Delivery system and its control method

Abstract

To provide a delivery system that can handle various services other than delivery of a commodity.SOLUTION: A delivery system includes an autonomous mobile delivery vehicle that delivers a commodity to a deliver destination, and a transport vehicle that mounts and transports the delivery vehicle. A plurality of add-on parts that can be mounted to the delivery vehicle and support service other than the delivery of commodity are mounted inside the delivery vehicle. The delivery vehicle selects and mounts, in response to request information requesting the service other than delivery of commodity, add-on parts corresponding to the request information from the plurality of add-on parts.SELECTED DRAWING: Figure 1

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 delivery system including an autonomous mobile delivery vehicle that delivers articles to a delivery destination and a transport vehicle that mounts and transports the delivery vehicle. In the delivery system disclosed in Patent Document 1, the delivery vehicle goes to a store on behalf of the user to do shopping.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It is desired to provide a delivery system capable of coping with various services other than article delivery, in addition to shopping disclosed in Patent Document 1. The present invention has been made in view of such circumstances, and provides a delivery system capable of coping with various services other than article delivery.

Means for Solving the Problems

[0005] A delivery system according to an aspect of the present invention is a delivery system including an autonomous mobile delivery vehicle that delivers articles to a delivery destination and a transport vehicle that mounts and transports the delivery vehicle, wherein [ a plurality of add-on parts that can be attached to the delivery vehicle and correspond to services other than the delivery of the articles are mounted inside the transport vehicle, The delivery vehicle selects and installs the add-on parts corresponding to the request information from the plurality of add-on parts in response to the request information requesting the service.

[0006] Furthermore, a control method for a delivery system according to one aspect of the present invention is: Autonomous mobile delivery vehicles that deliver goods to their destinations, A control method for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle selects and installs the add-on parts corresponding to the request information from the plurality of add-on parts in response to the request information requesting the service.

[0007] Furthermore, a control program according to one aspect of the present invention is: Autonomous mobile delivery vehicles that deliver goods to their destinations, A control program for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle is instructed to perform a process in which, in response to a request for the aforementioned service, it selects and installs an add-on part from the plurality of add-on parts that corresponds to the request information.

[0008] As described above, in one aspect of the present invention, a plurality of add-on parts that can be attached to a delivery vehicle and that correspond to services other than the delivery of goods are mounted inside the delivery vehicle, and the delivery vehicle selects and attaches the add-on parts from the plurality of add-on parts that correspond to the request information in response to the request information requesting the service. Therefore, it can handle a variety of services other than the delivery of goods.

[0009] The aforementioned multiple add-on parts may include a manipulator. Here, the delivery vehicle may change and maintain the shape of the manipulator's arm in accordance with the request information.

[0010] The plurality of add-on parts may include a toilet seat, and the delivery vehicle may be configured as a mobile toilet by attaching the toilet seat to the delivery vehicle.

[0011] A delivery system according to one aspect of the present invention is: Multiple autonomous mobile delivery vehicles that deliver goods to their destinations, A delivery system comprising a transport vehicle that carries and transports the aforementioned multiple delivery vehicles, Based on request information requesting services other than the transport of the aforementioned goods, the multiple delivery vehicles move to form a predetermined arrangement.

[0012] Furthermore, a control method for a delivery system according to one aspect of the present invention is: Multiple autonomous mobile delivery vehicles that deliver goods to their destinations, A control method for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Based on request information requesting services other than the transport of the aforementioned goods, the multiple delivery vehicles move to form a predetermined arrangement.

[0013] Furthermore, a control program according to one aspect of the present invention is: Multiple autonomous mobile delivery vehicles that deliver goods to their destinations, A control program for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Based on request information requesting services other than the transport of the aforementioned goods, the multiple delivery vehicles are instructed to move and form a predetermined arrangement.

[0014] As described above, in one aspect of the present invention, based on request information that requests services other than the transportation of the articles, the plurality of delivery vehicles move to form a predetermined arrangement. Therefore, it is possible to respond to various services other than the delivery of articles.

Advantages of the Invention

[0015] According to the present invention, it is possible to provide a delivery system capable of responding to various services other than the delivery of articles.

Brief Description of the Drawings

[0016] [Figure 1] It is a block diagram of a delivery system according to the first embodiment. [Figure 2] It is a perspective view showing a state where the delivery vehicle 200 gets off from the transport vehicle 100. [Figure 3] It is a side view showing a state where the delivery vehicle 200 gets off from the transport vehicle 100. [Figure 4] It is a side view showing the delivery vehicle 200 inside the transport vehicle 100. [Figure 5] It is a side view showing the delivery vehicle 200 inside the transport vehicle 100. [Figure 6] It is a side view showing the delivery vehicle 200 inside the transport vehicle 100. [Figure 7] It is a block diagram of a delivery system according to the second embodiment. [Figure 8] It is a side view showing a plurality of delivery vehicles 200 inside the transport vehicle 100.

Modes for Carrying Out the Invention

[0017] 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.

[0018] (First Embodiment) <Configuration of the Delivery System> First, with reference to Figure 1, a delivery system and its control method according to the first embodiment will be described. Figure 1 is a block diagram of the delivery system according to the first embodiment. As shown in Figure 1, the delivery system according to this embodiment includes a transport vehicle 100, a delivery vehicle 200, a management server 300, and an add-on part 400.

[0019] In the delivery system according to this embodiment, a transport vehicle 100 carrying a delivery vehicle 200 travels toward the destination of goods, after which the delivery vehicle 200 disembarks from the transport vehicle 100 and delivers the goods to the destination. On the other hand, the transport vehicle 100 is equipped with a plurality of add-on parts 400 that can be attached to the delivery vehicle 200 and correspond to services other than the delivery of goods. The delivery vehicle 200 then selects and attaches an add-on part from the plurality of add-on parts 400 that corresponds to the request information in response to request information requesting services other than the delivery of goods. This process is performed by a computer.

[0020] First, let me explain about the transport vehicle 100. The transport vehicle 100 carries the delivery vehicle 200. In this embodiment, the transport vehicle 100 is an autonomous mobile vehicle (i.e., an automated driving vehicle), but it may also be a manually driven vehicle. As shown in Figure 1, the transport vehicle 100 is equipped with a control unit 110, a sensor unit 120, a driving mechanism 130, and a disembarking mechanism 140. The transport vehicle 100 is also wirelessly connected to the delivery vehicle 200 and the management server 300 so as to be able to communicate with them.

[0021] Furthermore, if the management server 300 is mounted on the transport vehicle 100, the transport vehicle 100 may be connected to the management server 300 via a wired connection. Also, in the example shown in Figure 1, the transport vehicle 100 is equipped with one delivery vehicle 200, but it may be equipped with multiple delivery vehicles 200, as in the delivery system according to the second embodiment described later.

[0022] The control unit 110 controls the driving mechanism 130 based on various information acquired from the sensor unit 120. This causes the transport vehicle 100 to move. The control unit 110 also controls the disembarking mechanism 140 for disembarking the delivery vehicle 200.

[0023] The control unit 110 includes, for example, a processing unit such as a CPU (Central Processing Unit) and a storage unit such as RAM (Random Access Memory) and ROM (Read Only Memory) that store various control programs and data. In other words, the control unit 110 has the functionality of a computer and controls the driving mechanism 130 and the disembarking mechanism 140 based on the various control programs mentioned above.

[0024] In the example shown in Figure 1, the sensor unit 120 includes an obstacle sensor 121, an acceleration sensor 122, a velocity sensor 123, and an attitude sensor 124. The obstacle sensor 121 detects obstacles in the direction of travel of the transport vehicle 100. The obstacle sensor 121 also detects obstacles when the delivery vehicle 200 disembarks from the transport vehicle 100. The obstacle sensor 121 can be, for example, a radar sensor, sonar sensor, ultrasonic sensor, lidar sensor, or camera. Obstacles are not limited to, for example, fallen objects on the road or other vehicles, but also include people such as pedestrians, animals, etc.

[0025] 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 caused by uneven road surfaces 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 attitude sensor 124 can also detect the gradient of the road on which the transport vehicle 100 is traveling.

[0026] The driving mechanism 130 is a mechanism for the transport vehicle 100 to move. For example, the driving mechanism 130 includes a drive mechanism for the transport vehicle 100 to move, such as a motor or engine, as well as a braking mechanism for the transport vehicle 100 to stop, and a steering mechanism for the transport vehicle 100 to turn.

[0027] The disembarking mechanism 140 is a mechanism for disembarking the delivery vehicle 200 from the transport vehicle 100. Here, an example of the disembarking mechanism 140 will be described with reference to Figures 2 and 3. Figure 2 is a perspective view showing the delivery vehicle 200 disembarking from the transport vehicle 100. Figure 3 is a side view showing the delivery vehicle 200 disembarking from the transport vehicle 100.

[0028] As shown in Figures 2 and 3, the disembarking mechanism 140 according to this embodiment is a simple plate-shaped ramp. In the example shown in Figures 2 and 3, the disembarking mechanism 140 also functions as an opening and closing door located at the rear of the transport vehicle 100. The disembarking mechanism 140 is connected to one side of the lower end of an opening located at the rear of the transport vehicle 100. Normally, the disembarking mechanism 140 is closed as an opening and closing door. On the other hand, when the delivery vehicle 200 disembarks, the disembarking mechanism 140 opens as an opening and closing door and also functions as a ramp extending from inside the transport vehicle 100 to the ground.

[0029] For example, when a delivery vehicle 200 disembarks from a transport vehicle 100 to deliver goods, as shown in Figure 1, the control unit 110 of the transport vehicle 100 instructs the control unit 210 of the delivery vehicle 200 to disembark. At that time, the control unit 110 of the transport vehicle 100 controls the disembarkation mechanism 140. Specifically, as shown in Figures 2 and 3, the control unit 110 opens the disembarkation mechanism 140, which functions as an opening and closing door, and makes it function as a ramp extending from inside the transport vehicle 100 to the ground. Then, as shown in Figures 2 and 3, the delivery vehicle 200 travels down the disembarkation mechanism 140 and disembarks onto the roadway. Furthermore, for example, the goods are delivered to the destination via the sidewalk from the roadway.

[0030] The disembarking mechanism 140 shown in Figures 2 and 3 may be provided separately from the opening and closing door located at the rear of the transport vehicle 100, as long as it functions as a ramp. In that case, the disembarking mechanism 140 is usually stored, for example, under the floor of the transport vehicle 100. Furthermore, the disembarking mechanism 140 shown in Figures 2 and 3 is merely an example, and is not particularly limited to any mechanism for disembarking a delivery vehicle 200 from a transport vehicle 100. The disembarking mechanism 140 could be, for example, a conveyor belt or a crane. Furthermore, in order to provide services other than the delivery of goods, delivery vehicle 200 may disembark from transport vehicle 100.

[0031] Next, I will explain delivery vehicle 200. The delivery vehicle 200 is an autonomous mobile vehicle that, after being transported by the transport vehicle 100, disembarks from the transport vehicle 100 and delivers the goods to the destination. As shown in Figure 1, the delivery vehicle 200 is equipped with a control unit 210, a sensor unit 220, and a driving mechanism 230. The delivery vehicle 200 is also wirelessly connected to the transport vehicle 100 and the management server 300 for communication. If the management server 300 is mounted on the delivery vehicle 200, the delivery vehicle 200 may be connected to the management server 300 via a wired connection.

[0032] The control unit 210 controls the driving mechanism 230 based on various information acquired from the sensor unit 220. In other words, the delivery vehicle 200 moves by the control unit 210 controlling the driving mechanism 230. Here, the sensor unit 220 includes various sensors, similar to the sensor unit 120 of the transport vehicle 100.

[0033] The control unit 210, like the control unit 110 of the transport vehicle 100, includes, for example, a calculation unit such as a CPU and a storage unit such as RAM or ROM that stores various control programs and data. In other words, the control unit 210 has the functionality of a computer and controls the travel mechanism 230 based on the various control programs mentioned above.

[0034] The driving mechanism 230 is a mechanism for the delivery vehicle 200 to move. For example, the driving mechanism 230 includes a drive mechanism for the delivery vehicle 200 to move, such as a motor or engine, as well as a braking mechanism for the delivery vehicle 200 to stop, and a steering mechanism for the delivery vehicle 200 to turn. Details on how to control the operation of delivery vehicle 200 will be described later.

[0035] Next, we will describe the management server 300. 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 Figure 1, the management server 300 includes a route determination unit 310 and a storage unit 320.

[0036] The route determination unit 310 is composed of, for example, a processing unit such as a CPU. As shown in Figure 1, the route determination unit 310 determines a delivery route from the current location to the delivery destination based on map information stored in the storage unit 320. The route determination unit 310 then transmits the determined delivery route 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.

[0037] The memory unit 320 is composed of, for example, RAM, ROM, etc., and stores not only map information but also various control programs and data. In other words, the management server 300 has computer functions and manages the delivery system based on the various control programs mentioned above. Furthermore, the management server 300 receives request information from the user for services other than the delivery of goods, and transmits this request information to the delivery vehicle 200.

[0038] The add-on part 400 is a part that can be attached to the delivery vehicle 200 and is compatible with services other than the delivery of goods. As shown in Figure 1, the add-on part 400 of the delivery system according to this embodiment includes a manipulator 410 and a toilet seat 420. The add-on part 400 shown in Figure 1 is merely an example and is not limited in any way.

[0039] As will be described in detail later, the add-on parts 400 are installed inside the transport vehicle 100. The delivery vehicle 200 selects and attaches the add-on parts corresponding to the request information from among the multiple add-on parts 400 (manipulator 410 and toilet seat 420) in response to request information requesting services other than the delivery of goods. Details of the add-on parts 400, namely the manipulator 410 and the toilet seat 420, will be described later.

[0040] <Control method for the operation of delivery vehicle 200 and add-on parts 400> Next, with reference to Figure 1, as well as Figures 4 to 6, the control method for the operation of the delivery vehicle 200 and the add-on parts 400 will be described in detail. Figures 4 to 6 are side views showing the delivery vehicle 200 inside the transport vehicle 100.

[0041] First, let me explain the configuration of the 200 delivery vehicles. As shown in Figures 4 to 6, the delivery vehicle 200 according to this embodiment is equipped with a pair of wheels W1, W2, W3, connecting arms A1, A2, and a fixed arm A3. The pair of wheels W1, W2, W3, connecting arms A1, A2, and fixed arm A3 constitute the driving mechanism 230 shown in Figure 1. The delivery vehicle 200 shown in Figures 4 to 6 is a six-wheeled vehicle equipped with six wheels W1, W2, and W3, but it may also be a four-wheeled vehicle and is not limited in any way.

[0042] A wheel W1 is rotatably connected to one end of a connecting arm A1. The other end of the connecting arm A1 is rotatably connected to the lower end of a fixed arm A3. A wheel W2 is rotatably connected to one end of a connecting arm A2. The other end of the connecting arm A2 is rotatably connected to the lower end of a fixed arm A3. The upper end of the fixed arm A3 is fixed to the body of the delivery vehicle 200. The lower end of the fixed arm A3 is rotatably connected to the wheel W3.

[0043] As shown in Figure 4, the delivery vehicle 200 can travel on four wheels, a pair of wheels W1 and W2. On the other hand, as shown in Figures 5 and 6, the delivery vehicle 200 can also travel on six wheels, a pair of wheels W1, W2, and W3. By rotating the connecting arms A1 and A2 around the connection point between the connecting arms A1 and A2 and the fixed arm A3, the posture shown in Figure 4 and the postures shown in Figures 5 and 6 can be switched.

[0044] The orientation shown in Figure 4, where all four wheels W1 and W2 are in contact with the bottom of the transport vehicle 100, allows for a smaller footprint for the delivery vehicle 200 compared to the orientation shown in Figures 5 and 6, where all six wheels W1, W2, and W3 are in contact with the bottom of the transport vehicle 100. On the other hand, the orientation of the delivery vehicle 200 shown in Figures 5 and 6 has a lower center of gravity than the orientation of the delivery vehicle 200 shown in Figure 4, making it less likely to tip over.

[0045] As shown in Figure 4, multiple add-on parts 400 (manipulator 410 and toilet seat 420) are mounted inside the transport vehicle 100. In the example shown in Figure 4, the manipulator 410 is detachably supported by a support part 151 provided on the inner wall of the transport vehicle 100. The toilet seat 420 is detachably supported by a support part 152 provided on the inner wall of the transport vehicle 100.

[0046] The delivery vehicle 200 selects and attaches the add-on parts corresponding to the request information from among several add-on parts 400 (manipulator 410 and toilet seat 420) in response to the request information requesting services other than the delivery of goods.

[0047] In the example shown in Figure 5, the delivery vehicle 200 has selected and installed a manipulator 410 as an add-on part corresponding to the request information. On the other hand, in the example shown in Figure 6, the delivery vehicle 200 has selected and installed a toilet seat 420 as an add-on part corresponding to the request information.

[0048] This section describes the detailed configuration of the manipulator 410. In the example shown in Figures 4-6, the manipulator 410 comprises a base portion 31, a link root portion 32, a first link 33, a second link 34, and an end effector 35. As shown in Figure 5, when the delivery vehicle 200 is fitted with the manipulator 410, the base portion 31 is fixed to the upper surface of the delivery vehicle 200. The link-attached base 32 is connected to the base 31 via the rotating shaft 32a so as to be rotatable around the rotating shaft 32a. The rotating shaft 32a of the link-attached base 32 is an axis perpendicular to the upper surface of the delivery vehicle 200. The link-attached base 32 is rotationally driven by a motor (not shown) or the like.

[0049] The first link 33 is rotatably connected to the link base 32 via a first joint 33a provided at the rear end of the first link 33. The second link 34 is rotatably connected to the tip of the first link 33 via a second joint 34a provided at the rear end of the second link 34. An end effector 35 is connected to the tip of the second link 34.

[0050] Here, the rotation axes of the first joint 33a and the second joint 34a are axes parallel to the upper surface of the delivery vehicle 200. The height of the end effector 35 can be changed by the rotation of the first link 33 and the second link 34. The first link 33 and the second link 34 are rotationally driven by motors (not shown), etc. With this configuration, the end effector 35 can grip and transport the item.

[0051] For example, a delivery vehicle 200 equipped with a manipulator 410 can use the manipulator 410 to provide food or drinks in response to a request for services other than the delivery of goods. Furthermore, the delivery vehicle 200 equipped with the manipulator 410 may change and maintain the shape of the manipulator 410's arm according to the request information. With such a configuration, items can be placed on the manipulator 410, or clothes can be hung by attaching a hanger to the manipulator 410.

[0052] In Figure 4, the first link 33 and the second link 34 are folded so that they overlap, and the first link 33 and the second link 34 extend parallel to the rotation axis 32a of the link base 32. In the examples shown in Figures 4 to 6, the link mechanism consists of two links, the first link 33 and the second link 34, but the link mechanism may consist of three or more links. Furthermore, the manipulator 410 may be used for the delivery of goods.

[0053] In the examples shown in Figures 4-6, the toilet seat 420 comprises a seat body 421 and a lid portion 422. As shown in Figure 6, when the delivery vehicle 200 is fitted with the toilet seat 420, the seat body 421 is fixed to the top surface of the delivery vehicle 200. Therefore, the delivery vehicle 200 can be configured as a temporary mobile toilet, for example, during disasters or events. The top surface of the delivery vehicle 200 is provided with, for example, an openable and closable hole (not shown) to allow waste to pass through. The waste can then be contained inside the delivery vehicle 200. In Figure 6, the state with the lid 422 open is shown by the dashed line.

[0054] As described above, in the delivery system according to this embodiment, a plurality of add-on parts 400 that can be attached to the delivery vehicle 200 and support services other than the delivery of goods are installed inside the transport vehicle 100. The delivery vehicle 200 then selects and attaches the add-on parts corresponding to the request information from the plurality of add-on parts 400 in response to request information requesting services other than the delivery of goods. Therefore, the delivery system according to this embodiment can also support various services other than the delivery of goods.

[0055] (Second embodiment) Next, with reference to Figures 7 and 8, a delivery system and its control method according to a second embodiment will be described. Figure 7 is a block diagram of the delivery system according to the second embodiment. Figure 8 is a side view showing multiple delivery vehicles 200 inside a transport vehicle 100. As shown in Figure 7, the delivery system according to the second embodiment does not include the add-on parts 400. On the other hand, the delivery system according to the second embodiment includes a plurality of delivery vehicles 200.

[0056] In this embodiment, the delivery system involves multiple delivery vehicles 200 moving based on request information requesting services other than the transport of goods, forming a predetermined arrangement inside or outside the transport vehicle 100.

[0057] For example, as shown in Figure 8, seats are arranged inside the transport vehicle 100 by arranging multiple delivery vehicles 200 in a line. In this case, the transport vehicle 100 is a mixed passenger and cargo vehicle, and passengers can sit in seats made up of multiple delivery vehicles 200. Alternatively, by arranging multiple delivery vehicles 200 in a line outside the transport vehicle 100, temporary mobile benches or beds can be formed, for example, during disasters or events. When multiple delivery vehicles 200 are arranged in a line to form seats or benches, the multiple delivery vehicles 200 may be arranged at predetermined intervals to prevent virus transmission due to people sitting too close together.

[0058] As described above, in the delivery system according to this embodiment, multiple delivery vehicles 200 are transported by a transport vehicle 100. Based on request information requesting services other than the transport of goods, the multiple delivery vehicles 200 move to form a predetermined arrangement inside or outside the transport vehicle 100. Therefore, the delivery system according to this embodiment can handle various services other than the transport of goods. The other components are the same as those in the first embodiment, so their description will be omitted.

[0059] In the examples described above, the program includes a set of instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored on a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include 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® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals.

[0060] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0061] 31 Base section 32 Linked root 32a Rotation axis 33. Link 1 33a First joint 34. Second Link 34a Second joint 35 End Effector 100 transport vehicles 110 Control Unit 120 Sensor section 121 Obstacle Sensor 122 Accelerometer 123 Speed ​​sensor 124 Attitude Sensors 130 Running mechanism 140 Disembarking mechanism 151, 152 Support part 200 delivery vehicles 210 Control Unit 220 Sensor section 230 Running mechanism 300 Management Servers 310 Route Determination Section 320 Storage section 400 Add-on Parts 410 Manipulator 420 Toilet Seats 421 Seat Body 422 Lid A1, A2 connecting arm A3 Fixed Arm W1, W2, W3 wheels

Claims

1. Autonomous mobile delivery vehicles that deliver goods to their destinations, A delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle has a computer that controls the delivery vehicle, and the computer obtains request information for the service, and in accordance with the request information, selects an add-on part from the plurality of add-on parts that corresponds to the request information. The aforementioned multiple add-on parts include a manipulator, The manipulator is detachably supported on a support provided on the inner wall of the transport vehicle. In accordance with the request information for selecting the manipulator, the base portion of the manipulator is mounted on the upper surface of the delivery vehicle. The aforementioned delivery vehicle is A pair of fixed wheels fixed to the body of the aforementioned delivery vehicle, A pair of first movable wheels rotatably connected to the vehicle body via a first connecting arm, It comprises a pair of second movable wheels rotatably connected to the vehicle body via a second connecting arm, A first posture in which only the pair of first and second movable wheels are in contact with the bottom surface of the transport vehicle, The pair of fixed wheels and the pair of first and second movable wheels are in contact with the bottom surface, and the vehicle height can be changed by switching between a second posture, which has a lower center of gravity than the first posture, When attaching the manipulator to the delivery vehicle, the computer drives the delivery vehicle and changes the vehicle height. Delivery system.

2. Autonomous mobile delivery vehicles that deliver goods to their destinations, A delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle has a computer that controls the delivery vehicle, and the computer obtains request information for the service, and in accordance with the request information, selects an add-on part from the plurality of add-on parts that corresponds to the request information. The aforementioned multiple add-on parts include a toilet seat, The toilet seat is detachably supported by a support provided on the inner wall of the transport vehicle. In accordance with the request information for selecting the aforementioned toilet seat, the toilet seat is attached to the top surface of the delivery vehicle, and the delivery vehicle constitutes a mobile toilet. The aforementioned delivery vehicle is A pair of fixed wheels fixed to the body of the aforementioned delivery vehicle, A pair of first movable wheels rotatably connected to the vehicle body via a first connecting arm, It comprises a pair of second movable wheels rotatably connected to the vehicle body via a second connecting arm, A first posture in which only the pair of first and second movable wheels are in contact with the bottom surface of the transport vehicle, The pair of fixed wheels and the pair of first and second movable wheels are in contact with the bottom surface, and the vehicle height can be changed by switching between a second posture, which has a lower center of gravity than the first posture, The top surface of the aforementioned delivery vehicle is provided with an opening that can be opened and closed. In installing the toilet seat on the delivery vehicle, the computer drives the delivery vehicle and changes the vehicle height. Delivery system.

3. Autonomous mobile delivery vehicles that deliver goods to their destinations, A control method for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle has a computer that controls the delivery vehicle, and the computer obtains request information for the service, and in accordance with the request information, selects an add-on part from the plurality of add-on parts that corresponds to the request information. The aforementioned multiple add-on parts include a manipulator, The manipulator is detachably supported on a support provided on the inner wall of the transport vehicle. In accordance with the request information for selecting the manipulator, the base portion of the manipulator is attached to the upper surface of the delivery vehicle. The aforementioned delivery vehicle is A pair of fixed wheels fixed to the body of the aforementioned delivery vehicle, A pair of first movable wheels rotatably connected to the vehicle body via a first connecting arm, It comprises a pair of second movable wheels rotatably connected to the vehicle body via a second connecting arm, A first posture in which only the pair of first and second movable wheels are in contact with the bottom surface of the transport vehicle, The pair of fixed wheels and the pair of first and second movable wheels are in contact with the bottom surface, and the vehicle height can be changed by switching between a second posture, which has a lower center of gravity than the first posture, When attaching the manipulator to the delivery vehicle, the computer drives the delivery vehicle and changes the vehicle height. A method for controlling a delivery system.

4. Autonomous mobile delivery vehicles that deliver goods to their destinations, A control method for a delivery system comprising a transport vehicle that carries the aforementioned delivery vehicle, Multiple add-on parts, which can be attached to the aforementioned delivery vehicle and which correspond to services other than the delivery of the aforementioned goods, are installed inside the transport vehicle. The delivery vehicle has a computer that controls the delivery vehicle, and the computer obtains request information for the service, and in accordance with the request information, selects an add-on part from the plurality of add-on parts that corresponds to the request information. The aforementioned multiple add-on parts include a toilet seat, The toilet seat is detachably supported by a support provided on the inner wall of the transport vehicle. In accordance with the request information for selecting the toilet seat, the toilet seat is attached to the top surface of the delivery vehicle, and the delivery vehicle constitutes a mobile toilet. The aforementioned delivery vehicle is A pair of fixed wheels fixed to the body of the aforementioned delivery vehicle, A pair of first movable wheels rotatably connected to the vehicle body via a first connecting arm, It comprises a pair of second movable wheels rotatably connected to the vehicle body via a second connecting arm, A first posture in which only the pair of first and second movable wheels are in contact with the bottom surface of the transport vehicle, The pair of fixed wheels and the pair of first and second movable wheels are in contact with the bottom surface, and the vehicle height can be changed by switching between a second posture, which has a lower center of gravity than the first posture, The top surface of the aforementioned delivery vehicle is provided with an opening that can be opened and closed. In installing the toilet seat on the delivery vehicle, the computer drives the delivery vehicle and changes the vehicle height. A method for controlling a delivery system.

Images