Autonomous Mobile and Vehicle Systems

Abstract

To improve convenience of an article storage service using a vehicle.SOLUTION: An autonomous movable body includes: a travel unit that performs autonomous movement; a locker unit capable of storing an article; a first power supply unit that supplies power to the travel unit; and a second power supply unit that includes one or more hydrogen cartridges and supplies power to the locker unit using hydrogen with which the hydrogen cartridges are filled.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle-based item storage service. [Background technology]

[0002] Attempts are being made to provide services by dispatching self-driving cars designed for various purposes. For example, Patent Document 1 discloses an invention relating to a system that enables the deposit and retrieval of luggage at various locations by operating self-driving cars equipped with coin lockers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-096201 [Patent Document 2] Special Publication No. 2022-524900 [Patent Document 3] Patent Publication No. 2021-082042 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to improve the convenience of vehicle-based item storage services. [Means for solving the problem]

[0005] One aspect of an embodiment of the present disclosure is This autonomous moving body has a traveling unit that moves autonomously, a locker unit that can store items, a first power supply unit that supplies power to the traveling unit, and a second power supply unit that includes one or more hydrogen cartridges and supplies power to the locker unit using hydrogen filled in the hydrogen cartridges.

[0006] One aspect of an embodiment of the present disclosure is A vehicle system including an autonomous mobile body having a traveling unit that moves autonomously and a locker unit that can store items, and a server device that commands operation of the autonomous mobile body, wherein the autonomous mobile body has a first power supply unit that supplies power to the traveling unit, and a second power supply unit that includes one or more hydrogen cartridges and supplies power to the locker unit using hydrogen filled in the hydrogen cartridges, and the server device has a control unit that transmits operation commands to the autonomous mobile body specifying a first task to be performed by the traveling unit and a second task to be performed by the locker unit.

[0007] Another aspect is a program for causing a computer to execute the method executed by the autonomous moving body or server device described above, or a computer-readable storage medium that non-temporarily stores the program. [Effects of the Invention]

[0008] According to the present invention, the convenience of vehicle-based item storage services can be improved. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of a movable locker system according to a first embodiment. [Figure 2] FIG. 1 is a diagram illustrating an example of the appearance of a vehicle 1. [Figure 3] FIG. 2 is a diagram showing an example of the hardware configuration of a vehicle 1. [Figure 4] FIG. 2 is a diagram showing an example of the hardware configuration of a server device 2. [Figure 5] FIG. 2 is a diagram showing a schematic diagram of the software configuration of the vehicle 1. [Figure 6] FIG. 2 is a diagram illustrating a software configuration of the server device 2. [Figure 7] 10A and 10B are examples of vehicle data 22A and task data 22B. [Figure 8] FIG. 1 is a sequence diagram of processing executed in a mobile locker system. [Figure 9] 6 is a flowchart of a process in which the server device 2 determines a travel route and schedule for the vehicle 1. [Figure 10] 10 is an example of a flowchart of a process executed by the vehicle 1 when a driving command is received. DETAILED DESCRIPTION OF THE INVENTION

[0010] A system has been proposed in which a mobile object (autonomous mobile object) that runs autonomously using electricity as energy is equipped with a storage device that can store items and is dispatched to a user. For example, based on a request from a user terminal, an autonomous mobile object equipped with a coin locker can be dispatched to a specified location, allowing the user to deposit their luggage without having to move. Furthermore, the storage device can also be equipped with additional functions such as refrigeration, heat retention, and electronic authentication.

[0011] When a storage device is installed in such an autonomous moving body, securing power becomes an issue.

[0012] The autonomous moving body and the storage device consume power during operation. However, the power consumed by the autonomous moving body and the storage device varies greatly depending on the operating conditions. For example, when a user requesting the dispatch of the storage device is far away, more power is required for traveling than when the user is nearby. Furthermore, when fresh food or the like is deposited, the inside of the storage device must be kept at a low temperature, which requires more power than when items at room temperature are deposited.

[0013] When one battery supplies power to both the autonomous vehicle and the storage device, power must be distributed appropriately. If there is a power shortage during operation, it may happen that the vehicle can keep items warm (or cold) but cannot move, or that the vehicle can move but cannot keep items warm (or cold). However, it is difficult to accurately estimate the amount of electricity consumed, as it varies depending on factors such as the route, distance traveled, number of items stored, and temperature range. One method is to separate the battery that supplies power for driving from the battery that supplies power to the storage device, but this creates another problem in that the space available for the storage device is reduced. The autonomous moving body according to the present disclosure solves such problems.

[0014] An autonomous moving body according to an embodiment includes: The vehicle is characterized by having a traveling unit that moves autonomously, a locker unit that can store items, a first power supply unit that supplies power to the traveling unit, and a second power supply unit that includes one or more hydrogen cartridges and supplies power to the locker unit using hydrogen filled in the hydrogen cartridges.

[0015] An autonomous mobile body is typically an unmanned vehicle that moves autonomously and is equipped with a storage device (locker unit) that can store items. The locker unit is a locker-type device that has multiple compartments and can store items in each compartment. Each of the multiple compartments may be capable of being locked and unlocked independently. An autonomous mobile body equipped with a locker unit is also called a mobile locker. By operating an autonomous mobile body equipped with a locker unit, a locker can be dispatched to a location desired by a user to store items. In addition, items can be delivered between multiple users. It is possible.

[0016] The autonomous moving body includes a first power supply unit that supplies power to the propulsion unit, and a second power supply unit that includes one or more hydrogen cartridges and supplies power to the locker unit using the hydrogen filled therein. The first power supply unit is typically a power supply unit including a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery, while the second power supply unit is a unit that generates electricity using hydrogen as fuel, i.e., a fuel cell.

[0017] Secondary batteries such as lithium-ion batteries and nickel-metal hydride batteries have high output density and can be charged and discharged at high speeds. These characteristics make them suitable as power sources for driving vehicles. Fuel cells have a lower output density than secondary batteries, but a higher energy density. In other words, for the same weight, they can extract energy for a longer period of time than secondary batteries. These characteristics make fuel cells suitable as a continuously supplied power source (for example, a power source for providing goods storage services, such as keeping storage devices warm or cold).

[0018] The autonomous moving body according to the present disclosure has the feature that both power sources are independent. This allows separate power supply plans for vehicle operation and storage. Furthermore, by using a fuel cell as the second power supply unit, the power supply unit can be made smaller, maximizing the space required for the storage device.

[0019] The second power supply unit may be configured so that one or more of the hydrogen cartridges can be individually detachably attached thereto. This makes it possible to selectively mount the number of cartridges required to provide the service.

[0020] Furthermore, the insertion direction of the hydrogen cartridge when attached to the second power supply unit may be the same as the removal direction of the item from the locker unit. For example, the hydrogen cartridge can be designed to be inserted in the same direction as the direction in which items are taken in and out of the locker unit, thereby ensuring space in one direction so that both the taking in and taking out of items and the replacement of the hydrogen cartridge can be performed.

[0021] The locker unit may further include a temperature adjustment unit that operates using the supplied power. The temperature adjustment unit may be either a cooling unit or a heating unit. One temperature adjustment unit may be provided for each locker unit, or one may be provided for each of the multiple compartments.It is also possible to configure the multiple compartments so that the temperature can be adjusted independently for each of the multiple compartments.

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The configurations of the following embodiments are examples, and the present disclosure is not limited to the configurations of the embodiments.

[0023] (First embodiment) An overview of a mobile locker system according to a first embodiment will be described with reference to Fig. 1. The mobile locker system according to this embodiment includes one or more autonomously traveling vehicles 1 and a server device 2 that controls the vehicles 1. A user terminal 3 is a computer that issues requests to the server device 2.

[0024] Vehicle 1 is an autonomous vehicle that travels based on commands from server device 2. Vehicle 1 is configured with a storage device mounted thereon. The storage device is a locker-type device that has multiple compartments and can store items in each compartment. The storage device may be in any form as long as it can store items and lock them. Figure 2 shows the exterior of vehicle 1. Vehicle 1 is configured with a drive unit 17, which is a unit that performs autonomous driving, and a locker unit 15 configured to allow access to each compartment via multiple doors. Locker unit 15 is configured to include multiple compartments (five in the illustrated example). A user who uses the service can unlock a specified compartment via the input / output unit 14. Reference numeral 16B denotes a cartridge filled with hydrogen for supplying power to the locker unit 15 (described later).

[0025] The vehicle 1 provides an item storage service (hereinafter referred to as a storage service) using the installed locker unit 15. A user can deposit and retrieve items at any location by calling the vehicle 1 via the server device 2. Note that the user who deposits an item may be different from the user who retrieves the item. In other words, the vehicle 1 may provide an item delivery service. For example, a store may deposit an item in the vehicle 1, and a consumer who purchases the item may pick it up at their home.

[0026] The server device 2 is a device that manages the operation of the vehicle 1 . As described above, vehicle 1 can move autonomously by mounting locker unit 15. When server device 2 receives a request for dispatching a vehicle from user terminal 3 carried by a user who takes in or out an item, server device 2 determines vehicle 1 to be dispatched to the user and instructs vehicle 1 to operate.

[0027] The vehicle 1, the server device 2, and the user terminal 3 are connected to each other via a network. The network may be, for example, a wide area network (WAN), which is a global public communication network such as the Internet, or another communication network. The network may also include a telephone communication network such as a mobile phone network, or a wireless communication network such as Wi-Fi (registered trademark).

[0028] Next, the vehicle 1 and the server device 2 will be described in detail. Vehicle 1 is a vehicle that travels autonomously under the control of server device 2. Specifically, vehicle 1 determines a travel route based on driving instructions sent from server device 2, and travels on roads in an appropriate manner while sensing the surroundings of vehicle 1. Furthermore, at the destination, vehicle 1 performs predetermined tasks related to the storage service (such as storing and delivering items).

[0029] The server device 2 is a computer that manages multiple vehicles 1. The server device 2 is configured to be able to wirelessly communicate with multiple vehicles 1, and when a request is made by a user, the server device 2 determines a vehicle 1 to be dispatched to the user and commands the vehicle 1 to operate.

[0030] [Hardware configuration] FIG. 3 is a diagram showing an example of the hardware configuration of the vehicle 1. As shown in FIG. The vehicle 1 includes a control unit 11, a memory unit 12, a communication module 13, an input / output unit 14, a locker unit 15, a fuel cell unit 16, a drive unit 17, a battery unit 18, and a sensor group 19. The locker unit 15 operates on power supplied from the fuel cell unit 16, and the drive unit 17 operates on power supplied from the battery unit 18.

[0031] The control unit 11 executes a predetermined program to perform calculations to realize various functions of the vehicle 1. The control unit 11 can be realized by a hardware processor such as a CPU, for example. The control unit 11 may also be configured to include a RAM, a ROM (Read Only Memory), a cache memory, and the like.

[0032] The storage unit 12 is a means for storing information, and is configured with storage media such as RAM, a magnetic disk, a flash memory, etc. The storage unit 12 stores programs executed by the control unit 11, data used by the programs, etc.

[0033] The communication module 13 is a communication means for connecting the vehicle 1 to a network. In this embodiment, the vehicle 1 can communicate with other devices (e.g., the server device 2) via the network using mobile communication services such as 3G, LTE, and 5G. The communication module 13 may further include a communication means for performing vehicle-to-vehicle communication with other vehicles.

[0034] The input / output unit 14 is a means for accepting input operations performed by the user and presenting information to the user. Specifically, the input / output unit 14 includes devices for input such as a mouse and a keyboard, and devices for output such as a display and a speaker. The input / output unit 14 may be integrally configured with, for example, a touch panel display.

[0035] Locker unit 15 is a locker-type device that has multiple compartments, each capable of storing an item. As described with reference to Figure 2, locker unit 15 is configured so that each independent compartment can be accessed by multiple doors. Locker unit 15 has multiple electronic locks 15A, which allow the multiple compartments to be locked and unlocked. Locker unit 15 also has heating device 15B and cooling device 15C, which can maintain a constant temperature in any compartment. Heating device 15B is a device that maintains a temperature inside the compartment higher than room temperature, and cooling device 15C is a device that maintains a temperature inside the compartment lower than room temperature. Cooling device 15C and heating device 15B may be provided for each compartment, or one cooling device 15C and heating device 15B may be responsible for multiple compartments. These devices allow multiple compartments to be individually maintained at a specified temperature, enabling the delivery of perishable foods and other items. Locker unit 15 is also connected to control unit 11, and its operations (user authentication, locking / unlocking, heat retention, cold retention, etc.) are controlled by control unit 11. Locker unit 15 can also interact with the user via input / output unit 14.

[0036] The fuel cell unit 16 is a unit including a fuel cell 16A and a hydrogen cartridge 16B. The fuel cell 16A may be a fuel cell stack formed by stacking a plurality of battery cells. The fuel cell 16A may be, for example, a polymer electrolyte fuel cell. The fuel cell 16A generates electricity by chemically reacting hydrogen supplied to the anode electrode with oxygen supplied to the cathode electrode as an oxidant gas. The fuel cell 16A may have a mechanism for storing or discharging water produced by the chemical reaction between hydrogen and oxygen.

[0037] The hydrogen cartridge 16B stores compressed hydrogen to be supplied to the fuel cell 16A. In this embodiment, as shown in FIG. 2, multiple hydrogen cartridges 16B can be mounted on the fuel cell unit 16. When multiple hydrogen cartridges 16B are mounted, the stored hydrogen is supplied to the fuel cell 16A as a unit. In other words, by increasing the number of hydrogen cartridges 16B mounted, the power supply capacity of the fuel cell 16A can be increased. Note that in the example of FIG. 2, three hydrogen cartridges 16B are mounted on the vehicle 1, but the number of hydrogen cartridges 16B that can be mounted is not limited to this. In this embodiment, the heating device 15B, the cooling device 15C, and the electronic lock 15A included in the locker unit 15 are operated by the power supplied from the fuel cell unit 16. The hydrogen cartridge 16B is positioned so that the insertion direction when attached is the same as the removal direction of the item, which makes it possible to replace the hydrogen cartridge even in a small space.

[0038] The drive unit 17 is a means for driving the vehicle 1 based on commands generated by the control unit 11. The drive unit 17 may include, for example, a motor and inverter for driving the wheels, a brake, and a steering mechanism. The drive unit 17 is coupled to the battery unit 18 and operates using power supplied from the battery unit 18. The battery unit 18 may typically be a secondary battery such as a lithium-ion battery or a nickel-metal hydride battery.

[0039] The sensor group 19 includes a plurality of sensors that perform sensing of the surroundings of the vehicle, and typically includes a camera, a laser scanner, a LIDAR, a radar, a GPS module, etc. Information acquired by the sensors included in the sensor group 19 is transmitted to the control unit 11. The sensor group 19 may include a camera provided on the vehicle 1. For example, the sensor group 19 may include an imaging device using an image sensor such as a Charged-Coupled Device (CCD), a Metal-Oxide-Semiconductor (MOS), or a Complementary Metal-Oxide-Semiconductor (CMOS).

[0040] The control unit 11, the storage unit 12, the communication module 13, and the input / output unit 14 may be mounted on the vehicle 1 as an integrated control device.

[0041] FIG. 4 is a diagram showing an example of the hardware configuration of the server device 2. As shown in FIG. The server device 2 is configured as a computer having a control unit 21, a storage unit 22, a communication module 23, and an input / output device 24.

[0042] The server device 2 can be configured as a computer having a processor (CPU, GPU, etc.), a main memory device (RAM, ROM, etc.), and an auxiliary memory device (EPROM, hard disk drive, removable media, etc.). The auxiliary memory device stores an operating system (OS), various programs, various tables, etc., and by executing the programs stored therein, various functions (software modules) that meet predetermined purposes, as described below, can be realized. However, some or all of the functions may be realized as hardware modules using hardware circuits such as ASICs, FPGAs, etc.

[0043] The control unit 21 is a computing unit that executes predetermined programs to realize various functions of the server device 2. The control unit 21 can be realized by, for example, a hardware processor such as a CPU. The control unit 21 may also be configured to include RAM, ROM (Read Only Memory), cache memory, etc.

[0044] The storage unit 22 is a means for storing information, and is configured with storage media such as RAM, a magnetic disk, a flash memory, etc. The storage unit 22 stores programs executed by the control unit 21, data used by the programs, etc.

[0045] The communication module 23 is a communication interface for connecting the server device 2 to a network. The communication module 23 may be configured to include, for example, a network interface board, a wireless communication interface for wireless communication, and the like.

[0046] The input / output device 24 receives input operations performed by an operator and provides information to the operator. Specifically, the input / output device 24 includes devices for input such as a mouse and a keyboard, and devices for output such as a display and a speaker. The input / output device may be integrally configured with, for example, a touch panel display.

[0047] The specific hardware configurations of the vehicle 1 and the server device 2 may include omissions, substitutions, and additions of components as appropriate depending on the embodiment. For example, the control unit 11 or the control unit 21 may include multiple hardware processors. The hardware processor may be configured with a microprocessor, FPGA, GPU, or the like. The input / output device 24 may be omitted, or an input / output device other than the illustrated one (e.g., an optical drive, etc.) may be added. The server device 2 may also be configured with multiple computers. In this case, the hardware configurations of the computers may or may not be the same.

[0048] The user terminal 3 is a computer used by a user who uses the item storage service. The user terminal 3 can be, for example, a personal computer, a smartphone, a mobile phone, a tablet computer, or a personal information terminal. The user can access the server device 2 and interact with the server device 2 via a web browser or application software running on the user terminal 3.

[0049] [Software configuration] Next, the software configuration of each device constituting the vehicle 1 and the server device 2 will be described. 5 is a diagram schematically illustrating the software configuration of the vehicle 1 according to this embodiment. In this embodiment, the control unit 11 is configured to have two software modules: a task control unit 111 and a driving control unit 112. Each software module may be realized by the control unit 11 (CPU) executing a program stored in the storage unit 12.

[0050] The task control unit 111 executes a plurality of tasks for providing services to the user based on commands transmitted from the server device 2. Examples of tasks include a task of moving to a predetermined location, a task of receiving an item from the user, a task of keeping the compartment in which the item is stored warm (or cold), and a task of handing over the entrusted item. The task of handing over the item may include a task of authenticating the target user and a task of unlocking a predetermined compartment of the locker unit 15. Information regarding the tasks executed by the task control unit 111 may be stored in the storage unit 12 and referenced by the travel control unit 112, which will be described later.

[0051] If the task to be executed by the vehicle 1 is related to movement, the task control unit 111 determines the driving route and destination of the vehicle 1, and issues a driving command to the driving control unit 112. For this reason, the task control unit 111 may be configured to be able to acquire road map data. Furthermore, if the task to be executed by the vehicle 1 is related to temperature control, the task control unit 111 controls the heating device 15B or the cooling device 15C for a predetermined period of time to maintain the specified section at a specified temperature. Furthermore, if the task to be executed by the vehicle 1 is related to the provision of a storage service, the task control unit 111 identifies the user who puts or takes out an item and the compartment in which the item is stored, and controls the electronic lock 15A corresponding to the compartment. For example, the task control unit 111 may acquire authentication information from the user via the input / output unit 14, and execute a process of authenticating the user and, if the authentication is successful, a process of unlocking the corresponding compartment.

[0052] Furthermore, the task control unit 111 periodically transmits data indicating its own status (hereinafter, status data) to the server device 2. The status data includes, for example, the following information: Vehicle 1 identifier Current location of vehicle 1 Information about tasks completed to date Information about remaining tasks Remaining amount of hydrogen stored in hydrogen cartridge 16B Battery unit 18 remaining charge (SOC) or driving range Route information (if in operation) Information about the items stored in locker unit 15 The server device 2 may update the data related to the vehicle based on the received status data.

[0053] The driving control unit 112 controls the autonomous driving of the vehicle 1. The driving control unit 112 may detect the environment around the vehicle based on data acquired by sensors included in the sensor group 19, and control the autonomous driving of the vehicle using position information of the vehicle itself, road map data, etc. Targets of detection include, but are not limited to, the number and positions of lanes, the number and positions of vehicles around the vehicle itself, the number and positions of obstacles around the vehicle itself (e.g., pedestrians, bicycles, structures, buildings, etc.), road structure, road signs, etc. The target of detection may be anything necessary for autonomous driving. The driving control unit 112 drives the host vehicle along a predetermined route and in such a way that no obstacles enter a predetermined safety area centered on the host vehicle. A known method can be used to autonomously drive the vehicle.

[0054] 6 is a diagram schematically illustrating the software configuration of the server device 2 according to this embodiment. In this embodiment, the control unit 21 is configured to have three software modules: a vehicle management unit 211, a reservation management unit 212, and a command unit 213. Each software module may be realized by the control unit 21 (CPU) executing a program stored in the storage unit 22.

[0055] The vehicle management unit 211 collects information about the vehicles 1 and updates the vehicle database constructed in the storage unit 22. The vehicle database is a database that manages information about the vehicles 1 under the management of the system. The vehicle management unit 211 periodically communicates with multiple vehicles 1 and collects the status data described above. The collected data is reflected in the vehicle database, which will be described later.

[0056] The reservation management unit 212 receives requests for depositing and retrieving items (i.e., requests for dispatching a vehicle; hereinafter, vehicle dispatch requests) from the user terminal 3. The reservation management unit 212 may interact with the user terminal 3 and execute a service for accepting vehicle dispatch requests.

[0057] The dispatch request may include information specifying the location where the item will be deposited or retrieved, the date and time, and the temperature range in which the item will be stored. This information may also be received from the user terminal 3 along with the dispatch request. The temperature range may be a category such as "room temperature," "refrigerated," or "frozen," or may specify a specific temperature (for example, "between 0 and 4 degrees Celsius"). The dispatch request may be for either depositing or retrieving an item, or may be for both simultaneously. If both are requested simultaneously, the dispatch request may include the location and date and time of deposit, and the location and date and time of retrieval.

[0058] When the reservation management unit 212 receives a vehicle dispatch request, the reservation management unit 212 The dispatch destination and schedule of the vehicle 1 are determined and an operation command for the vehicle 1 is generated.

[0059] An operation command is data that instructs the vehicle 1 on the tasks to be executed and the order in which they should be executed. Examples of tasks include a task of moving to a predetermined location, a task of receiving an item from a user, a task of handing over an item to a user, and the like. The reservation management unit 212 generates an operation command that combines multiple tasks, and the vehicle 1 completes the tasks in order according to the operation command, thereby providing a service using mobile lockers.

[0060] If the task is related to travel, the task may be associated with a destination and a schedule. The vehicle 1 can travel via a specified destination according to a specified schedule.

[0061] Furthermore, if the task is related to the deposit or delivery of an item, the reservation management unit 212 may generate authentication information to be used for user authentication. For example, the reservation management unit 212 may generate first authentication information and second authentication information for matching with the first authentication information, associate the first authentication information with the task, and transmit the first authentication information to the vehicle 1. The second authentication information may also be transmitted to the user terminal 3. The first authentication information is stored by the vehicle 1. The second authentication information is input into the vehicle 1 by the user. The vehicle 1 can perform user authentication by matching these and then transfer the item.

[0062] When generating an operation command, the reservation management unit 212 preferably determines whether the service can be provided, taking into consideration the remaining charge of the drive battery (battery unit 18) of the target vehicle and the remaining charge of the fuel cell 16A. Specifically, it may be determined that the service can be provided if the vehicle is capable of traveling to the location specified by the user and the locker can be kept warm / cold for the period the item is kept in storage. If the service is not available, the following options are available: (Method 1) Use an alternative vehicle If the item has not yet been received from the user, a replacement vehicle can be prepared. (Method 2) Propose adding or replacing a hydrogen cartridge If the battery unit 18 has sufficient remaining power but the fuel cell 16A does not, it may be suggested to add or replace the hydrogen cartridge 16B to the vehicle in question. (Method 3) Propose a replacement of the item If the user has left an item in their care and the remaining charge in the battery unit 18 is insufficient, it may be suggested that the item be transferred to a substitute vehicle.

[0063] The command unit 213 transmits the generated driving command to the target vehicle 1. The vehicle 1 performs autonomous driving in accordance with the driving command transmitted from the server device 2, and provides the service to the user.

[0064] The storage unit 22 stores vehicle data 22A, task data 22B, and road map data 22C.

[0065] The vehicle data 22A is data that records the status of the vehicle 1 under the management of the server device 2. Fig. 7(A) is an example of the vehicle data 22A. The vehicle data 22A includes fields for the vehicle identifier, update date and time, vehicle information, and locker information.

[0066] The vehicle information field stores data that indicates the current state of the vehicle 1. Specifically, the vehicle information field stores location information of the vehicle 1, information about tasks that the vehicle 1 has completed so far, information about tasks that the vehicle 1 will perform in the future, the remaining battery charge of the vehicle 1, and the vehicle's driving capacity. Information about the distance, planned route of vehicle 1, etc. is stored.

[0067] The locker information field stores data related to the status of the locker unit. Specifically, the locker information field stores the status of each compartment (vacant or occupied), the set temperature, the identifier of the user using each compartment, etc. The vehicle data 22A is periodically updated by status data transmitted from the vehicle 1.

[0068] The task data 22B is data that records a plurality of tasks generated by the reservation management unit 212. 7B is an example of task data 22B. Task data 22B is defined for each vehicle and includes a vehicle identifier, a task type, the date and time the task is to be performed, and task-related information. Task types include, for example, "transport," "deposit," "temperature maintenance," and "retrieval." Task-related information is a collection of additional information for executing a task. If the task involves movement, the task-related information may record a destination identifier and a travel route. If the task involves depositing or retrieving luggage, the task-related information may record a user identifier and authentication information for authenticating the user. If the task involves maintaining a temperature, the task-related information may record a specified temperature.

[0069] The vehicle 1 performs the tasks included in the operation command transmitted from the server device 2 in the order of the specified dates and times, thereby providing the service to the user. In the illustrated example, a vehicle with an identifier V001 is (1) Move to a designated location between 11:45 and 12:00, (2) Accepting items from users between 12:00 and 12:15, (3) Between 12:15 and 12:30, the item is moved to a designated location while maintaining the temperature, and (4) the item is handed over to the user between 12:30 and 12:45. The purpose is expressed.

[0070] The road map data 22C is a database that stores data related to the road network on which the vehicle 1 travels. The road map data 22C stores definitions of multiple road segments, as well as the location information and connection relationships of each road segment. A road segment is a road on which the vehicle 1 can travel, divided into predetermined unit sections. This data is used when determining a dispatch point for the vehicle 1.

[0071] Next, a method for providing a storage service by the mobile locker system according to this embodiment will be described. FIG. 8 is a sequence diagram of the processes executed by the components included in the system.

[0072] While the vehicle 1 is in operation, it periodically generates status data and transmits it to the server device 2. The status data includes the state of the vehicle 1, as well as information about tasks that have been completed to date and information about items stored in the locker unit 15. The server device 2 (vehicle management unit 211) that receives the status data updates the vehicle data 22A based on the received status data. At the time the process shown in FIG. 8 starts, the server device 2 is assumed to hold the latest vehicle data 22A based on the status data collected from multiple vehicles 1 under its management.

[0073] A user who wishes to deposit / retrieve an item accesses the server device 2 via the user terminal 3 and makes a vehicle dispatch request. The vehicle dispatch request includes a request type ("Deposit" or "Retrieve"). The vehicle dispatch request may include information such as "request" or "take out"), the desired location for dispatching vehicle 1, the desired time period for dispatching vehicle 1, and the temperature range in which the goods are to be stored. The vehicle dispatch request can be generated, for example, by using a web browser included in user terminal 3 to access a web server provided by control unit 21 (reservation management unit 212). For this reason, reservation management unit 212 may generate a user interface to be provided to user terminal 3.

[0074] In step S11, the control unit 21 (reservation management unit 212) determines the vehicle 1 to be dispatched to the user based on the dispatch request received from the user terminal 3. If the request type is "pickup," the vehicle 1 holding the target item is determined as the vehicle to be dispatched. In other cases, the vehicle 1 to be dispatched to the user is determined by referring to the content of the dispatch request and the vehicle data 22A. Specifically, the vehicle 1 to be dispatched is determined to be the vehicle to be dispatched, and is equipped with a locker unit 15 that can be dispatched to a specified area during a specified time period and that can store items at a specified temperature range.

[0075] In step S12, the control unit 21 (reservation management unit 212) determines a travel route and schedule for the vehicle 1 determined in step S11. Fig. 9 is a flowchart showing in detail the processing executed by the control unit 21 (reservation management unit 212) in step S12.

[0076] First, in step S121, a travel route and schedule for traveling to a specified location at a specified date and time are generated. The travel route and schedule generated here are provisional for evaluation purposes. Note that if the target vehicle 1 is in operation, the route and schedule related to the operation may be modified. Next, in step S122, the type of the vehicle dispatch request is determined. If the vehicle dispatch request is for depositing an item, the process proceeds to step S123. If the vehicle dispatch request is for retrieving an item, the process proceeds to step S126.

[0077] In step S123, it is determined whether the remaining battery charge for driving is sufficient, that is, whether the specified point can be reached with the current remaining battery charge. In this step, the amount of power consumed in the task of "moving to the destination" is calculated, and it is determined whether the calculated amount of power can be supplied from the battery unit 18. If it is determined that the calculated amount of power cannot be supplied from the battery unit 18, the process proceeds to step S125, where another vehicle is selected. If it is determined that the calculated amount of power can be supplied, the process proceeds to step S124.

[0078] In step S124, it is determined whether the remaining amount of fuel cell for heat (cold) insulation is sufficient, that is, whether the current remaining amount of hydrogen is sufficient to keep the goods warm (cold). In this step, the amount of power consumed in the task of "maintaining the temperature of the item" is calculated, and it is determined whether the calculated amount of power can be supplied from fuel cell 16A. The amount of power is the amount of power consumed during the period from when the item is received to when it is delivered (the storage period). If the storage period of the item is not known, a tentative value (e.g., 24 hours) may be used as the storage period. If it is determined that the amount of power required for keeping the vehicle warm (cold) cannot be supplied, the process proceeds to step S125, where another vehicle is selected. If it is determined that the amount of power required for keeping the vehicle warm (cold) can be supplied, the process proceeds to step S128.

[0079] In step S128, the operation route and schedule generated in step S121 are finalized.

[0080] In step S122, if the target task is "retrieval", step S12 In step S126, it is determined whether the remaining battery charge for driving is sufficient, i.e., whether the specified point can be reached with the current remaining battery charge. If it is determined that the battery charge for driving is insufficient, it means that the deposited item cannot be delivered. In this case, the control unit 21 notifies the manager. If it is determined that the battery charge for driving is sufficient, the process proceeds to step S127.

[0081] In step S127, it is determined whether the remaining charge in the fuel cell for heat (cold) insulation is sufficient, i.e., whether the current remaining hydrogen level is sufficient to keep the item warm (cold) for the period until delivery. If it is determined that the amount of power required for heat (cold) insulation cannot be supplied, it means that the deposited item cannot be maintained at an appropriate temperature for the period until delivery. In this case, the control unit 21 notifies the manager. The notification may be to encourage the replacement of the hydrogen cartridge. If there is a shortage of hydrogen for the fuel cell, operation can be continued by replacing the hydrogen cartridge. In this case, the manager may instruct operation to replace the hydrogen cartridge. In other words, the remaining charge in the fuel cell can be restored by adding a task to "replace the hydrogen cartridge at a specified base." If it is determined that there is a sufficient amount of hydrogen remaining for keeping the water warm (cold), the process proceeds to step S128.

[0082] Returning to FIG. 8, the explanation will be continued. In step S12, when the operation route and schedule are determined, the server device 2 notifies the user terminal 3 of the arrival point and date and time of the vehicle 1. Then, the control unit 21 (command unit 213) generates and transmits an operation command for causing the target vehicle to execute the task.

[0083] FIG. 10 is a flowchart of the process executed by the vehicle 1 upon receiving the operation command. Upon receiving the operation command, the vehicle 1 executes a task based on the operation command. If the task to be executed is related to movement, the vehicle 1 (control unit 11) starts traveling toward the destination specified by the task (step S21).

[0084] When the vehicle 1 arrives at the destination (step S22-Yes), the control unit 11 picks up the item ("deposit" from the user's perspective) or delivers it ("takes out" from the user's perspective). After the vehicle 1 arrives, the control unit 11 may send a message to a mobile terminal or the like carried by the user to call the user.

[0085] When the user arrives at the vehicle 1, in step S23, the control unit 11 acquires second authentication information via the input / output unit 14 and compares it with the first authentication information stored in the memory unit 12. The second authentication information may be acquired as character data via a keyboard or touch panel, or as image data via a camera or scanner. It may also be acquired from the user terminal 3 via wireless communication. If IC card information has been registered in advance, the IC card information may be read using a card reader or the like, and if it matches the pre-registered information, it may be determined that the authentication has been successful. As a result, if it is confirmed that the first authentication information and the second authentication information correspond to each other, the control unit 11 unlocks the corresponding compartment. This allows the user to deposit or retrieve an item (step S24). The fact that the item has been retrieved is notified to the server device 2 via status data periodically transmitted from the vehicle 1.

[0086] When an item is deposited, the control unit 11 starts adjusting the temperature of the corresponding compartment. For example, if the executed task is "deposit," the control unit 11 adjusts the temperature of the specified temperature zone. When an item is removed, the control unit 11 stops adjusting the temperature of the corresponding compartment. For example, if the executed task is "removal," the control unit 11 stops keeping the compartment warm using the specified temperature range.

[0087] The vehicle 1 (controller 11) or the server device 2 (controller 21) may settle the fee when the item is removed. The fee may be the fee for storing the item or the price of the item. In other words, the business providing the storage service may settle the fee on behalf of the seller.

[0088] Next, the control unit 11 determines whether there is a next destination based on the operation command (step S25), and if there is a next destination, it continues operation, whereas if there is no next destination, it returns to a predetermined base.

[0089] As described above, the vehicle 1 according to this embodiment is configured to include a first power supply unit that supplies power to the driving units, and a second power supply unit that contains one or more hydrogen cartridges and supplies power to the locker units using the hydrogen filled therein. This configuration allows separate power supply plans for vehicle driving and for storing items. Furthermore, because the hydrogen cartridges are used as an energy source for keeping items warm or cold, they can be easily replaced.

[0090] (Variation) The above-described embodiment is merely an example, and the present disclosure can be implemented by appropriately modifying it within the scope that does not deviate from the gist thereof. For example, the processes and means described in this disclosure can be freely combined and implemented as long as no technical contradiction occurs.

[0091] Furthermore, in the description of the embodiment, a locker-type device having multiple compartments is exemplified, but the device installed in vehicle 1 does not necessarily have to be a locker-type device as long as it is capable of storing and preserving items. In addition, in the description of the embodiment, a heating device and a cooling device are given as examples of devices that consume power in the locker unit 15, but the locker unit 15 may include other devices as long as they operate using power from the fuel cell.

[0092] 9 when it receives a vehicle dispatch request, the server device 2 may periodically execute a process for determining the remaining charge of the driving battery (or fuel cell). If the process determines that the service cannot be continued due to a decrease in the remaining charge of the fuel cell, the server device 2 may notify the administrator to prompt the replacement of the hydrogen cartridge. Furthermore, the process of determining the remaining charge of the driving battery (or fuel cell) may be executed by the vehicle 1. Furthermore, if this process determines that the service cannot be continued due to a decrease in the remaining charge of the fuel cell, the vehicle 1 may notify the server device 2 or an administrator to prompt replacement of the hydrogen cartridge.

[0093] In addition, in the description of the embodiment, an example has been given in which products sold to users are delivered by locker unit 15, but payment for the products may be made by vehicle 1 when the products are delivered. For this reason, locker unit 15 may be configured to further include a payment unit for making electronic payments. The payment unit is a device that includes, for example, an IC card reader, an NFC reader, a barcode reader, etc., and makes payment for the products based on information read by these (electronic money information, credit information). The device is configured to transmit the read information to a payment server. In this case, the server device 2 may acquire payment-related information (for example, information identifying the product seller and information specifying the product price) via the vehicle dispatch request. Furthermore, the task generated based on the vehicle dispatch request may include a task for "paying for the product price." Furthermore, the task of handing over the product to the user may be executed after the payment task is completed.

[0094] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration (server configuration) by which each function is realized can be flexibly changed.

[0095] The present disclosure can also be realized by providing a computer program implementing the functions described in the above embodiments to a computer, and having one or more processors in the computer read and execute the program. Such a computer program may be provided to the computer via a non-transitory computer-readable storage medium connectable to the computer's system bus or via a network. Non-transitory computer-readable storage media include, for example, any type of disk, such as a magnetic disk (e.g., a floppy disk, a hard disk drive (HDD), etc.), an optical disk (e.g., a CD-ROM, a DVD disk, a Blu-ray disk), a read-only memory (ROM), a random access memory (RAM), an EPROM, an EEPROM, a magnetic card, a flash memory, an optical card, or any type of medium suitable for storing electronic instructions. [Explanation of symbols]

[0096] 1. Vehicle 2. Server device 3. User terminal 11,21 Control unit 12,22...Storage section 13,23···Communication module 14,24...Input / output section

Claims

1. a traveling unit that moves autonomously; a locker unit capable of storing items and having a plurality of compartments that can be locked and unlocked independently; a first power supply unit that supplies power to the propulsion unit; a second power supply unit including one or more hydrogen cartridges and supplying power to the locker unit using hydrogen filled in the hydrogen cartridges; and The locker unit further includes a temperature adjustment unit that operates using power supplied from the second power supply unit. Autonomous mobile body.

2. The second power supply unit is configured to allow one or more of the hydrogen cartridges to be individually detachably attached. The autonomous moving body according to claim 1 .

3. the insertion direction of the hydrogen cartridge when attached to the second power supply unit is the same as the removal direction of the item from the locker unit; The autonomous moving body according to claim 2 .

4. The temperature adjustment unit is either a cooling unit or a heating unit. The autonomous moving body according to claim 1 .

5. The temperature of each of the plurality of compartments can be independently adjusted. The autonomous moving body according to claim 1 .

6. The locker unit further includes a payment unit for paying for the stored items. The autonomous moving body according to claim 1 .

7. a control unit for controlling tasks executed by the traveling unit and the locker unit; Furthermore, The autonomous moving body according to claim 1 .

8. The task is determined based on a dispatch request from a user to at least one of deposit and retrieval of an item, the dispatch request including information specifying a temperature range in which the item is to be stored. The autonomous moving body according to claim 7 .

9. The task includes at least one of a task of receiving an item from the user, a task of maintaining the temperature of the stored item, and a task of handing over the item to the user. The autonomous moving body according to claim 8 .

10. The task includes at least one of a task of moving to a predetermined point, a task of authenticating a user at the predetermined point, and a task of unlocking a target compartment based on a result of the authentication. The autonomous moving body according to claim 7 .

11. an autonomous moving body having a traveling unit that moves autonomously and a locker unit that has a plurality of compartments that can store items and can be locked and unlocked independently; a server device that commands the autonomous moving body to operate; A vehicle system comprising: The autonomous moving body is a first power supply unit that supplies power to the propulsion unit; a second power supply unit including one or more hydrogen cartridges and supplying power to the locker unit using hydrogen filled in the hydrogen cartridges; and The server device a control unit that transmits to the autonomous moving body an operation command that specifies a first task to be performed by the traveling unit and a second task to be performed by the locker unit; and the locker unit of the autonomous moving body further includes a temperature adjustment unit that operates using power supplied from the second power supply unit. Vehicle systems.

12. the second power supply unit of the autonomous moving body is configured to allow one or more of the hydrogen cartridges to be individually detachably attached thereto; The vehicle system of claim 11.

13. the insertion direction of the hydrogen cartridge when attached to the second power supply unit of the autonomous moving body is the same as the removal direction of the item; 13. The vehicle system of claim 12.

14. the temperature adjustment unit of the autonomous moving body is either a cooling unit or a heating unit; The vehicle system of claim 11.

15. The locker unit of the autonomous moving body is capable of independently adjusting the temperature of each of the plurality of compartments. The vehicle system of claim 11.

16. The locker unit of the autonomous moving body further includes a payment unit for paying for the stored items. The vehicle system of claim 11.

17. The first and second tasks are determined based on a dispatch request from a user to at least one of deposit and retrieval of an item, the dispatch request including information specifying a temperature range in which the item is to be stored. The vehicle system of claim 11.

18. When the dispatch request is for the removal of the item and the current remaining amount of hydrogen is not enough to supply the power to maintain the temperature until the removal is performed, the control unit outputs a notification to the administrator urging them to replace the hydrogen cartridge.

18. The vehicle system of claim 17.

19. The control unit of the server device calculating an amount of power consumed by the autonomous moving body when executing the first task and the second task, respectively; The vehicle system of claim 11.

20. The control unit of the server device instructing the autonomous moving body to operate when the first power supply unit can supply the amount of power consumed by the first task and the second power supply unit can supply the amount of power consumed by the second task; The vehicle system of claim 11.

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