Vehicle cargo bed and automated unloading system using the same

Abstract

To reduce work for unloading packages from a vehicle and work for delivering the packages to destinations.SOLUTION: A vehicle loading platform includes: a plurality of stratified storage parts for storing packages; a first transport passage for transporting the packages stored in the storage part in each tier to a lower tier and transporting the packages from the lower tier to an upper tier; a moving device which moves the packages stored in the storage parts to the first transport passage and moves the packages from the first transport passage to the storage part in a predetermined tier; a second transport passage for transporting the packages transported to an undermost tier to a predetermined position and transporting the packages from the predetermined position to the first transport passage; and a third transport passage for transporting packages from the outside to the predetermined position, installed in a manner that the third transport passage can retreat to the predetermined position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle loading platform and an automatic unloading system using the same.

Background Art

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

Prior Art Documents

Patent Documents

[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, since 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, labor costs are required. Further, when considering automatically unloading the load from the vehicle, such equipment is required, but it is necessary to consider loading the load into such equipment.

[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, a vehicle loading platform is provided. The vehicle loading platform includes a plurality of hierarchical storage units for storing loads, a first conveyance path for conveying the load stored in the storage unit of each layer to a lower layer and for conveying the load from the lower layer to an upper layer, a moving device for moving the load stored in the storage unit to the first conveyance path and for moving the load from the first conveyance path to the storage unit of a predetermined layer, A second transport path transports the cargo that has been transported to the lowest level to a predetermined position, and transports the cargo from the predetermined position to the first transport path, A third transport path, which is installed to be retractable at the predetermined location, transports the aforementioned cargo from the outside to the predetermined location, The system includes an information processing device that controls the first transport path, the second transport path, the third transport path, and the moving device, so as to transport the cargo from the outside to the predetermined location via the third transport path, transport the cargo from the predetermined location to the first transport path via the second transport path, move the cargo from the first transport path to the storage section on the predetermined floor, move the cargo stored in the storage section to the first transport path while the third transport path is retracted from the predetermined location, transport the cargo moved to the first transport path to the second transport path, and transport the cargo transported to the second transport path back to the predetermined location.

[0007] Furthermore, the vehicle cargo bed of the present invention is further equipped with a sensor that reads the delivery destination information attached to the cargo. The information processing device may control the first transport path, the second transport path, the third transport path, and the moving device so as to store the package in the storage section predetermined according to the destination of the package, based on the delivery destination information read by the sensor.

[0008] Furthermore, in the vehicle cargo bed of the present invention, each of the storage sections has a plurality of storage rows for storing a plurality of luggage in parallel, The information processing device may control the first transport path, the second transport path, the third transport path, and the moving device to place the packages in the storage rows of the storage unit corresponding to the destination of the packages, based on the delivery destination information read by the sensor.

[0009] Furthermore, in the vehicle cargo bed of the present invention, the first transport path, the second transport path, and the third transport path may have a transport device for transporting the cargo.

[0010] Furthermore, in the vehicle cargo bed of the present invention, the second transport path may be continuous from the first transport path to the predetermined position.

[0011] Furthermore, in the vehicle cargo bed of the present invention, the first transport path may be provided in a spiral shape around the plurality of storage compartments.

[0012] According to one embodiment of the present invention, an automated unloading system is provided. The automated unloading system includes an autonomous vehicle equipped with a vehicle cargo bed according to one embodiment of the present invention, The system includes a delivery robot that is stationary at a predetermined position with the third transport path retracted, and which receives the cargo handed over from the second transport path and delivers it to the destination.

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

[0014] It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these features may also constitute an invention. [Brief explanation of the drawing]

[0015] [Figure 1] A partial cross-sectional side view of an autonomous vehicle used in the automated unloading system according to this embodiment. [Figure 2] This is a five-view drawing showing the configuration of the cargo bed. [Figure 3] This diagram illustrates the conveying and moving devices for the flat section of the first conveying path. [Figure 4] This is a schematic diagram of a partial conveying device. [Figure 5] This is a diagram illustrating the handling of cargo during unloading. [Figure 6] This is a plan view showing the configuration of the lowest layer of the cargo bed. [Figure 7]This is an external perspective view of an autonomous vehicle used in the automatic loading and unloading system according to this embodiment. [Figure 8] This is an external perspective view of an autonomous vehicle used in the automatic loading and unloading system according to this embodiment. [Figure 9] This is a plan view showing the configuration of the lowermost layer of the loading platform when loading luggage. [Figure 10] This is an external perspective view of the autonomous vehicle when loading luggage. [Figure 11] This is a diagram schematically showing an example of the functional configuration of an information processing device. [Figure 12] This is a diagram for explaining the conveyance of luggage when loading luggage. [Figure 13] This is a diagram schematically showing an example of a processing routine executed by an information processing device during unloading. [Figure 14] This is a diagram schematically showing an example of a processing routine executed by an information processing device when loading luggage. [Figure 15] This is a diagram schematically showing an example of computer hardware functioning as an information processing device.

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. FIG. 1 is a partial cross-sectional side view of an autonomous vehicle 100 used in the automatic loading and unloading system according to this embodiment.

[0017] The autonomous vehicle 100 used in the automated unloading system according to this embodiment is, for example, a Level 6 autonomous vehicle. Conventional non-autonomous vehicles are equipped with a steering wheel, but a Level 6 autonomous vehicle does not require a steering wheel, making it possible to design a larger interior space. Level 6 represents an autonomous driving level, and is even higher than Level 5, which represents fully autonomous driving. Although Level 5 represents fully autonomous 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 equivalent to 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 100 according to this embodiment has a cargo bed 1. The cargo bed 1 is an example of a vehicle cargo bed according to the present invention. The autonomous vehicle 100 has a space 2 below the cargo bed 1 for housing a delivery robot 15, which will be described later. The autonomous vehicle according to this embodiment has, for example, a total length of 4 m, a height of 1.8 m, a width of 1.9 m, and a height of the second space 2 of 80 cm, but is not limited to this.

[0019] In Space 2, a delivery robot 15 for delivering cargo P to its destination is stationed at a designated position 2A. Designated position 2A is a position from which cargo P can be received from the cargo platform 1, as will be described later. Also located in Space 2 are a drive unit 12 and an information processing unit 14 for driving the autonomous vehicle 100. The drive unit 12 includes a battery, motor, and control device for controlling autonomous driving. The information processing unit 14 will be described later.

[0020] In this embodiment, the cargo bed 1 has tiered storage sections 3A to 3C for storing cargo. Thus, the cargo bed 1 is divided into three tiers 1A to 1C from top to bottom. Storage sections 3A and 3B of tiers 1A and 1B each have five storage rows 4A to 4E for storing multiple items in parallel. Storage section 3C of the lowest tier (hereinafter referred to as the bottom tier) 1C has four storage rows 4A to 4D for storing multiple items in parallel, as will be described later. In Figure 1, only storage section 3A is assigned reference numerals for storage rows 4A to 4E.

[0021] In this embodiment, packages P are stored in predetermined storage sections 3A to 3C, and further in storage rows 4A to 4E within each storage section 3A to 3C, according to the delivery destination. For example, packages destined for area A are stored in storage row 4A of storage section 3A, packages destined for area B are stored in storage row 4B of storage section 3C, and so on, with packages P being sorted and stored according to the delivery destination.

[0022] Figure 2 is a five-view drawing showing the configuration of the cargo bed 1. In this embodiment, the five-view drawing refers to the top view, front view, rear view, left side view, and right side view, excluding the bottom view from the six-view drawing. As shown in Figure 2, a first transport path 5 is provided around the storage sections 3A to 3C. The first transport path 5 is spirally arranged around the storage sections 3A to 3C, connecting the vertically adjacent storage sections 3A to 3C, and transporting the cargo P from the upper levels 1A and 1B to the lowest level 1C, and also transporting the cargo P from the lowest level 1C to level 1B, and further to level 1A. Note that in Figure 2, only the storage section 3A in the top view is shown with cargo P stored inside. Also, in Figure 2, only the right side view shows the second transport path 8, which will be described later.

[0023] The first transport path 5 is composed of a flat section 5A, an orthogonal section 5B, a slope 5C, an orthogonal section 5D, a slope 5E, an orthogonal section 5F, a slope 5G, and an orthogonal section 5H, which are repeatedly connected in this order from level 1A to level 1C. The flat section 5A is connected to the entrance and exit of luggage P in the storage rows 4A to 4E of the storage sections 3A to 3C, and is used to receive luggage P from the storage sections 3A to 3C or to move luggage P to the storage sections 3A to 3C.

[0024] The flat section 5A has a conveying device 7 for transporting the cargo P sent out from each storage row 4A to 4E of the storage sections 3A to 3C, and for moving the cargo P to each storage row 4A to 4E of the storage sections 3A to 3C. The conveying device 7 consists of a composite roller capable of transporting the cargo P in two intersecting directions and a drive source such as a motor. On the other hand, the storage rows 4A to 4E have a moving device 9 for sending the stored cargo P to the flat section 5A. The moving device 9 consists of, for example, an endless belt and a drive source such as a motor. Figure 3 is a diagram illustrating the conveying device and moving device of the flat section. As shown in Figure 3, the flat section 5A is equipped with a conveying device 7, and the storage rows 4A to 4E are each equipped with moving devices 9A to 9E. The endless belt of the moving device 9 is made of a material with a high coefficient of friction, such as rubber, to prevent the cargo P from slipping.

[0025] As described above, the conveying device 7 is composed of a series of partial conveying devices, each having composite rollers for conveying cargo P in intersecting conveying directions, connected in a row. Figure 4 is a schematic diagram showing the configuration of a partial conveying device. As shown in Figure 4, the partial conveying device 20 has a rectangular frame 21. Three first conveying rollers 22A, 22B, and 22C are rotatably mounted on opposing sides 21A and 21B of the frame 21, spaced apart from each other. Between the first conveying rollers 22A and 22B, three second conveying rollers 23A, 23B, and 23C, each having a rotation axis perpendicular to the rotation axes of the first conveying rollers 22A, 22B, and 22C, are rotatably mounted on bearings 24A and 24B. Between the first conveyor roller 22B and the first conveyor roller 22C, three second conveyor rollers 25A, 25B, and 25C, each having a rotation axis perpendicular to the rotation axis of the first conveyor rollers 22A, 22B, and 22C, are rotatably mounted on bearings 26A and 26B. Both the first and second conveyor rollers are rotated in both directions around their rotation axes by a drive source such as a motor (not shown). In this embodiment, a roller formed by combining conveyor rollers with rotation axes perpendicular to each other in this manner is called a composite roller. The conveying device 7 is composed of a row of such partial conveying devices 20, each having a composite roller.

[0026] In the following explanation, only 22 will be used as the reference numeral for the first conveyor roller, and only 23 and 25 will be used as the reference numerals for the second conveyor roller.

[0027] Furthermore, multiple sensors 18 are installed in the flat section 5A of the first transport path 5 and in each of the storage rows 4A to 4E of the storage sections 3A to 3C. Figure 2 shows only a portion of the sensors 18. For example, the sensor 18 for the uppermost layer 1A is installed on the ceiling or wall of the loading platform 1. The sensors 18 for layers 1B and the lowermost layer 1C are installed above the first transport path 5 and the storage sections 3A to 3C, i.e., on the upper side, on the underside of the first transport path 5 and the storage sections 3A to 3C or on the wall of the loading platform 1. The sensors 18 will be described later.

[0028] As shown in Figure 3, when the moving devices 9A to 9E are driven, the endless belt moves in the direction of arrow A1, moving the luggage P stored in the storage rows 4A to 4E toward the flat section 5A. On the other hand, when the endless belt moves in the direction of arrow A2, the luggage P that has been moved from the flat section 5A moves in the opposite direction from the entrance and exit of the storage rows 4A to 4E.

[0029] When only the first conveyor roller 22 of the partial conveyor device 20 of the conveyor device 7 is rotated, the flat section 5A conveys the load P along the first conveying path 5. Also, when only the second conveyor rollers 23 and 25 of the partial conveyor device 20 of the conveyor device 7 are rotated, the load P in the flat section 5A is moved to the storage rows 4A to 4E of the storage sections 3A to 3C. Therefore, load P that has been transported to the vicinity of the entrance / exit of the desired storage rows 4A to 4E is stored in the desired storage rows 4A to 4E by moving the endless belt of the moving devices 9A to 9E in the direction of arrow A2 and changing the transport direction to the direction of the storage rows 4A to 4E. Conversely, by moving the endless belt of the moving devices 9A to 9E in the direction of arrow A1 and changing the rotation direction of the second conveyor rollers 23 and 25 to the opposite of when load P is stored, load P stored in storage rows 4A to 4E is moved to the first conveying path 5.

[0030] Furthermore, the moving device 9 is not limited to an endless belt; for example, it may be a device that suspends and transports the load P, such as a crane. Also, the moving device 9 may consist of multiple transport rollers arranged in parallel.

[0031] The ramps 5C, 5E, and 5G are installed to slope from the upper level to the lower level. The ramps 5C, 5E, and 5G have a conveying device 10 (not shown) for transporting cargo P. The conveying device 10 consists of, for example, an endless belt and a drive source such as a motor. As a result, cargo P is transported by the ramps 5C, 5E, and 5G from the lower level to the upper level and from the upper level to the lower level of the loading platform 1.

[0032] Although not shown in the diagram, fences are provided on the inside of slopes 5C, 5E, and 5G. Outside the first transport path 5, there is the wall of the cargo bed 1 of the automated vehicle 100. The wall of the cargo bed 1 and the fences prevent the transported cargo P from falling from the first transport path 5. Then, the cargo P on slopes 5C, 5E, and 5G is transported to both the upper and lower levels by changing the transport direction of the transport device 10.

[0033] The conveying device 10 is not limited to an endless belt; for example, it may be a device that suspends and conveys the load P, such as a crane. Furthermore, the conveying device 10 may consist of multiple conveying rollers arranged in parallel.

[0034] The orthogonal sections 5B, 5D, 5F, and 5H of the first transport path 5 have a partial transport device 20 consisting of the composite rollers described above. Therefore, when a load P is transported to the orthogonal sections 5B, 5D, 5F, and 5H, the transport direction can be changed by 90 degrees by switching the drive of the first transport roller 22 and the second transport rollers 23 and 25, allowing the load P to be transported from the flat section 5A to the slope 5C, or from the slope 5C to the next slope 5E.

[0035] Figure 5 is a diagram illustrating the transport of goods via the first transport path. Although Figure 5 shows the first transport path 5 as seen in the plan view of the uppermost floor 1A, goods P are similarly transported via the first transport path 5 on the next floor 1B. First, we will explain the case where goods P are transported from the uppermost floor 1A to the lowermost floor 1C for unloading from the loading platform 1. As shown in Figure 5, the moving device 9A of one of the storage rows (in this case, 4A) in the storage section 3A of the uppermost floor 1A is driven to move goods P from storage row 4A to the flat section 5A.

[0036] The cargo P, moved to the flat section 5A, is transported along the longitudinal direction of the flat section 5A by the transport device 7 of the flat section 5A, its transport direction is changed by 90 degrees at the first orthogonal section 5B, and it is transported by the slope 5C. Then, the transport direction of cargo P is changed by 90 degrees at the next orthogonal section 5D and it is transported by the next slope 5E. Furthermore, the transport direction of cargo P is changed by 90 degrees at the next orthogonal section 5F and it is transported by the next slope 5G, and its transport direction is changed by 90 degrees at the next orthogonal section 5H. Finally, cargo P is transported to the lowest level 1C of the loading platform 1 via the first transport path 5 around the storage section 3B of the next level 1B, similar to the first transport path 5 of level 1A. In Figure 5, the transport path of cargo P is indicated by arrow B.

[0037] Figure 6 is a plan view showing the configuration of the lowest layer of the loading platform. As shown in Figure 6, the storage section 4C of the lowest layer 1C of the loading platform 1 has four storage rows 4A to 4D, one less than the storage sections 3A and 3B. In addition, the lowest layer 1C has a second transport path 8 that is continuous with the flat section 5A of the first transport path 5 of the lowest layer 1C. The second transport path 8 is composed of a right-angle section 8A, a slope 8B, a right-angle section 8C, a right-angle section 8D, and a slope 8E. A sensor 18 is installed near a predetermined position 2A on the slope 8E. The sensor 18 is installed on the ceiling of the slope 8E or on the wall of the loading platform 1. A third transport path (not shown in Figure 6), which will be described later, is installed at the predetermined position 2A so as to be able to be retracted to that position 2A.

[0038] The ramps 8B and 8E are installed so as to slope from the exit of the flat section 5A toward a predetermined position 2A. The ramps 8B and 8E have a conveying device 19 (not shown) for transporting the cargo P. The conveying device 19 consists of, for example, an endless belt and a drive source such as a motor.

[0039] The orthogonal sections 8A, 8C, and 8D, like the orthogonal sections 5B, 5D, 5F, and 5H of the first transport path 5, have a partial transport device 20 consisting of the composite rollers described above. Therefore, when a load P is transported to the orthogonal sections 8A, 8C, and 8D, the transport direction is changed by 90 degrees by switching the drive of the first transport roller 22 and the second transport rollers 23 and 25, and the load is transported from the flat section 5A to the slope 8B, and from the slope 8B to the sloop 8E.

[0040] As shown in Figure 6, when a package P is transported to the flat section 5A of the first transport path 5 of the loading platform 1, or when a package P is moved to the flat section 5A from a desired storage row in the storage section 3C, it is transported along the longitudinal direction of the flat section 5A, the transport direction is changed by 90 degrees at the first orthogonal section 8A of the second transport path 8, and it is transported via the slope 8B. Then, the transport direction of the package P is changed by 180 degrees at the next orthogonal sections 8C and 8D, and it is transported to the predetermined position 2A via the next slope 8D. At this point, the package P is handed over to the delivery robot 15 parked at the predetermined position 2A. In Figure 6, the transport path of the package P is indicated by arrow C.

[0041] Furthermore, the conveying device 19 is not limited to an endless belt; for example, it may be a device that suspends and conveys the load P, such as a crane. Also, the conveying device 19 may consist of multiple conveying rollers arranged in parallel.

[0042] The loading of cargo P onto cargo bed 1 and the transport of cargo P from the lowest level 1C to the upper levels will be described later.

[0043] Figures 7 and 8 are external perspective views of the autonomous vehicle. As shown in Figure 7, a door 13 is rotatably mounted at its lower end to an entrance 17 on one side of the autonomous vehicle 100, which opens space 2 to the outside. The door 13 is mounted at a predetermined position 2A where the delivery robot 15 is parked. As shown in Figure 8, when the door 13 is opened, its upper end contacts the ground, and the door 13 functions as a ramp for the delivery robot 15 to enter and exit the autonomous vehicle 100.

[0044] The delivery robot 15 is, for example, a robot that walks on four legs or four wheels, and has a basket 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 100, goes up the ramp provided by the door 13, and parks at a predetermined position 2A.

[0045] In this embodiment, packages are stored in storage units 3A to 3C in advance in an order that matches the delivery route of the autonomous vehicle 100. Each time the vehicle arrives at a delivery point, packages P corresponding to the delivery route are sequentially transported from storage rows 4A to 4E in storage units 3A to 3C to a predetermined position 2A, and then handed over to the delivery robot 15 for delivery to the intended destination.

[0046] The loading of cargo P onto the cargo bed 1 will be described below. Figure 9 shows the bottom layer when cargo P is loaded onto the cargo bed 1. In this embodiment, when loading cargo P onto the cargo bed 1, a third transport path 11 is installed on the cargo bed 1. The third transport path 11 is installed at a predetermined position 2A in the space 2 of the cargo bed 1 so as to be continuous with the slope 8E of the second transport path 8. The third transport path 11 has a transport device 31 (not shown) consisting of, for example, an endless belt and a drive source such as a motor. When installing the third transport path 11, the delivery robot 15 is moved out of the predetermined position 2A. Also, the door 13 of the autonomous vehicle 100 is opened.

[0047] Furthermore, the third transport path 11 may be folded and stored under the ramp 8E and pulled out and installed at a predetermined position 2A when in use, or it may be stored in the space 2 of the loading platform 1 and installed at a predetermined position 2A by attaching it to the entrance / exit of the ramp 8E when in use.

[0048] When the third transport path 11 is installed at the predetermined position 2A, a portion of the third transport path 11 protrudes to the outside from the entrance / exit 17 of the automated vehicle 100, as shown in Figure 10. In this state, the cargo P is loaded from the third transport path 11 toward the loading platform 1.

[0049] Furthermore, the conveying device 31 is not limited to an endless belt; for example, it may be a device that suspends and conveys the load P, such as a crane. Also, the conveying device 31 may consist of multiple conveying rollers arranged in parallel.

[0050] In this embodiment, the automated unloading system is controlled by an information processing device 14 located in space 2.

[0051] Figure 11 is a schematic diagram of an example of an information processing device according to this embodiment. The information processing device 14 is connected to the sensor 18 described above.

[0052] Sensor 18 acquires positional information representing the position of luggage P stored in the cargo bed 1 of the autonomous vehicle 100, and information representing the open / closed state of the door 13 in 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.

[0053] Furthermore, sensor 18 reads the delivery destination information attached to the package P being loaded. The delivery destination information is, for example, a two-dimensional barcode representing the delivery address of package P, and sensor 18 reads the delivery destination information as a two-dimensional barcode. Note that the delivery destination information attached to package P is not limited to a two-dimensional barcode. The delivery destination information may also be a postal code or text information of the address itself.

[0054] 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 various information, including delivery destination information, read from the package P by the sensor 18. The information storage unit 144 stores the delivery route and delivery destination information of the packages to be loaded. The delivery destination information is stored in the information storage unit 144 in association with the delivery route.

[0055] The control unit 142 uses the information acquired by the information acquisition unit 140 and AI (Artificial Intelligence) to control the operation of the transport devices and partial transport devices (hereinafter referred to as "transport devices, etc.") of the first transport path 5, the second transport path 8, and the third transport path 11, as well as the operation of the moving device 9.

[0056] First, when unloading cargo P, the control unit 142 performs the following processes. (1) The moving devices 9A to 9E are driven to move the luggage P stored in the storage rows 4A to 4E of the storage sections 3A to 3C to the first transport path 5. (2) The conveying device of the first conveying path 5 is driven to convey the cargo P that has been moved to the flat section 5A of the first conveying path 5 toward the lowest layer 1C. (3) At the lowest level 1C, the transport device of the second transport path 8 is driven to transport the transported package P to a predetermined position 2A. As a result, the package P is handed over to the delivery robot 15. (4) The delivery robot 15 detects that it has received the package P and opens the door 13. (5) The door 13 is closed when it is detected that the delivery robot 15 has returned.

[0057] Furthermore, when loading cargo P, the control unit 142 performs the following processes. (1) The sensor 18 reads the two-dimensional barcode of the package P loaded from the third transport path 11, and the information acquisition unit 140 obtains the delivery destination information of the package P. (2) Based on the delivery route and destination information stored in the information storage unit 144, it is determined which storage row 4A to 4E of which storage unit 3A to 3C the package P will be stored in. (3) The transport devices and other equipment of the second transport path 8 and the first transport path 5, as well as the moving devices, are driven to transport the luggage P toward the determined storage queue and to place the transported luggage P into the determined storage queue.

[0058] The loading of cargo P will now be explained. As shown in Figure 9, cargo P loaded onto the third transport path 11 is transported from the third transport path 11 to the slope 8E of the second transport path 8. A sensor 18 is installed near a predetermined position 2A on the slope 8E, and this sensor 18 reads the delivery destination information attached to cargo P.

[0059] The cargo P, transported on slope 8E, has its transport direction changed by 180 degrees by orthogonal sections 8D and 8C, and is then transported to orthogonal section 8A via the next slope 8B. The cargo P, transported to orthogonal section 8A, has its transport direction changed by 90 degrees and is transported to the flat section 5A of the first transport path 5 in the lowest layer 1C. The cargo P is transported along the longitudinal direction of the flat section 5A, has its transport direction changed by 90 degrees by orthogonal section 5H, and is then transported to the upper layer via slope 5G. In Figure 9, the transport path of cargo P is indicated by arrow D.

[0060] Here, we assume that the storage row for the loaded cargo P is storage row 4B of storage section 3B on level 1B. As shown in Figure 12, the cargo P transported by slope 5G has its transport direction changed by 90 degrees by the orthogonal section 5F and is transported by the next slope 5E. Then the transport direction of the cargo P is changed by 90 degrees by the next orthogonal section 5D and is transported by the next slope 5C. Furthermore, the transport direction is changed by 90 degrees by the next orthogonal section 5B and continues to be transported along the longitudinal direction of the flat section 5A.

[0061] The cargo P, transported to the entrance / exit of storage row 4B in storage section 3B, is rotated 90 degrees by the partial transport device 20 located at that position so that its transport direction faces storage row 4B. Additionally, the moving device 9B of storage row 4B is moved in the direction of arrow A2 in Figure 3. As a result, the loaded cargo P is placed in the desired storage row 4B of storage section 3B. In Figure 12, the transport path of cargo P is indicated by arrow E.

[0062] Figure 13 is a schematic diagram illustrating an example of a processing routine executed by the information processing device during unloading. When the information processing device 14 unloads the cargo P stored in storage sections 3A to 3C from the loading platform 1 and transports it to a predetermined position 2A, it repeatedly executes the flowchart shown in Figure 13.

[0063] In step S100, the information acquisition unit 140 acquires the location information of the package P to be delivered, which has been detected by the sensor 18.

[0064] In step S102, the control unit 142 uses the position information of the luggage P acquired in step S100 and AI to drive the moving devices 9A to 9E, thereby moving the luggage P to the flat section 5A of the first transport path 5.

[0065] In step S104, the control unit 142 drives the transport devices of the first transport path 5 and the second transport path 8 to transport the package P to a predetermined position 2A and hand over the package P to the delivery robot 15.

[0066] When the dropped package P is placed on it, the delivery robot 15 descends the ramp that is installed when the door 13 is opened, delivers the package P to its destination, and then returns to the autonomous vehicle 100.

[0067] Figure 14 is a schematic diagram showing an example of a processing routine executed by the information processing device when loading cargo. When loading cargo P and storing it in storage units 3A to 3C, the information processing device 14 repeatedly executes the flowchart shown in Figure 14.

[0068] In step S110, the conveying device 31 of the third conveying path 11 is driven to transport the loaded cargo P to the second conveying path 8.

[0069] In step S112, the information acquisition unit 140 acquires the delivery destination information assigned to the package P read by the sensor 18.

[0070] In step S114, the control unit 142 determines the storage row in which the package P will be stored based on the delivery destination information.

[0071] In step S116, the control unit 142 drives the transport devices of the first transport path 5 and the second transport path 8 to transport the cargo P to the entrance / exit of the storage row where it is to be stored.

[0072] In step S118, the control unit 142 drives the partial transport device 20 of the flat section 5A at the entrance / exit of the storage row where the luggage P is to be stored to move the luggage P toward the storage row, thereby storing the luggage P in the storage row.

[0073] According to this embodiment, the cargo P stored in the storage sections 3A to 3C is transported to the lowest level 1C of the loading platform 1 via the first transport path 5, and then transported to a predetermined position 2A via the second transport path 8 to be handed over to the delivery robot 15. The delivery robot 15 delivers the cargo P to the destination and then returns to the autonomous vehicle 100. As a result, the unloading of cargo P from the vehicle can be performed automatically, and the delivery of cargo P can also be performed automatically. Therefore, labor costs for unloading can be saved.

[0074] Furthermore, when loading cargo P onto the cargo bed 1, cargo P can be transported to the desired loading lane via the third transport path 11, the second transport path 8, and the first transport path 5. Therefore, loading cargo P onto the vehicle can be automated, thereby saving on labor costs associated with cargo loading.

[0075] In particular, the system reads the destination information of the package P, determines the storage rows 4A to 4E in the storage units 3A to 3C where the package P will be stored based on the read destination information, and then transports and stores the package P in the determined storage row. As a result, packages P are sorted and stored in the storage rows of the storage units according to their destination. Therefore, when unloading, it is only necessary to drive the moving device for the storage row of the storage unit where the package P to be unloaded is stored. Consequently, it is possible to prevent a reduction in the battery capacity required to drive the moving device, for example.

[0076] Furthermore, a door 13 was installed in space 2, and the door 13 was designed to function as a ramp for the delivery robot 15 to enter and exit the autonomous vehicle 100. This not only provides security for the autonomous vehicle 100 but also facilitates the entry and exit of the delivery robot 15.

[0077] Furthermore, when loading cargo P onto the loading platform 1, there may be cases where cargo P cannot be loaded into the designated loading row because the row corresponding to the destination of cargo P is full. In such cases, cargo P should be loaded into a loading row that is already occupied by cargo P for a destination close to the destination of cargo P. Alternatively, cargo P should be loaded into a loading row near the loading row corresponding to the destination of cargo P. If all loading rows are full of cargo P, cargo P should be loaded into a loading row that still has space for cargo P.

[0078] Figure 15 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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]

[0094] 1. Cargo area, 2. Space, 3A-3C. Storage area, 4A-4E. Storage row, 5. First transport path, 7. Transport device, 8. Second transport path, 9A-9E. Moving device, 11. Third transport path, 12. Drive device, 13. Door, 14. Information processing device, 15. Delivery robot, 18. Sensor, 20. Partial transport device, 100. Autonomous vehicle, 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. Multiple tiered storage compartments for storing luggage, A first transport path transports the cargo stored in the storage compartments of each floor to the lower floor and transports the cargo from the lower floor to the upper floor, A moving device that moves the cargo stored in the storage section to a first transport path and moves the cargo from the first transport path to the storage section at a predetermined level, A second transport path transports the cargo that has been transported to the lowest level to a predetermined position, and transports the cargo from the predetermined position to the first transport path, A third transport path, which is installed to be retractable at the predetermined location, transports the aforementioned cargo from the outside to the predetermined location, A vehicle cargo bed comprising an information processing device that controls the first transport path, the second transport path, the third transport path, and the moving device, so as to transport the cargo from the outside to the predetermined position via the third transport path, transport the cargo from the predetermined position to the first transport path via the second transport path, move the cargo from the first transport path to the storage section of the predetermined level, move the cargo stored in the storage section to the first transport path while the third transport path is retracted from the predetermined position, transport the cargo moved to the first transport path to the second transport path, and transport the cargo transported to the second transport path to the predetermined position.

2. The package is further equipped with a sensor that reads the delivery address information attached to the package. The vehicle cargo bed according to claim 1, wherein the information processing device controls the first transport path, the second transport path, the third transport path, and the moving device to store the cargo in the storage section predetermined according to the destination of the cargo, based on the delivery destination information read by the sensor.

3. Each of the aforementioned storage compartments has multiple storage rows for storing multiple packages in parallel, The vehicle cargo bed according to claim 2, wherein the information processing device controls the first transport path, the second transport path, the third transport path, and the moving device to store the cargo in the storage row of the storage section corresponding to the destination of the cargo, based on the delivery destination information read by the sensor.

4. The vehicle cargo bed according to claim 1, wherein the first transport path, the second transport path, and the third transport path are transport devices for transporting the cargo.

5. The vehicle loading platform according to claim 1, wherein the second transport path extends continuously from the first transport path to the predetermined position.

6. The vehicle cargo bed according to claim 1, wherein the first transport path is provided spirally around the plurality of storage sections.

7. An autonomous vehicle equipped with a vehicle cargo bed according to any one of claims 1 to 6, An automated unloading system comprising a delivery robot that is stationary at a predetermined position with the third transport path retracted, and which receives the cargo handed over from the second transport path and delivers it to the destination.

8. A program for causing a computer to function as the information processing device for the cargo bed of a vehicle according to any one of claims 1 to 6.

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