the delivery vehicle 200. At this time, the control unit 110 of the transport vehicle 100 controls the disembarking mechanism 140. Specifically, as shown in FIGS. 2 and 3, the control unit 110 opens the disembarking mechanism 140 that functions as an opening / closing door and causes it to function as a slope extending from inside the transport vehicle 100 to the ground. Then, as shown in FIGS. 2 and 3, the delivery vehicle 200 travels along the disembarking mechanism 140 and disembarks onto the road. Further, for example, the item is delivered to the delivery destination via the sidewalk from the road.

[0026] Note that the disembarking mechanism 140 shown in FIGS. 2 and 3 may be provided separately from the opening / closing door provided at the rear of the transport vehicle 100 as long as it functions as a slope. In that case, usually, the disembarking mechanism 140 is stored, for example, under the floor of the transport vehicle 100. Also, the disembarking mechanism 140 shown in FIGS. 2 and 3 is merely an example and is not particularly limited as long as it is a mechanism for disembarking the delivery vehicle 200 from the transport vehicle 100. The disembarking mechanism 140 may be, for example, a conveyor, a crane, or the like.

[0027] Next, the delivery vehicle 200 will be described. Although only one delivery vehicle 200 is depicted in FIGS. 1 to 3, the delivery system according to the present embodiment includes a plurality of delivery vehicles 200 that can charge each other. Each delivery vehicle 200 is an autonomous mobile vehicle that is, for example, transported by separate transport vehicles 100, then disembarks from the transport vehicles 100, and delivers items to the delivery destination. Note that the delivery vehicle 200 may be a manually operated vehicle.

[0028] As shown in FIG. 1, the delivery vehicle 200 includes a control unit 210, a sensor unit 220, a traveling mechanism 230, and a battery 240. Also, the delivery vehicle 200 is wirelessly connected so as to be communicable with the transport vehicle 100 and the management server 300. Note that when the management server 300 is mounted on the delivery vehicle 200, the delivery vehicle 200 may be wired-connected to the management server 300.

[0029] Based on various information acquired from the sensor unit 220, the control unit 210 controls the traveling mechanism 230. That is, by the control unit 210 controlling the traveling mechanism 230, the delivery vehicle 200 travels. Here, similar to the sensor unit 120 of the transport vehicle 100, the sensor unit 220 includes various sensors.

[0030] Similar to the control unit 110 of the transport vehicle 100, the control unit 210 includes an arithmetic unit such as a CPU, and a storage unit such as a RAM and a ROM in which various control programs, data, etc. are stored. That is, the control unit 210 has the function of a computer and executes a process of controlling the traveling mechanism 230 based on the above various control programs, etc.

[0031] The control unit 210 acquires a delivery schedule (including a delivery route, delivery time, etc.) for delivering articles from the management server 300, and the delivery vehicle 200 delivers articles based on the acquired delivery schedule. On the other hand, based on the delivery schedule acquired from the management server 300 and the remaining charge of the battery 240, the control unit 210 calculates the excess or deficiency of the remaining charge with respect to the delivery schedule of the delivery vehicle 200 and transmits it to the management server 300.

[0032] The traveling mechanism 230 is a mechanism for the delivery vehicle 200 to travel. For example, the traveling mechanism 230 includes a driving mechanism for the delivery vehicle 200 to travel, such as a motor or an engine, a braking mechanism for the delivery vehicle 200 to stop, and a steering mechanism for the delivery vehicle 200 to turn.

[0033] The battery 240 is a rechargeable secondary battery such as a lithium-ion battery. The battery 240 is a power supply device that supplies a power source (electricity) to the control unit 210, the sensor unit 220, and the traveling mechanism 230. That is, with the power charged in the battery 240, the delivery vehicle 200 delivers articles to the delivery destination.

[0034] Next, the management server 300 will be described. The management server 300 is a server that communicates with the transport vehicle 100 and the delivery vehicle 200 and manages the delivery system. The management server 300 is, for example, a cloud server. As shown in FIG. 1, the management server 300 includes a schedule determination unit 310 and a storage unit 320.

[0035] The schedule determination unit 310 is composed of, for example, an arithmetic unit such as a CPU. As shown in FIG. 1, the schedule determination unit 310 determines a delivery schedule from the current location to the delivery destination based on the map information stored in the storage unit 320. Then, the schedule determination unit 310 transmits the determined delivery schedule to the control unit 110 of the transport vehicle 100 and the control unit 210 of the delivery vehicle 200. Here, the map information may include road surface information.

[0036] The storage unit 320 is composed of, for example, a RAM, a ROM, etc., and stores various control programs, data, etc. in addition to the map information. That is, the management server 300 has functions as a computer and executes processes for managing the delivery system based on the above various control programs, etc.

[0037] In the delivery system according to the present embodiment, the management server 300 performs matching between another delivery vehicle 200 with a remaining charge amount with respect to the delivery schedule and a delivery vehicle 200 with a shortage of the remaining charge amount with respect to the delivery schedule. Another delivery vehicle 200 with a remaining charge amount is a candidate for a charging vehicle that charges other delivery vehicles 200, and a delivery vehicle 200 with a shortage of the remaining charge amount is a candidate for a vehicle to be charged that is charged by other delivery vehicles 200.

[0038] The schedule determination unit 310 determines a charging schedule including a combination of a charging vehicle and a vehicle to be charged based on the excess or deficiency amount of the remaining charge amount of the battery 240 acquired from each delivery vehicle 200 and the delivery schedule of each delivery vehicle 200. Here, the charging schedule includes, in addition to the combination of the charging vehicle and the vehicle to be charged, for example, a charging location, a charging time, etc. For example, the schedule determination unit 310 selects a combination of the delivery vehicles 200 that are closest to each other in terms of distance in the delivery schedules of the candidate charging vehicles and the vehicles to be charged. Then, the schedule determination unit 310 updates the delivery schedules for the selected charging vehicle and the vehicle to be charged based on the above charging schedule.

[0039] As described above, in the delivery system according to the present embodiment, based on the delivery schedules of the respective delivery vehicles 200 that can charge each other and the remaining charge amounts of the batteries, a charging schedule including a combination of the charging vehicle and the vehicle to be charged is determined. Then, based on the charging schedule, the delivery schedules for the selected charging vehicle and the vehicle to be charged are updated. Therefore, in the delivery system according to the present embodiment, each delivery vehicle 200 does not need to travel to the charging station for charging, and time and energy losses can be reduced.

[0040] <Method for Determining Charging Schedule> Next, with reference to FIGS. 4 to 6, the method for determining the above charging schedule will be described in detail. FIG. 4 is a block diagram of a delivery system according to the first embodiment. FIGS. 5 and 6 are side views showing the delivery vehicle 200a as the charging vehicle and the 200b as the vehicle to be charged.

[0041] In FIG. 4, only two delivery vehicles 200a, 200b and the management server 300 are shown, and the transport vehicle 100 shown in FIG. 1 is omitted. Further, the delivery vehicles 200a, 200b have the same configuration as the delivery vehicle 200 shown in FIG. 1. Here, in the delivery vehicles 200a, 200b shown in FIG. 4, only the control unit 210 and the battery 240 are shown, and the sensor unit 220 and the traveling mechanism 230 shown in FIG. 1 are omitted.

[0042] As described above, each control unit 210 of the delivery vehicles 200a and 200b acquires a delivery schedule for delivering goods from the management server 300 and also acquires the remaining charge amount from the battery 240. Then, each control unit 210 of the delivery vehicles 200a and 200b calculates the excess or deficiency of the remaining charge amount with respect to the delivery schedule based on the delivery schedule acquired from the management server 300 and the remaining charge amount of the battery 240, and transmits it to the schedule determination unit 310.

[0043] Based on the excess or deficiency amount of the remaining charge amount of the battery 240 acquired from the delivery vehicles 200a and 200b and the delivery schedules of the delivery vehicles 200a and 200b, the schedule determination unit 310 determines a charging schedule including a combination of a charging vehicle and a vehicle to be charged. Here, for the delivery schedule, the delivery vehicle 200a has an excess remaining charge amount in the battery 240 and is a candidate for a charging vehicle. On the other hand, for the delivery schedule, the delivery vehicle 200b has a shortage of the remaining charge amount in the battery 240 and is a candidate for a vehicle to be charged.

[0044] For example, among the candidates for the charging vehicle, the delivery vehicle 200a is the closest in terms of distance to the delivery vehicle 200b, which is a candidate for the vehicle to be charged, in the delivery schedule. In that case, the schedule determination unit 310 determines a charging schedule with the delivery vehicle 200a as the charging vehicle and the delivery vehicle 200b as the vehicle to be charged.

[0045] For example, as shown in FIGS. 5 and 6, the delivery vehicles 200a and 200b are each provided with a plug 241 and a socket 242 electrically connected to the battery 240. Then, as shown in FIG. 6, the plug 241 of the delivery vehicle 200b can be fitted to the socket 242 of the delivery vehicle 200a and is electrically connectable. That is, as shown in FIG. 6, the battery 240 of the delivery vehicle 200a and the battery 240 of the delivery vehicle 200b are electrically connected, and surplus power can be supplied from the battery 240 of the delivery vehicle 200a to the battery 240 of the delivery vehicle 200b.

[0046] Although not shown, the plug 241 of the delivery vehicle 200a can be fitted into the socket 242 of the delivery vehicle 200b and can be electrically connected. Also, the plug 241 and the socket 242 shown in FIGS. 5 and 6 are merely examples, and any configuration may be used as long as the battery 240 of the delivery vehicle 200a and the battery 240 of the delivery vehicle 200b can be electrically connected.

[0047] As described above, in the delivery system according to the present embodiment, based on the delivery schedules of the respective delivery vehicles 200 that can charge each other and the remaining charge amounts of the batteries, a charging schedule including a combination of a charging vehicle and a vehicle to be charged is determined. Then, based on the charging schedule, the delivery schedules for the selected charging vehicle and the vehicle to be charged are updated. Therefore, in the delivery system according to the present embodiment, each delivery vehicle 200 does not need to travel to a charging station to be charged, and time and energy losses can be reduced.

[0048] In the above example, when the program is loaded into a computer, it includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiment. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, a computer-readable medium or a tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted on a transient computer-readable medium or a communication medium. By way of example and not limitation, a transient computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0049] Note that the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist thereof.

Explanation of Signs

[0050] 100 Transport vehicle 110 Control unit 120 Sensor unit 121 Obstacle sensor 122 Acceleration sensor 123 Speed sensor 124 Attitude sensor 130 Travel mechanism 140 Disembarking mechanism 200, 200a, 200b Delivery vehicle 210 Control unit 220 Sensor unit 230 Travel mechanism 240 Battery 241 Plug 242 Socket 300 Management server 310 Schedule determination unit 320 Storage unit

Claims

1. A delivery system comprising a plurality of delivery vehicles that deliver articles to a delivery destination using electric power charged in a rechargeable battery, wherein the plurality of delivery vehicles are rechargeable with each other, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles is determined based on an article delivery schedule for each of the plurality of delivery vehicles and a remaining charge amount of the battery, the delivery schedules for the charging vehicle and the vehicle to be charged are updated based on the charging schedule, the plurality of delivery vehicles include a plug and a socket electrically connected to the battery, when the charging vehicle and the vehicle to be charged are close to each other, the plug and the socket are fitted to each other, and the battery of the charging vehicle and the battery of the vehicle to be charged are electrically connected, the vehicle to be charged is charged by supply of surplus electric power from the charging vehicle based on the charging schedule, and after charging, delivers the article based on the updated delivery schedule, a delivery system.

2. The plurality of delivery vehicles are autonomous mobile vehicles, The delivery system according to claim 1.

3. Each of the charging vehicle and the vehicle to be charged is mounted on a separate transport vehicle and transported toward the delivery destination of each article, and then gets off the transport vehicle and delivers the article to the delivery destination, The delivery system according to claim 1 or 2.

4. A control method for a delivery system comprising a plurality of delivery vehicles that deliver articles to a delivery destination using electric power charged in a rechargeable battery, wherein the plurality of delivery vehicles are rechargeable with each other, a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles is determined based on an article delivery schedule for each of the plurality of delivery vehicles and a remaining charge amount of the battery, a computer executes a process of updating the delivery schedules for the charging vehicle and the vehicle to be charged based on the charging schedule, the plurality of delivery vehicles include a plug and a socket electrically connected to the battery, when the charging vehicle and the vehicle to be charged are close to each other, the plug and the socket are fitted to each other, and the battery of the charging vehicle and the battery of the vehicle to be charged are electrically connected, The vehicle to be charged is charged by the supply of surplus power from the charging vehicle based on the charging schedule, and after charging, delivers goods based on the updated delivery schedule. A control method for a delivery system.

5. The plurality of delivery vehicles are autonomous vehicles. The control method for a delivery system according to claim 4.

6. Each of the charging vehicle and the vehicle to be charged is mounted on a separate transport vehicle and transported toward the delivery destination of each item, and then gets off the transport vehicle and delivers the item to the delivery destination. The control method for a delivery system according to claim 4 or 5.

7. A control program for controlling, by a computer, a delivery system including a plurality of delivery vehicles that deliver goods to a delivery destination by power charged in a rechargeable battery, wherein the plurality of delivery vehicles are chargeable with each other, determining a charging schedule including a combination of a charging vehicle and a vehicle to be charged selected from the plurality of delivery vehicles based on the delivery schedule of the goods for each of the plurality of delivery vehicles and the remaining charge of the battery, causing the computer to execute a process of updating the delivery schedule for the charging vehicle and the vehicle to be charged based on the charging schedule, wherein the plurality of delivery vehicles include a plug and a socket electrically connected to the battery, when the charging vehicle and the vehicle to be charged are in proximity to each other, the plug and the socket are fitted to each other, and the battery of the charging vehicle and the battery of the vehicle to be charged are electrically connected, the vehicle to be charged is charged by the supply of surplus power from the charging vehicle based on the charging schedule, and after charging, delivers goods based on the updated delivery schedule. Control program.

Images