Mobile body management system, mobile body management method

Abstract

To provide a moving object management system that can provide a highly usable delivery service.SOLUTION: A moving object management system according to the present disclosure includes one or a plurality of processors. The one or the plurality of processors are configured to execute: processing for moving a loaded moving object with luggage to a first location within a predetermined area upon loading of the luggage onto one of the plurality of moving objects; processing for identifying a user who receives the luggage which has been loaded onto the loaded moving object; processing for determining a receiving timing when the user wishes to receive the luggage; and processing for moving the loaded moving object from the first location to a second location within the predetermined area at the receiving timing.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a technology for managing a mobile object that carries cargo and makes deliveries. [Background technology]

[0002] Patent Documents 1 and 2 disclose robots (mobile bodies) that can load and deliver cargo. Other documents that demonstrate the technical level of this technical field include Patent Document 2 and Patent Document 3 below. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-123854 [Patent Document 2] Patent Publication No. 2021-071884 [Patent Document 3] International Publication No. 2019 / 039014 [Patent Document 4] Patent Publication No. 2021-140607 Summary of the Invention [Problem to be solved by the invention]

[0004] Delivery services using mobile vehicles capable of carrying cargo are being considered for use in various situations to reduce personnel costs and improve convenience. However, there is room for further consideration as to how to manage mobile vehicles and provide delivery services for each situation.

[0005] One of the situations in which delivery services using mobile objects are utilized is when collected packages are delivered to users. One objective of the present disclosure is to provide a technology that can provide a highly usable delivery service when collected packages are delivered to users. [Means for solving the problem]

[0006] A first aspect of the present disclosure relates to a mobile body management system that manages a plurality of mobile bodies that load and deliver goods in a predetermined area.

[0007] The mobile body management system according to the first aspect includes one or more processors. The one or more processors, upon receiving that a load has been loaded onto one of the plurality of mobile bodies, perform a process of moving the loaded mobile body with the load to a first point within a predetermined area, a process of identifying a user who receives the load loaded on the loaded mobile body, a process of determining a receiving timing at which the user requests receipt of the load, and a process of moving the loaded mobile body from the first point to a second point within the predetermined area at the receiving timing. It is characterized by being configured to execute.

[0008] A second aspect of the present disclosure relates to a mobile body management method for managing a plurality of mobile bodies that load and deliver goods in a predetermined area by a process executed by a computer.

[0009] The mobile body management method according to the first aspect includes a process of moving the loaded mobile body with the load to a first point within a predetermined area upon receiving that a load has been loaded onto one of the plurality of mobile bodies, a process of identifying a user who receives the load loaded on the loaded mobile body, a process of determining a receiving timing at which the user requests receipt of the load, and a process of moving the loaded mobile body from the first point to a second point within the predetermined area at the receiving timing, and is characterized by being executed by a computer.

Advantages of the Invention

[0010] According to the present disclosure, when a load is loaded on a moving body, the moving body moves to a first point and waits until the receiving timing. Then, when the receiving timing arrives, the moving body moves to a second point 22. As a result, the user can receive the load by heading to the second point when trying to receive the load. Further, since the moving body waits at the first point until the receiving timing, the risk of misdelivery or theft when the user receives the load at the second point can be reduced. Thus, according to the present disclosure, in a scenario where collected loads are delivered to a user, a delivery service with high user-friendliness can be provided.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments will be described with reference to the drawings.

[0013] 1. Overview The moving body management system according to the present embodiment manages moving bodies that load and deliver loads in a predetermined area. FIG. 1 is a diagram showing an example of the configuration of a moving body management system 10 according to the present embodiment.

[0014] As shown in Fig. 1(A), the mobile body management system 10 according to this embodiment is configured by connecting a control center 100 and a plurality of mobile bodies 200 via a communication network 300. Each of the control center 100 and the plurality of mobile bodies 200 transmits information to each other via the communication network 300. The communication network 300 can be composed of, for example, a mobile communication network and the Internet.

[0015] The control center 100 transmits command information to each of the plurality of mobile bodies 200. The command information is information indicating, for example, a destination, a moving route, a moving start time, an arrival time, etc. Each of the plurality of mobile bodies 200 is configured to perform autonomous driving according to the command information received from the control center 100. In this way, the control center 100 manages the movement of each of the plurality of mobile bodies 200. The function of the mobile body management system 10 according to this embodiment is realized by the control center 100 managing the movement of each of the plurality of mobile bodies 200.

[0016] Fig. 1(B) is a conceptual diagram showing an example of the mobile body 200. As shown in Fig. 1(B), the mobile body 200 has a loading section 201 capable of loading the luggage 2. The mobile body 200 is configured to be able to travel with the luggage 2 loaded in the loading section 201.

[0017] The plurality of mobile bodies 200 may include a plurality of types of mobile bodies 200 with different specifications of the loading section 201. Examples of the specifications of the loading section 201 include the maximum loading size (maximum loading capacity) and the maximum loading weight. For example, each of the plurality of mobile bodies 200 may be classified into three types (A, B, C) with different maximum loading sizes and maximum loading weights as shown in Table 1 below. Other specifications of the loading section include the presence or absence of a refrigeration function and a vibration suppression function.

[0018]

Table 1

[0019] In the present embodiment, the specific form of the mobile body 200 is not particularly limited. In particular, the form of the loading section 201 and the traveling device may be a suitable form according to the environment to which the present embodiment is applied.

[0020] The mobile body management system 10 according to the present embodiment provides a delivery service for delivering the goods being collected to the user in a predetermined area. Hereinafter, the delivery service provided by the mobile body management system 10 according to the present embodiment will be described with reference to FIG. 2.

[0021] The mobile body management system 10 provides a delivery service according to a delivery request. The delivery request may be made by a user who receives the goods, or may be made by an operator who manages the goods being collected.

[0022] (A) of FIG. 2 is a table showing an example of a delivery request. In (A) of FIG. 2, three delivery requests are shown for each management number. Each delivery request designates a loading location, a loadable period, and a receiving user, and includes information on the size and weight of the goods to be delivered. The loading location is the location where the goods are loaded. The loadable period is the period during which it is possible to load the goods at the loading location. For example, the loadable period is the period during which the goods are stored at the loading location. The receiving user is the user who receives the goods to be delivered. In the example shown in (A) of FIG. 2, the receiving user is designated by a user ID capable of identifying each user. The size and weight are attribute information of the goods to be delivered. Each delivery request may include more attribute information such as the quantity of the goods, handling (refrigeration, perishable goods, etc.), name of the goods, etc. Each delivery request may also include other designated items.

[0023] The mobile body management system 10, for example, starts a delivery service for a delivery request that has reached the loadable period. When the delivery service is started, first, the control center 100 selects a mobile body 200 (dispatched mobile body) to which the delivery request is assigned from among the plurality of mobile bodies 200.

[0024] When each of the plurality of moving bodies 200 is classified into a type according to the standard of the loading section 201, the control center 100 may be configured to select a specific type based on the attribute information of the goods of the delivery request and assign the delivery request to the moving body 200 of the selected type.

[0025] For example, consider the case of assigning a delivery request with the management number 123 - 456. Also, assume that each of the plurality of moving bodies 200 is classified into three types shown in Table 1. At this time, according to the delivery request, the size of the goods is 50L and the weight is 10kg. Therefore, the size of the goods to be delivered exceeds the maximum loading size of the moving body 200 of type A. On the other hand, the size and weight of the goods to be delivered satisfy the maximum loading size and maximum loading weight of types B and C. Therefore, in this case, the control center 100 selects types B and C and assigns the delivery request with the management number 123 - 456 to the moving body 200 of type B or type C. Furthermore, the control center 100 may be configured to preferentially assign the delivery request to the type with lower specifications. For example, in the above example, as shown in Table 1, the specifications of type C are higher than those of type B. Therefore, the control center 100 preferentially assigns the delivery request to type B.

[0026] By performing the assignment of the delivery request in this way, an appropriate moving body 200 can be appropriately selected according to the goods to be delivered. Thereby, the plurality of moving bodies 200 can be used efficiently, and the efficiency of the delivery service can be improved.

[0027] Note that the control center 100 can also assign one delivery request to a plurality of moving bodies 200.

[0028] After the assignment of the delivery request is performed, the delivery service according to the present embodiment is provided by the control center 100 moving the moving body 200 to which the delivery request has been assigned. (B) of FIG. 2 is a conceptual diagram showing an example of the delivery service according to the present embodiment.

[0029] In Fig. 2(B), an example of a predetermined area 20 to which the mobile body management system 10 is applied is shown. The area 20 is provided with at least a first point 21 and a second point 22. The first point 21 is a point provided for temporarily waiting for the mobile body 200 loaded with luggage, as will be described below. The second point 22 is a point provided for the user 1 to pick up the luggage. Note that the first point 21 and the second point 22 only need to be able to specify areas in the area 20 and do not necessarily need to be actually constructed. For example, the first point 21 and the second point 22 may be predetermined areas shown on the map of the area 20.

[0030] First, as shown by the route R1, the control center 100 moves the mobile body 200 to the loading point 23. For example, the control center 100 acquires the loading point 23 from the delivery request and transmits command information with the loading point 23 as the destination to the mobile body 200.

[0031] At the loading point 23, it is assumed that the luggage requested for delivery is loaded onto the mobile body 200. When the luggage is loaded onto the mobile body 200, a loaded signal indicating that the loading of the luggage is completed is transmitted to the control center 100. For example, the mobile body 200 may be equipped with a loading unit recognition sensor that recognizes the luggage loaded in the loading unit 201, and may be configured to detect that the loading of the luggage is completed from the recognition result of the loading unit recognition sensor and transmit a loaded signal. At this time, the mobile body 200 may be configured to be able to transmit a loaded signal on the condition that the delivered luggage and the loaded luggage have been verified. For example, the mobile body 200 may be configured to verify the management number received from the control center 100 and the management number obtained from the identification code attached in advance to the loaded luggage.

[0032] When the control center 100 receives the loaded signal, as shown by the route R2, it moves the mobile body 200 (loaded mobile body) with the luggage loaded to the first point 21. For example, the control center 100 transmits command information with the first point 21 as the destination to the mobile body 200.

[0033] After the mobile body 200 arrives at the first location 21, the control center 100 identifies the user 1 who will receive the luggage loaded on the mobile body 200, and determines the receiving timing at which the identified user 1 requests to receive the luggage at the second location. Further, the control center 100 causes the mobile body 200 to wait at the first location until the receiving timing arrives.

[0034] The control center 100 may be configured to obtain the position information of the identified user 1 and determine that the receiving timing has arrived when it detects that the user 1 is located at the second location 22 based on the obtained position information. That is, the receiving timing can be set to when the user 1 is at the second location 22. In this case, it is assumed that the user 1 heads to the second location 22 at an arbitrary timing when the user 1 wants to receive the luggage in the area 20.

[0035] For example, the control center 100 obtains the position information of the user 1 based on the information of cameras or authentication devices (such as card readers or fingerprint authentication devices provided at the gate of the second location 22) arranged in the area 20. Alternatively, the control center 100 may be configured to obtain the position information of the user 1 by communicating with the user terminal carried by the identified user 1.

[0036] When the receiving timing arrives, the control center 100 moves the mobile body 200 to the second location as indicated by the route R3. For example, the control center 100 transmits command information with the second location 22 as the destination to the mobile body 200.

[0037] At the second location 22, it is assumed that the user 1 receives the luggage from the mobile body 200. When the luggage is taken out from the mobile body 200, a delivery completion signal indicating that the receiving of the luggage has been completed is transmitted to the control center 100. When the control center 100 receives the delivery completion signal, it determines that the processing of the delivery request has been completed. Further, the control center 100 may be configured to move the mobile body 200 without luggage to a predetermined waiting location within the area 20. In this case, the waiting location may be the first location 21.

[0038] As described above, the delivery service by the mobile body management system 10 according to the present embodiment is provided. According to the present embodiment, when a load is loaded on the mobile body 200, the mobile body 200 moves to the first point 21 and waits until the receiving timing. Then, when the receiving timing arrives, the mobile body 200 moves to the second point 22. Thereby, when the user 1 tries to receive the load, the user 1 can receive the load by going to the second point 22. Further, since the mobile body 200 waits at the first point 21 until the receiving timing, the risk of misdelivery or theft when the user 1 receives the load at the second point 22 can be reduced. Thus, the mobile body management system 10 according to the present embodiment can provide a delivery service with high usability for the user.

[0039] For example, the delivery service provided by the mobile body management system 10 can be utilized for the checked baggage storage service at an airport. In this case, the area 20 is provided in the airport facility, the loading point 23 is the collection location for the checked baggage, and the second point 22 is the location for the user 1 to receive the checked baggage. By utilizing it for the checked baggage storage service at the airport in this way, the user 1 can delay receiving the checked baggage for a while after the flight. Subsequently, the user 1 can use the airport facility and have a meeting without carrying the checked baggage.

[0040] 2. Configuration Hereinafter, the configurations of the control center 100 and the mobile body 200 will be described.

[0041] 2-1. Control Center FIG. 3 is a diagram showing an example of the configuration of the control center 100.

[0042] The control center 100 includes a processing unit 110 and a communication unit 120.

[0043] The processing unit 110 is a computer including one or more processors 111 (hereinafter simply referred to as "processor 111") and one or more storage devices 112 (hereinafter simply referred to as "storage device 112"). The processor 111 executes various processes. The processor 111 can be configured by, for example, a CPU (Central Processing Unit) including an arithmetic unit, registers, and the like. The storage device 112 is connected to the processor 111 and stores various information necessary for the execution of the processes of the processor 111. The storage device 112 can be configured by, for example, recording media such as a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like.

[0044] The storage device 112 stores a computer program 113, delivery request information 114, mobile body management information 115, map information 116, and user information 117.

[0045] The computer program 113 is stored in a computer-readable recording medium. The computer program 113 is composed of a plurality of instructions for causing the processor 111 to execute processes. By operating the processor 111 according to the plurality of instructions, the execution of various processes by the processor 111 is realized.

[0046] The delivery request information 114 is management information of delivery requests. For example, as shown in (A) of FIG. 2, the delivery request information 114 manages the information of delivery requests for each management number.

[0047] The mobile body management information 115 is management information of each of the plurality of mobile bodies 200. For example, the mobile body management information 115 manages information such as the type, the assignment status of delivery requests, and the delivery status for each of the plurality of mobile bodies 200.

[0048] The map information 116 is information regarding the map of the area 20.

[0049] User information 117 manages information about each user. For example, user information 117 manages the information of user 1 for each user ID. User information 117 may include the location information of user 1.

[0050] The communication unit 120 communicates with devices external to the control center 100 to transmit and receive information. Through the communication unit 120, the control center 100 communicates with the moving body 200 via the communication network 300. The communication unit 120 is, for example, a device connected to the Internet for communication.

[0051] 2-2. Moving Body FIG. 4 is a diagram showing an example of the configuration of the moving body 200.

[0052] The moving body 200 includes a control device 210, a traveling environment recognition sensor 220, a loading unit recognition sensor 230, and a communication device 240.

[0053] The traveling environment recognition sensor 220 detects the traveling environment of the moving body 200. Examples of the traveling environment recognition sensor 220 include sensors for detecting the surrounding environment of the moving body 200 such as a camera, a sonar, a LiDAR (Laser Imaging Detection and Ranging), etc., and sensors for detecting the traveling state of the moving body 200 such as a wheel speed sensor, an IMU (Inertial Measurement Unit), etc.

[0054] The loading unit recognition sensor 230 recognizes the situation of the loading unit 201. Examples of the loading unit recognition sensor 230 include a camera, a weight sensor, etc.

[0055] The communication device 240 communicates with devices external to the moving body 200 to transmit and receive information. Through the communication unit 120, the moving body 200 communicates with the control center 100 via the communication network 300. The communication device 240 is, for example, a communication module that communicates with a base station.

[0056] The control device 210 is a computer that executes processes related to various controls of the mobile body 200. At least the control device 210 is configured to execute a process of autonomously driving the mobile body 200 according to command information received from the traffic control center 100. For example, based on the information detected by the driving environment recognition sensor 220, the control device 210 executes a process of generating a driving trajectory of the mobile body 200 so as to satisfy the command information, and a process of controlling the acceleration, braking, and steering of the mobile body 200 so that the mobile body 200 travels along the driving trajectory.

[0057] 3. Process Hereinafter, the process executed by the traffic control center 100, more specifically, the process executed by the processor 111 will be described.

[0058] FIG. 5 is a flowchart showing an example of the process executed by the processor 111. The process shown in FIG. 5 starts when a delivery service for a certain delivery request is started.

[0059] In step S100, the processor 111 assigns a delivery request. For example, the processor 111 refers to the mobile body management information 115 and assigns the delivery request to a mobile body 200 to which the delivery request has not yet been assigned. Further, as described above, the processor 111 may be configured to select a specific type based on the attribute information of the load of the delivery request and assign the delivery request to the mobile body 200 of the selected type.

[0060] Next, in step S110, the processor 111 moves the mobile body 200 to which the delivery request was assigned in step S100 to the loading point 23. For example, the processor 111 refers to the delivery request information 114 and the map information 116 to acquire the position information of the loading point 23, and transmits command information having the loading point 23 as the destination to the mobile body 200.

[0061] After the mobile body 200 moves to the loading point 23 according to the command information, the process proceeds to step S120.

[0062] In step S120, the processor 111 determines whether a load is loaded on the moving body 200. The processor 111 may be configured to determine that a load is loaded on the moving body 200 when receiving a loaded signal from the moving body 200.

[0063] When a load is loaded on the moving body 200 (step S120; Yes), the process proceeds to step S130. When no load is loaded on the moving body 200 (step S120; No), the processor 111 executes the process according to step S120 again at a predetermined processing cycle.

[0064] In step S130, the processor 111 moves the moving body 200 to the first point 21. For example, the processor 111 refers to the map information 116 to obtain the position information of the first point 21, and transmits command information with the first point 21 as the destination to the moving body 200.

[0065] Next, in step S140, the processor 111 identifies the user 1 who receives the load loaded on the moving body 200. For example, the processor 111 refers to the delivery request information 114 to obtain the user ID of the user 1 who receives the load.

[0066] Next, in step S150, the processor 111 determines the receiving timing at which the user 1 identified in step S140 requests to receive the load. The processor 111 may be configured to determine that the receiving timing is when it detects that the user 1 is located at the second point 22. In this case, the processor 111 obtains the position information of the user 1 by referring to the user information 117 using the user ID, for example, and detects from the obtained position information of the user 1 and the map information 116 that the user 1 is located at the second point.

[0067] When the receiving timing is reached (step S160; Yes), the process proceeds to step S170. When it is not the receiving timing (step S160; No), the processor 111 executes the process according to step S150 again at a predetermined processing cycle.

[0068] In step S170, the processor 111 moves the mobile body 200 to the second point 22. For example, the processor 111 refers to the map information 116 to obtain the position information of the second point 22, and transmits command information with the second point 22 as the destination to the mobile body 200.

[0069] As described above, by the processor 111 executing the processing, the delivery service by the mobile body management system 10 according to the present embodiment is realized. Further, by the processor 111 executing the processing in this way, the mobile body management method according to the present embodiment is realized. Further, by the computer program 113 that causes the processor 111 to execute the processing, the mobile body management program according to the present embodiment is realized.

[0070] 4. Modification The mobile body management system 10 according to the present embodiment may be applied in a modified manner as follows. In the following description, parts overlapping with the above description are appropriately omitted.

[0071] The mobile body management system 10 according to the modification provides a delivery service in cooperation with an AVP system that provides an automatic valet parking (AVP) function to the user 1. In the mobile body management system 10 according to the modification, the boarding and alighting location of the AVP vehicle that performs automatic driving in the parking lot by the AVP function is set as the second point 22. That is, when dispatching the AVP vehicle, the user 1 is assumed to be at the second point. Also at this time, it is assumed that the user 1 will try to depart from the parking lot after boarding the AVP vehicle at the second point.

[0072] In the mobile body management system 10 according to the modified example, when user 1 requests the dispatching of an AVP vehicle, the control center 100 is configured to determine the arrival time when the AVP vehicle arrives at the boarding / alighting location (second location 22) as the reception timing of user 1. The control center 100 may be configured to obtain the presence or absence of the dispatching request of user 1 and the arrival time when the AVP vehicle arrives at the boarding / alighting location (second location 22) by communicating with a server that manages the reservation status of AVP for each user.

[0073] According to the mobile body management system 10 according to the modified example, at the arrival time of the AVP vehicle, the mobile body 200 moves to the boarding / alighting location (second location 22). Thereby, user 1 can receive the luggage at the timing when user 1 tries to board the AVP vehicle and depart at the boarding / alighting location (second location 22). Subsequently, the annoyance of user 1 with respect to the procedure of receiving the luggage can be reduced.

Explanation of Signs

[0074] 1 User, 10 Mobile body management system, 20 Predetermined area, 21 First location, 22 Second location, 23 Loading location, 100 Control center, 111 Processor, 112 Storage device, 200 Mobile body, 201 Loading section

Claims

1. A mobile body management system for managing a plurality of mobile bodies that load and deliver goods in a predetermined area, comprising: one or more processors; the one or more processors: upon receiving that a load has been loaded onto one of the plurality of mobile bodies, performing a process of moving the loaded mobile body with the load to a first point within the predetermined area; performing a process of identifying a user who receives the load loaded on the loaded mobile body; performing a process of determining a receiving timing at which the user requests to receive the load; performing a process of moving the loaded mobile body from the first point to a second point within the predetermined area at the receiving timing; configured to execute; the second point is a boarding and alighting location of an AVP vehicle; in the process of determining the receiving timing, the one or more processors: when the user requests the dispatching of the AVP vehicle, obtain an arrival time at which the AVP vehicle arrives at the boarding and alighting location; determine the arrival time as the receiving timing A mobile body management system characterized by the above.

2. The mobile body management system according to claim 1, further comprising: a storage device that manages a delivery request including attribute information of the goods to be delivered; the plurality of mobile bodies include a plurality of types of mobile bodies with different specifications of loading sections; the one or more processors: performing a process of selecting a dispatched mobile body to which the delivery request is assigned from among the plurality of mobile bodies; performing a process of moving the dispatched mobile body to a loading point at which the load of the delivery request is loaded; further configured to execute; in the process of selecting the dispatched mobile body, the one or more processors: select a specific type from the plurality of types based on the attribute information; select a mobile body of the selected type among the plurality of mobile bodies as the dispatched mobile body A mobile body management system characterized by the above.

3. A mobile body management method for managing a plurality of mobile bodies that load and deliver goods in a predetermined area by a process executed by a computer, comprising: upon receiving that a load has been loaded onto one of the plurality of mobile bodies, performing a process of moving the loaded mobile body with the load to a first point within the predetermined area; performing a process of identifying a user who receives the load loaded on the loaded mobile body; performing a process of determining a receiving timing at which the user requests to receive the load; A process of moving the loaded moving body from the first point to a second point within the predetermined area at the receiving timing; including execution by the computer; wherein the second point is a boarding / alighting location of the AVP vehicle; in the process of determining the receiving timing, the computer: when the user requests dispatch of the AVP vehicle, obtains an arrival time at which the AVP vehicle arrives at the boarding / alighting location; and determines the arrival time as the receiving timing. A moving body management method characterized by the above.

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