Automated unloading system

Abstract

To provide an automatic unloading system.SOLUTION: An automatic unloading system includes an automatic driving vehicle 10 which has layers 1A to 1C where a cargo is mounted, has an opening 4A formed in at least a part of a floor 3A of an undermost layer 1A, and has a plurality of opening / closing doors formed in floors 3B and 3C of the layers 1B and 1C other than the undermost layer 1A, and a second space 2 below the first space 1, a delivery robot 15 for delivering a cargo to a delivery destination, an information processor 14, and a first mobile device which is installed in the undermost layer 1A and moves the cargo to the opening 4A, wherein the information processor 14 controls the opening / closing door and the first mobile device so as to open the opening / closing doors and drop the cargo from the opening / closing doors, also drop the cargo from the opening 4A, and allow the delivery robot 15 to receive the falling cargo.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an automatic unloading system.

Background Art

[0002] Patent Document 1 describes a vehicle having an automatic driving function.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When delivering a load by a vehicle having an automatic driving function, the work of unloading the load from the vehicle and the work of delivering the load to the destination need to be performed by a person, so labor costs are required.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to solve the above problems.

Means for Solving the Problems

[0006] According to an embodiment of the present invention, an automatic unloading system is provided. The automatic unloading system includes an autonomous vehicle having at least two layers for loading loads, a first space having an opening formed in at least a part of the floor of the lowermost layer and a plurality of opening / closing doors formed in the floors of the layers other than the lowermost layer, a second space below the first space, a delivery robot for delivering the load to the delivery destination, an information processing device, and a moving device installed in the lowermost layer of the first space for moving the load to the opening. The delivery robot is stationary in a predetermined position below the opening of the second space, capable of receiving packages falling from the lowest level. The information processing device controls the opening / closing door and the first moving device to open the opening / closing door, to drop the package from the opening / closing door, to move to the opening, to drop the package from the opening, and to allow the delivery robot to receive the falling package.

[0007] In the automated unloading system according to the present invention, the autonomous vehicle may have a door, the lower end of which is rotatably attached, for opening the second space to the outside, and the door may function as a ramp for the delivery robot to enter and exit the autonomous vehicle when the door is opened.

[0008] The delivery robot may deliver the package and, after delivering the package, return to the predetermined position in the second space.

[0009] The first moving device includes a rolling first bar that moves the cargo on the lowest floor to the vicinity of the opening, The system may also include a second bar that pushes the load, which has been moved to the vicinity of the opening, toward the opening, thereby causing the load to fall from the opening into the second space.

[0010] The automated unloading system may include a second moving device installed on a level other than the lowest level of the first space, which moves the cargo above the opening and closing door, and the information processing device may further control the second moving device.

[0011] The second moving device is the first bar that moves cargo on the floor of any layer other than the lowest layer to above the opening / closing door, and the opening / closing door may function as a ramp that rotates around a hinge to allow the cargo to slide.

[0012] The drive system for the autonomous vehicle may be installed in the second space.

[0013] According to one embodiment of the present invention, a program for causing a computer to function as the information processing apparatus is provided.

[0014] Note that the above summary of the invention does not enumerate all of the necessary features of the present invention. Also, sub-combinations of these feature groups can also be inventions.

Brief Description of Drawings

[0015] [Figure 1] It is a partial cross-sectional side view of an autonomous vehicle used in the automatic unloading system according to this embodiment. [Figure 2] It is a perspective view of an autonomous vehicle used in the automatic unloading system according to this embodiment. [Figure 3] It is a perspective view showing the configuration of the moving device arranged in the lowest layer. [Figure 4] It is a perspective view showing the configuration of the moving device arranged in the lowest layer. [Figure 5] It is a perspective view of an autonomous vehicle used in the automatic unloading system according to this embodiment. [Figure 6] It is a diagram schematically showing an example of the functional configuration of an information processing apparatus. [Figure 7] It is a diagram schematically showing an example of a processing routine executed by an information processing apparatus. [Figure 8] It is a diagram schematically showing an example of computer hardware functioning as an information processing apparatus. [Figure 9] (A) is a partially enlarged perspective view showing the concept of a driving device, and (B) is a partially enlarged perspective view showing the concept of a driving device according to a modification. [Figure 10] (A) is a front view showing a modification in which a convex portion is formed on the first bar, and (B) is a front view showing a state in which the luggage is pressed against the convex portion and moves. [Figure 11] (A) is a front view showing a modification in which a convex portion and a plate-like portion are formed on the first bar, and (B) is a plan view. [Figure 12](A) is a front view showing a state in which a load is pressed against a convex portion and moved, and (B) is a plan view. [Figure 13] (A) is a front view showing a state in which a load is pressed against a plate-like portion and moved, and (B) is a plan view. [Figure 14] (A) is a front view showing a modified example in which another convex portion is formed on the first bar, and (B) is a cross-sectional view. [Figure 15] (A) is a front view showing a state in which the height of the convex portion is changed on the first bar, and (B) is a cross-sectional view. [Figure 16] (A) is a perspective view showing an example in which a moving device and a driving device are provided in layers other than the bottom layer, (B) is a perspective view showing an example in which the position of an opening in a layer other than the bottom layer is changed, and (C) is a perspective view showing an example in which the position of the opening in a layer other than the bottom layer is further changed. [Figure 17] (A) is a perspective view showing an example in which an opening / closing door is provided instead of an opening in a layer other than the bottom layer, and (B) is a partially enlarged cross-sectional view showing a state in which the opening door is opened to form an opening. [Figure 18] (A) is a partially enlarged cross-sectional view showing an example in which a plate-like extension member is formed on the opening / closing door, and (B) is a partially enlarged cross-sectional view showing a state in which the extension member is extended. [Figure 19] is a partially enlarged cross-sectional view showing a modified example in which the opening door is of a sliding type. [Figure 20] is a partially enlarged cross-sectional view showing a modified example in which the opening door is formed over substantially the entire surface of the floor.

Mode for Carrying Out the Invention

[0016] Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution means of the invention.

[0017] The automated vehicle 10 used in the automated unloading system according to this embodiment is, for example, a Level 6 automated vehicle. Conventional non-autonomous vehicles are equipped with a steering wheel, but a Level 6 automated vehicle does not require a steering wheel, making it possible to design a larger interior space. Level 6 represents an automated driving level, and is even higher than Level 5, which represents fully automated driving. Although Level 5 represents fully automated driving, it is equivalent to human driving, and there is still a probability of accidents occurring. Level 6 represents a level higher than Level 5, and is a level where the probability of accidents occurring is lower than that of Level 5. Level 6 can be achieved, for example, by control at the nanosecond level.

[0018] The autonomous vehicle 10 according to this embodiment has a first space 1 having at least one level for loading luggage, and a second space 2 located below the first space 1.

[0019] The autonomous vehicle according to this embodiment has, for example, a total length of 4m, a height of 1.8m, and a width of 1.9m, with a height of 80cm for the second space 2, but is not limited to this.

[0020] In this embodiment, the first space 1 has three levels 1A to 1C, and openings 4A to 4C are formed in one corner of the floor 3A to 3C of each level 1A to 1C. The openings 4A to 4C are sized to allow luggage loaded onto the autonomous vehicle 10 to pass through. Opening 4C is used to move luggage from level 1C to level 1B, and opening 4B is used to move luggage from level 1B to level 1A. Note that the first space 1 is not limited to three levels, and may have one or two levels or four or more levels.

[0021] A moving device 20 for moving luggage P to the opening 4A is installed in the lowest layer 1A of the first space 1. The moving device 20 comprises a first bar 21 and a second bar 22. The first bar 21 has a cylindrical shape and extends in the direction of substantially the entire width of the autonomous vehicle 10 and is positioned on the floor 3A of the lowest layer 1A. As shown in Figures 3 and 4, the first bar 21 moves in the direction of arrow A by rolling on the floor 3A of the lowest layer 1A by a drive device 23, and moves the luggage P on the floor 3A of the lowest layer 1A to the vicinity of the opening 4A.

[0022] The second bar 22 also has a cylindrical shape and is positioned on the floor 3A of the lowest layer 1A, approximately parallel to the first bar 21. The second bar 22 is reciprocated along its long axis by a drive device 24, pushing the load P, which has been moved near the opening 4A, toward the opening 4A in the direction of arrow B, thereby causing the load P to fall from the opening 4A into the second space 2.

[0023] In the second space 2, a delivery robot 15 for delivering the package P to its destination is stationed in a predetermined position. This predetermined position is one in which the package P falling from the opening 4A can be received. Also located in the second space 2 are a drive unit 12 and an information processing unit 14 for driving the autonomous vehicle 10. The drive unit 12 includes a battery, a motor, and a control device for controlling autonomous driving. The information processing unit 14 will be described later.

[0024] Furthermore, a door 5 is attached to one side of the autonomous vehicle 10, with its lower end rotatably mounted, to open the second space 2 to the outside. The door 5 is installed in a predetermined position where the delivery robot 15 is parked. As shown in Figure 5, when the door 5 is opened, the upper end of the door 5 contacts the ground, and the door 5 functions as a ramp for the delivery robot 15 to enter and exit the autonomous vehicle 10.

[0025] The delivery robot 15 is a quadruped robot and has a loading section 16 on its back for placing packages P. When the delivery robot 15 receives a package P, it delivers the package P to its destination, then automatically returns to the autonomous vehicle 10, goes up the ramp provided by the door 5 and stops at a designated position.

[0026] In this embodiment, the automated unloading system is controlled by an information processing device 14 located in the second space 2.

[0027] Figure 6 is a schematic diagram of an example of an information processing device according to this embodiment. The information processing device 14 is connected to a sensor 18 mounted on an autonomous vehicle 10.

[0028] Sensor 18 acquires positional information representing the location of luggage P in the first space 1 of the autonomous vehicle 10, and information representing the open / closed state of door 5 in the second space 2, etc. As sensor 18, a high-performance camera, solid-state LiDAR, multi-color laser coaxial displacement meter, or various other sensor groups may be employed. Other examples of sensors 18 include vibration meters, thermal cameras, hardness testers, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance cameras, vision recognition, minute sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecast, high-precision multi-channel GPS, low-altitude satellite information, or long-tail incident AI data.

[0029] The information processing device 14 comprises an information acquisition unit 140, a control unit 142, and an information storage unit 144. The information acquisition unit 140 acquires location information of the package P detected by the sensor 18.

[0030] The control unit 142 uses the information acquired by the information acquisition unit 140 and AI (Artificial Intelligence) to control the operation of the first bar 21 and the second bar 22 of the mobile device 20.

[0031] For example, the control unit 142 performs the following processes.

[0032] (1) The drive device 23 is driven to roll the first bar 21 so that the luggage P on the floor of the lowest level 1A is moved to the vicinity of the opening 4A.

[0033] (2) The drive device 24 is driven to move the second bar 22 toward the load P, thereby pushing the load P, which has moved to the vicinity of the opening 4A, toward the opening 4A, causing the load P to fall out of the opening 4A.

[0034] (3) Upon detecting that the load P has fallen, the drive devices 23 and 24 are driven to return the first bar 21 and the second bar 22 to their initial positions.

[0035] (4) The delivery robot 15 detects that it has received the package P and opens the door 5.

[0036] (5) The door 5 is closed when it is detected that the delivery robot 15 has returned.

[0037] Figure 7 is a schematic diagram illustrating an example of a processing routine executed by the information processing device. For example, when the information processing device 14 drops luggage P, which is on the floor of the lowest level 1A, through the opening 4A into the second space 2, it repeatedly executes the flowchart shown in Figure 7.

[0038] In step S100, the information acquisition unit 140 acquires the location information of the package P detected by the sensor 18.

[0039] In step S102, the control unit 142 uses the position information of the luggage P acquired in step S100 and AI to drive the drive unit 23, thereby moving the luggage P to the vicinity of the opening 4A with the first bar 21.

[0040] In step S104, the control unit 142 drives the drive device 24 to push the load P toward the opening 4A with the second bar 22, causing the load P to fall from the opening 4A.

[0041] Once the dropped package P is placed on it, the delivery robot 15 descends the ramp that is installed when the door 5 is opened, delivers the package P to its destination, and then returns to the autonomous vehicle 10.

[0042] According to this embodiment, the cargo P located in the lowest layer 1A of the first space 1 is moved to the opening 4A by the moving device 20, dropped from the opening 4A, and placed on the delivery robot 15. The delivery robot 15 then delivers the cargo P to the destination and returns to the autonomous vehicle 10. Therefore, the unloading of cargo P from the vehicle and the delivery of cargo P can be performed automatically. Consequently, labor costs for the work can be saved.

[0043] Furthermore, a door 5 was installed in the second space 2, and the door 5 is designed to function as a ramp for the delivery robot 15 to enter and exit the autonomous vehicle 10. This not only provides security for the autonomous vehicle 10 but also allows the delivery robot 15 to enter and exit easily.

[0044] The drive unit 23, shown by the dashed line in Figure 9(A), is a moving device housed inside the wall of floor 1A. It is controlled by the information processing device 14 and moves along the direction indicated by arrow A, which is the longitudinal direction of the autonomous vehicle 10. The drive units 23 are housed inside the walls on both sides of the autonomous vehicle 10, and each drive unit 23 moves in conjunction with the others.

[0045] The end of the first bar 21 is inserted into the drive unit 23. The end of the first bar 21 is not fixed to the drive unit 23, and the first bar 21 is rotatable. As a result, as the drive unit 23 moves, the first bar 21 moves while rotating in the direction indicated by arrow A, that is, it "rolls".

[0046] (First modification of the drive unit and the first bar) The drive device of the present invention may have a configuration like the drive device 25 shown in Figure 9(B). The drive device 25, like the drive device 23, is a moving device housed inside the wall of the autonomous vehicle 10 in the hierarchy 1A, and moves along the direction indicated by arrow A. The drive device 25 is also controlled by the information processing device 14.

[0047] The drive unit 25 incorporates a gear 25A. This gear 25A meshes with a gear 25B fixed to the end of the first bar 21. As gear 25A rotates, the first bar 21 rotates in the direction indicated by arrow B. The direction indicated by arrow B is the direction of rotation around the central axis of the first bar 21. Also, as the drive unit 25 moves, the first bar 21 moves in the direction indicated by arrow A.

[0048] Thus, the drive device 25 allows for separate control of the rotation of the first bar 21 in the direction indicated by arrow B and the movement in the direction indicated by arrow A. In this way, the "rolling type first bar" in the present invention includes a first bar in which rotation and movement are performed separately.

[0049] Furthermore, when using the drive device 25, as shown in Figure 9(B), it is preferable to form a spiral convex portion 30 on the first bar 21 along the central axis of the first bar 21. In the first modified example in which the convex portion 30 is formed on the first bar 21, as shown in Figure 10(A), the first bar 21 is held by the drive device 25 and positioned away from the floor 3A. On the other hand, the convex portion 30 may be positioned away from the floor 3A or in contact with it.

[0050] The convex portion 30 is a member that protrudes radially from the first bar 21. More specifically, the convex portion 30 is a spiral-structured member whose circumferential protrusion direction changes along the axial direction of the first bar 21.

[0051] When the drive device 25 rotates the first bar 21 in the direction indicated by arrow B, the load P is pressed against the convex portion 30 and moves in the direction indicated by arrow C, as shown in Figure 10(B). The direction indicated by arrow C is along the width direction of the autonomous vehicle 10. By changing the rotation direction of the first bar 21, the direction in which the load P moves in the width direction of the autonomous vehicle 10 can be changed.

[0052] In this way, by providing the convex portion 30 on the first bar 21, the luggage P can be moved to a position (a position in the width direction of the autonomous vehicle 10) where it can be pressed by the second bar 22 (see Figure 3).

[0053] Subsequently, the drive unit 25 moves the first bar 21 in the direction indicated by arrow A, causing the load P to be pressed against the first bar 21 and moved. This allows the load P to be moved to a position (in the longitudinal direction of the autonomous vehicle 10) where it can be pressed by the second bar 22 shown in Figure 3.

[0054] (Second modified example of the drive unit and the first bar) When a spiral convex portion 30 is formed on the first bar 21, a plate-like portion 32, as shown in Figure 11(A), may be further formed on a part of the convex portion 30. The plate-like portion 32 is a plate member whose in-plane direction is along the axial direction of the central axis of the first bar 21 and along the radial direction of the first bar 21.

[0055] The portion forming the plate-like section 32 is preferably located in a position (in the vehicle width direction of the autonomous vehicle 10) where the second bar 22 can press the luggage P toward the opening 4A, as shown in Figure 11(B).

[0056] With this configuration, as shown in Figures 12(A) and (B), when the drive device 25 rotates the first bar 21 in the direction indicated by arrow B, the load P is pressed against the convex portion 30 and moves in the direction indicated by arrow C.

[0057] This allows the load P to be moved to the front of the plate-shaped section 32 (i.e., to the side of the second bar 22 when viewed from the plate-shaped section 32).

[0058] Subsequently, the drive unit 25 moves the first bar 21 in the direction indicated by arrow A, as shown in Figures 13(A) and (B), causing the load P to be pressed against the plate-shaped portion 32 and moved. This allows the load P to be moved to a position where it can be pressed by the second bar 22 (a position in the front-rear direction of the autonomous vehicle 10).

[0059] Furthermore, in the floor 3A, the portion over which the plate-shaped portion 32 passes when the first bar 21 moves may be formed to have less frictional resistance with the cargo P (e.g., cardboard boxes) than other portions. To reduce frictional resistance, for example, a sliding plate 34 may be placed on the floor 3A.

[0060] The sliding plate 34 can be formed from a panel coated with fluorine to improve smoothness, or from a panel with rib-shaped protrusions arranged along the longitudinal direction of the vehicle to reduce the contact area with the cargo P. The panel can be formed from resin, metal, or other materials.

[0061] By providing such a sliding plate 34, the output of the drive unit 25 required to move the load P can be suppressed. This sliding plate 34 can also be applied to the first modified example described above and the third modified example described later.

[0062] In this second modification, the load P can be pressed by the plate-shaped portion 32. Therefore, compared to the first modification (see Figure 10) in which the load P is pressed by the first bar 21, the first bar 21 can be positioned at a higher location.

[0063] As a result, as shown in Figures 13(A) and (B), when moving the first bar 21, the loads P located in the parts that do not interfere with the plate-shaped part 32 are left in place, while only the loads P located in the parts that interfere with the plate-shaped part 32 are moved.

[0064] In this way, by providing the convex portion 30 and the plate-shaped portion 32, the cargo P on the far side of the opening 4B can be unloaded before the cargo P on the near side.

[0065] (Third modified example of the drive unit and the first bar) The first bar 21 is formed by comprising an outer peripheral member 21A, two shaft members 21B, and a connecting member 21C as shown in Figure 14(B), and a spiral convex portion 50 may be formed integrally with the outer peripheral member 21A.

[0066] Each of the two shaft members 21B has one end fixed to the drive unit 27 and the other end connected to the other end of the other shaft member 21B by a connecting member 21C. The connecting member 21C has both ends inserted into insertion holes 21BH formed in the other ends of the two shaft members 21B.

[0067] With the connecting member 21C inserted into the insertion hole 21BH, a gap is formed between the bottom of the insertion hole 21BH and the end of the connecting member 21C.

[0068] The two shaft members 21B are movable along their axial direction so that they move closer to each other, as indicated by arrows D in Figure 15(B). After moving closer, they can also be moved further apart. The two shaft members 21B are moved under the control of the drive unit 27. This changes the length of the first bar 21.

[0069] As shown in Figures 14(A) and (B), the outer peripheral member 21A is a cylindrical member that covers the outer peripheral surface of the shaft member 21B, and is made of a material with a high coefficient of friction, such as high friction rubber, with a convex portion 50 integrally formed on its outer peripheral surface.

[0070] The outer peripheral member 21A and the shaft member 21B shown in Figure 14(B) are fixed together, for example, by adhesive. More specifically, in the axial direction of the shaft member 21B, the inner circumferential surface of the outer peripheral member 21A is bonded to the outer peripheral surface of the shaft member 21B where the insertion hole 21BH is not formed. On the other hand, in the axial direction of the shaft member 21B, the inner circumferential surface of the outer peripheral member 21A is not bonded to the outer peripheral surface where the insertion hole 21BH is formed. This bonding length can be adjusted as appropriate.

[0071] As a result, when the two shaft members 21B are brought closer together, the portion of the outer peripheral member 21A that is not bonded to the shaft members 21B expands in diameter, as shown in Figure 15(B), and the height of the convex portion 50 increases, as indicated by arrow F in Figure 15(A). "Increased height" refers to an increase in the height of the protrusion from the central axis of the first bar 21.

[0072] Furthermore, if there is a load P below the increased height of the convex portion 50, the increased height of the convex portion 50 will press the load P downwards, and the reaction force received by the convex portion 50 from the load P will cause the first bar 21 to move upward as shown by arrow E.

[0073] The drive unit 27 can detect the reaction force that the convex portion 50 receives from the load P and hold the first bar 21 at a height at which the convex portion 50 can press the load P with a predetermined pressing force.

[0074] With this configuration, as shown in Figures 14(A) and (B), when the drive device 27 rotates the first bar 21 in the direction indicated by arrow B, the load P moves in the direction indicated by arrow C along with the convex portion 50 due to the frictional force of the convex portion 50.

[0075] This allows the cargo P to be moved to a position where it can be pressed by the second bar 22 (see Figure 3) (a position in the vehicle width direction of the autonomous vehicle 10).

[0076] Subsequently, when the drive device 27 brings the shaft member 21B closer, as indicated by arrow D, the height of the convex portion 50 increases, as indicated by arrow F. Also, the height of the first bar 21 increases, as indicated by arrow E.

[0077] Then, by moving the first bar 21 in the direction indicated by arrow A, the load P moves along with the convex portion 50 (the taller convex portion 50) due to the frictional force of the convex portion 50 that is in contact with the load P. This allows the load P to be moved to a position (a position in the longitudinal direction of the autonomous vehicle 10) where it can be pressed by the second bar 22.

[0078] Furthermore, since the height of the first bar 21 is increased in this case, it is possible to leave behind luggage P other than the luggage P that is moved by the tall convex portion 50.

[0079] In the above description, the moving device 20, drive devices 23 and 24 were described as being installed in the lowest layer 1A of the first space 1. Similarly, the drive devices 25 and 27, the first bar 21 with a convex portion 30, the first bar 21 with a convex portion 30 and a plate-like portion 32, and the first bar 21 with a convex portion 50 shown in the first to third modifications were also described as being installed in the lowest layer 1A.

[0080] However, these moving devices 20, drive devices 23, 24, 25, 27, the first bar 21 with the convex portion 30, the first bar 21 with the convex portion 30 and the plate-shaped portion 32, and the first bar 21 with the convex portion 50 can also be installed in the levels 1B and 1C of the first space 1. For example, Figure 16(A) shows level 1B equipped with the moving device 20, drive devices 23 and 24.

[0081] (First variation of the floor) Floors 3B and 3C forming floors 1B and 1C may be configured as follows:

[0082] First, in the above embodiment, openings 4B and 4C are formed in one corner of floors 3B and 3C of each of the levels 1B and 1C. Openings 4B and 4C are formed in a position that "overlaps" with opening 4A in a plan view.

[0083] However, the opening 4B does not necessarily have to be located in a position that overlaps with the opening 4A in a plan view. For example, the opening 4B may be located in the central part of the floor 3B, as shown in Figure 16(B). When the opening 4B is located in the central part of the floor 3B, it is preferable to provide the first bar 21 and the drive unit 23 on both sides of the opening 4B. "Both sides" refers to the front and rear sides in the longitudinal direction of the autonomous vehicle 10.

[0084] Furthermore, the opening 4B may be located at the back of the floor 3B, as shown in Figure 16(C). "Back" refers to the area behind the opening 4A on floor 1A. Also, the corner where the opening 4B is formed, as shown in Figure 16(C), is a corner that does not overlap with the opening 4A.

[0085] Although not shown in the diagram, the opening 4C formed in the floor 3C of level 1C can also be formed in any location, similar to opening 4B. Furthermore, openings 4B and 4C may be formed in positions that overlap in a plan view, or in different positions.

[0086] By forming openings 4B and 4C at different positions in a plan view, the cargo P dropped from opening 4C can first land on floor 3B and then be moved to opening 4B by the first bar 21 and second bar 22 of level 1B. This allows the cargo P to fall from a lower height compared to cases where it lands on floor 3A when dropped from opening 4C.

[0087] Furthermore, even in embodiments where the positions of openings 4B and 4C differ from those of opening 4A in a plan view, the first to third modified versions of the drive device 25 and the first bar 21 described above can be applied.

[0088] (Second variation of the floor) Floors 3B and 3C forming floors 1B and 1C may be configured as follows:

[0089] In the above embodiment, openings 4B and 4C are formed in the floors 3B and 3C of each of the levels 1B and 1C. In this modified example, the openings 4B and 4C may be formed by multiple opening and closing doors, and the positions of the openings 4B and 4C may be variable.

[0090] For example, Figure 17(A) shows a state in which multiple opening and closing doors 40 are formed on the floor 3B of level 1B. Multiple opening and closing doors 40 are provided in both the width direction and the front-to-back direction of the autonomous vehicle 10.

[0091] Furthermore, the opening and closing doors 40 are continuously installed in the width direction of the floor 3B. The opening and closing doors 40 are installed over substantially the entire width direction of the floor 3B (for example, 80% or more of the width dimension).

[0092] The opening and closing of each door 40 is controlled by the information processing device 14. Under the control of the information processing device 14, the doors 40 are normally closed. Furthermore, the information processing device 14 can also control the state in which only one door 40 is open, or in which multiple doors 40 are open simultaneously.

[0093] For example, by opening adjacent doors 40 in the width direction of the floor 3B, the size of the opening 4B shown in Figure 17(B) can be increased compared to when only one door 40 is opened.

[0094] As shown in Figure 17(B), the opening / closing door 40 can rotate around a hinge H provided on the floor 3B to function as a ramp for moving cargo P. To slow down the speed at which the opening / closing door 40 opens, the opening / closing door 40 and the floor 3B may be connected by a damper 42 or the like.

[0095] On floor 1B, where the opening and closing door 40 is provided, a first bar 21 and drive device 23 are provided, while the second bar 22 and drive device 24 are omitted. Drive devices 25 and 27 may be provided instead of drive device 23, and the first bar 21 may be appropriately provided with a convex portion 30, a plate-shaped portion 32, or a convex portion 50, etc.

[0096] In this modified example, the first bar 21 and the drive device 23 move the luggage P upwards to the opening / closing door 40. Since there are multiple opening / closing doors 40 formed in the front-rear direction of the floor 3B, the distance that the first bar 21 moves the luggage P in the front-rear direction of the floor 3B can be shortened when dropping the luggage P to the lower level.

[0097] Furthermore, since multiple opening and closing doors 40 are formed in the width direction of the floor 3B, even if multiple pieces of luggage P that have been pressed and moved by the first bar 21 are lined up in the width direction of the floor 3B, it is easy to drop only the desired pieces of luggage P to the floor 3A of the lower floor.

[0098] Furthermore, because multiple opening and closing doors 40 are provided, the cargo P on floor 3B can be dropped while avoiding the location of the cargo P on the floor 3A of the floor below.

[0099] Furthermore, even if the size of the luggage P is larger than that of a single opening / closing door 40, the luggage P can be dropped to the floor 3A of the lower floor by opening multiple adjacent opening / closing doors 40.

[0100] As shown in Figures 18(A) and (B), the opening and closing door 40 may be provided with a plate-shaped extension member 44 that extends toward the lower floor 3A. Providing the extension member 44 increases the length of the ramp. This makes it easier to send luggage P to the lower floor 3A.

[0101] Furthermore, the opening and closing mechanism of the door does not necessarily have to be a rotary opening and closing mechanism using a hinge H. For example, as shown in Figure 19, the opening and closing door 46 may be a sliding opening and closing mechanism that can be inserted into the floor 3B. With such a sliding opening and closing mechanism, the rotational trajectory of the opening and closing door can be eliminated, making it easier to narrow the gap L between the floor 3B and the floor 3A of the lower floor and secure the amount of cargo P that can be transported.

[0102] Furthermore, as shown in Figure 20, the first bar 21 and the drive unit 23 can be omitted. In this case, multiple opening / closing doors 40 are arranged over substantially the entire surface of the floor 3B. Alternatively, the first bar 21 and the drive unit 23 can also be omitted by placing all the luggage P in the opening / closing doors 40.

[0103] Figure 8 schematically shows an example of the hardware configuration of a computer 1200 that functions as an information processing device 14. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0104] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0105] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 and stores it in a frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0106] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0107] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0108] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0109] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0110] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0111] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout the present invention and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0112] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0113] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0114] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0115] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar languages.

[0116] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0117] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0118] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order.

[0119] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0120] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0121] 1 First space, 2 Second space, 4A-4C Opening, 5 Door, 10 Autonomous vehicle, 12 Drive unit, 14 Information processing unit, 15 Delivery robot, 18 Sensor, 20 Moving unit (First moving unit, Second moving unit), 21 First bar, 22 Second bar, 23,24 Drive unit, 40,46 Opening / closing door, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 Graphics controller, 1218 Display device, 1220 Input / Output controller, 1222 Communication interface, 1224 Storage device, 1230 ROM, 1240 Input / Output chip

Claims

1. An autonomous vehicle having at least two levels for loading cargo, a first space having an opening formed in a portion of the floor of at least the lowest level and a plurality of opening and closing doors formed in the floors of levels other than the lowest level, and a second space located below the first space. A delivery robot for delivering packages to their destination. Information processing device, and a first moving device installed at the lowest level of the first space for moving the luggage to the opening, The delivery robot is stationed at a predetermined position below the opening of the second space, capable of receiving packages falling from the lowest level. The information processing device is an automated unloading system that controls the opening / closing door and the first moving device to open the opening / closing door, drop the cargo from the opening / closing door, move to the opening, drop the cargo from the opening, and allow the falling cargo to be received by the delivery robot.

2. The automated unloading system according to claim 1, wherein the autonomous vehicle has a door whose lower end is rotatably attached to open the second space to the outside, and the door functions as a ramp for the delivery robot to enter and exit the autonomous vehicle when the door is opened.

3. The automated unloading system according to claim 1 or 2, wherein the delivery robot delivers the cargo and, after delivering the cargo, returns to the predetermined position in the second space.

4. The first moving device includes a rolling first bar that moves the cargo on the lowest floor to the vicinity of the opening, An automatic unloading system according to claim 1 or 2, further comprising: a second bar that pushes the load, which has been moved to the vicinity of the opening, toward the opening, thereby causing the load to fall from the opening into the second space.

5. The automatic unloading system according to claim 4, further comprising a second moving device installed on a layer other than the lowest layer of the first space for moving the cargo above the opening and closing door, wherein the information processing device further controls the second moving device.

6. The second moving device is the first bar that moves luggage on the floor of any floor other than the lowest floor above the opening and closing door. The automatic unloading system according to claim 5, wherein the opening and closing door rotates around a hinge and functions as a ramp for sliding the cargo.

7. The automated unloading system according to claim 1 or 2, wherein the drive unit of the autonomous vehicle is installed in the second space.

8. A program for causing a computer to function as the information processing device for the automated unloading system according to claim 1 or 2.

Images