Control of unmanned vehicles

Abstract

In the present invention, a management device performs a discernment process, an acquisition process, and a determination process. In the discernment process, it is discerned whether or not an unmanned travel vehicle has completed delivery of a package. In the acquisition process, when it has been determined that the unmanned travel vehicle has completed delivering the package, information pertaining to the residual energy amount of the unmanned travel vehicle is acquired. In the determination process, it is determined, on the basis of the information pertaining to the residual energy amount, whether the unmanned travel vehicle is to be transitioned to a first mode in which the unmanned travel vehicle travels, in a delivery-ready state, to a storage place for the unmanned travel vehicle or a second mode in which the unmanned travel vehicle travels, in a delivery-unready state, to the storage place.

Description

Technical Field

[0002] , , , , , ,

[0004] , ,

[0006] , , , , , , , ,

[0005] , , ,

[0003] ,<00ffff , , , , ,<00000fff31>

[0001] This disclosure relates to a technology for controlling the driving of driverless vehicles on the ground.

Background Art

[0002] Driverless vehicles that can autonomously move on the ground without a driver are applied in various fields. For example, Patent Document 1 discloses a system for delivering goods using a driverless vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A driverless vehicle for delivering goods is driven by the energy it holds, such as a battery mounted on the vehicle. Therefore, in order to use the driverless vehicle more efficiently, it is necessary to more effectively reduce the power consumption of the driverless vehicle.

[0005] In view of the above problems, an object of this disclosure is to provide a technology for power saving of driverless vehicles.

Means for Solving the Problems

[0006] To solve the above problems, a management device according to one aspect of the present disclosure comprises one or more processors, and at least one of the one or more processors performs a determination process, an acquisition process, and a decision process. The determination process is a process of determining whether or not the autonomous vehicle has completed the delivery of the cargo. The acquisition process is a process of acquiring information on the remaining energy of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the cargo. The decision process is a process of determining, based on the remaining energy information, whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state in which delivery is possible, or to transition it to a second mode in which it travels to the storage location in a state in which delivery is not possible.

[0007] To solve the above problems, an unmanned vehicle according to one aspect of the present disclosure comprises one or more processors, and at least one of the one or more processors performs a determination process, a transmission process, a reception process, and a control process. The determination process is a process of determining whether or not the vehicle has completed the delivery of a package by traveling along a route instructed by a management device. The transmission process is a process of transmitting information on the remaining energy to the management device when it is determined that the delivery of the package has been completed. The reception process is a process of receiving an instruction from the management device, based on the information on the remaining energy, to either a first mode, which is to travel to the storage location in a state that enables delivery, or a second mode, which is to travel to the storage location in a state that does not enable delivery. The control process is a process of controlling the vehicle to travel to the storage location in the first mode or the second mode according to the received instruction.

[0008] To solve the above problems, a management method according to one aspect of the present disclosure includes: a determination step of determining whether or not an autonomous vehicle has completed the delivery of a package; an acquisition step of acquiring information on the remaining energy of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the package; and a decision step of determining, based on the remaining energy information, whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state in which it is capable of delivery, or to a second mode in which it travels to the storage location in a state in which it is not capable of delivery. [Effects of the Invention]

[0009] The technology disclosed herein provides a technology for reducing the power consumption of autonomous vehicles. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 shows an example configuration of an unmanned delivery system according to an embodiment of the present disclosure. [Figure 2] Figure 2 shows a schematic example of a UGV according to an embodiment of this disclosure. [Figure 3] Figure 3 shows an example of the spatial relationship between the UGV, the cargo destination, and the warehouse according to the first embodiment. [Figure 4] Figure 4 shows an example of the hardware configuration of a management device according to an embodiment of the present disclosure. [Figure 5] Figure 5 shows an example of the functional configuration of the management device according to the first embodiment. [Figure 6] Figure 6 shows an example of the functional configuration of a UGV according to an embodiment of the present disclosure. [Figure 7] Figure 7 shows an example of a communication sequence diagram between the management device and the UGV according to the first embodiment. [Figure 8A] Figure 8A is a diagram illustrating the determination of whether or not to apply a delivery discount. [Figure 8B] Figure 8B is a diagram illustrating the determination of whether or not to apply a delivery discount. [Figure 9]Figure 9 is a flowchart showing the process performed by the management device according to the second embodiment. [Figure 10] Figure 10 shows an example of the spatial relationship between the UGV, the cargo destination, and the warehouse according to the third embodiment. [Figure 11] Figure 11 shows an example of the functional configuration of the management device according to the third embodiment. [Figure 12] Figure 12 shows an example of a communication sequence diagram between the management device and the UGV according to the third embodiment. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure will be described in detail below with reference to the attached drawings. Components having the same function are denoted by the same reference numerals, and their descriptions are omitted. The embodiments disclosed below are merely one form of this disclosure and should be modified or changed as appropriate depending on the configuration of the device and various conditions; they are not limited to the embodiments described below. Furthermore, not all combinations of features described in these embodiments are essential for solving the above-mentioned problems.

[0012] <First Embodiment> [Configuration of the unmanned delivery system] Figure 1 shows an example of the configuration of an unmanned delivery system according to this embodiment. The unmanned delivery system 100 shown in Figure 1 consists of a management device 10, an unmanned vehicle 20, and terminal devices 30-1, 30-2, and 30-3. The management device 10, the unmanned vehicle 20, and the terminal devices 30-1, 30-2, and 30-3 are configured to communicate via a network 40. Terminal devices 30-1, 30-2, and 30-3 are terminal devices used by users U1, U2, and U3, respectively. In the following description, users U1, U2, and U3 may be collectively referred to as user U, and terminal devices 30-1, 30-2, and 30-3 may be collectively referred to as terminal device 30. Note that although the number of users (and terminal devices) in Figure 1 is 3, this number can be any integer greater than or equal to 1. Also, in the following description, the terms terminal device and user may be used synonymously.

[0013] The network 40 is a wirelessly communicable network, and is configured, for example, by the Internet and a mobile communication system including a wireless base station. As an example, the mobile communication system can be realized as a fifth-generation (5G) mobile communication system, Long Term Evolution (LTE), or a wireless network connectable to the Internet by an access point.

[0014] The terminal device 30 is a device such as a smartphone or a tablet, and is configured to be capable of wireless communication with the management device 10. The terminal device 30 has a display unit (display screen) such as a liquid crystal display, and the user U can perform various operations through a Graphic User Interface (GUI) installed on the liquid crystal display. The operations include various operations on contents such as images displayed on the screen, such as tap operations, slide operations, and scroll operations using a finger, a stylus, or the like. Note that the terminal device 30 may be a device such as a tablet terminal or a notebook PC. Also, the terminal device 30 may separately include a display unit.

[0015] The unmanned ground vehicle 20 is an Unmanned Ground Vehicle (UGV) that can travel on the ground in an unmanned state without a driver's driving operation, and is hereinafter referred to as UGV20. The UGV20 can autonomously travel on the road according to a preset route. The maximum speed of the UGV20 is, for example, 6 km / h.

[0016] In the present embodiment, the UGV20 includes a plurality of cargo compartments (loading spaces) for loading and transporting goods, and can be used for the unmanned delivery service according to the present embodiment. FIG. 2 shows a schematic structural example of the UGV20. The UGV20 shown in FIG. 2 is formed in a box shape and includes a plurality of wheels 21 and four cargo compartments 22a, 22b, 22c, and 22d. Note that the shape of the UGV20 is not limited to a box shape, and may include portions formed on a curved surface or inclined portions. Also, although the UGV20 shown in FIG. 2 includes four cargo compartments, the number of cargo compartments is not limited to four. The UGV20 has an autonomous driving mechanism that includes multiple wheels 21, a power source such as a motor (not shown), stored energy such as a battery (not shown), a steering mechanism, etc. The autonomous driving mechanism allows the UGV20 to autonomously drive in any direction according to a path instructed by the management device 20.

[0017] Since cargo compartments 22a to 22d all have the same structure, we will describe cargo compartment 22a. The cargo compartment 22a has a door 23, which can be unlocked and locked by a locking mechanism (not shown). In this embodiment, the door 23 is configured to be unlocked by a smart lock, and the door 23 can be unlocked by a user U via an operation on a terminal device 30. A smart lock is a key that unlocks and locks via electronic devices, rather than a physical key. Regarding locking, the door may be configured to be locked by the smart lock in the same way as unlocking, or it may be configured to lock simultaneously when the door 23 is closed. Furthermore, the cargo compartment 22a may have a freezing or refrigeration function. Although the UGV 20 shown in Figure 2 is configured to have multiple wheels 21 for traveling on the ground, it may be configured to have other mobility functions in place of wheels.

[0018] Furthermore, UGV20 has a monitoring unit including cameras and sensors (not shown, e.g., optical sensors, temperature sensors, humidity sensors, and weather sensors). UGV20 uses this monitoring unit to perceive the external environment and, in principle, travels along a route instructed by the management device 20, avoiding obstacles on the road. Initially, UGV20 is stored in a designated warehouse (storage location).

[0019] Terminal device 30 has an application for the unmanned delivery service (hereinafter referred to as the delivery app) installed, and user U can use the unmanned delivery service via the delivery app by operating terminal device 30. In this embodiment, user U may be the requester and / or recipient of the package delivery. For example, user U1 may be both the requester and the recipient of the package delivery. The requester and the recipient use the unmanned delivery service via the delivery app. In the following description, user operations for using the unmanned delivery service may be operations via the delivery app.

[0020] A user U requesting the delivery of a package (hereinafter also referred to as the requesting user U) operates the terminal device 30 to send a delivery request to the management device 10, which includes information on the pickup location, the delivery destination (hereinafter also referred to as the destination), and the information of the user U receiving the package (hereinafter also referred to as the receiving user U). The pickup location information includes information specifying the location of the pickup location (e.g., address). The destination information includes information specifying the location of the destination (e.g., address). The receiving user U information only needs to be the information necessary for the management device 10 to communicate with the receiving user U's terminal device 30. The requesting user U may also include information on the scheduled delivery time, the type of package (e.g., fresh food, electrical appliances, fragile items), and the requesting user U's location (i.e., the location of the terminal device 30) in the delivery request. Upon receiving the delivery request, the management device 10 derives a route for the UGV 20 based on the delivery request and generates route information (route schedule) indicating that route. For example, the management device 10 derives a route based on map information (including the warehouse location), information on the pickup location and destination included in the delivery request, the scheduled delivery time, and the type of package, and generates route information indicating that route. The management device 10 instructs the UGV 20 on the route to travel by transmitting the generated route information to the UGV 20. If the delivery request does not include information on the pickup location, the management device 10 may recognize the location of the requesting user U (i.e., the location of the terminal device 30) as the pickup location.

[0021] The UGV20 automatically travels on public roads, private roads, parks, and inside buildings, following route information received from the management device 20. If the UGV20 is stored in a warehouse before travel, it travels from the warehouse to the collection point according to the route information, stops briefly to collect the goods, and then travels to the destination.

[0022] When the management device 20 receives multiple delivery requests from multiple requesting users U, it derives a route that passes through multiple destinations based on the multiple delivery requests, generates route information, and transmits this route information to the UGV 20. The UGV 20 travels to deliver to the multiple destinations according to the route information received from the management device 20. The UGV 20 may be capable of delivering to multiple destinations, up to the number of cargo compartments.

[0023] Referring to Figure 2, the locking and unlocking operations of the cargo compartment 22a when requesting user U loads cargo into the cargo compartment 22a will be explained. As an example, let user U1 be the requesting user U and user U2 be the receiving user U. User U1 sends a delivery request as described above to the management device 20 in order to use the unmanned delivery service. The management device 20 generates route information based on the delivery request and sends it to the UGV 20, and the UGV 20 drives to the collection point and stops according to the received route information. When the UGV 20 arrives at the collection point, user U1 unlocks the door 23 of the cargo compartment 22a, loads the cargo, and locks it. After locking, the UGV 20 notifies the management device 20 that locking is complete, i.e., loading is complete. In addition to this, user U1 may also notify the management device 20 of loading completion via terminal device 30-1. Upon notification of loading completion, the management device 20 releases the stopped state of the UGV 20 at user U1's location, and the UGV 20 travels to the destination according to the route information and stops. When the cargo arrives at the destination, user U2 unlocks the cargo compartment 22a, takes out the cargo, and locks it. After locking, the UGV 20 notifies the management device 20 that locking is complete, i.e., delivery is complete. In addition, user U2 may also notify the management device 20 of delivery completion via the terminal device 30-2. Upon notification of delivery completion, the management device 20 can detect (recognize) that delivery in accordance with the delivery request has been completed.

[0024] When the management device 10 detects that the UGV 20 has traveled the scheduled route (i.e., the route indicated by the route information) and completed the delivery, it transmits route information to the UGV 20 indicating the route from the destination (delivery completion point) to the warehouse where the UGV 20 was originally stored, so that the UGV 20 can return to the warehouse. In response, the UGV 20 travels towards the warehouse. In this embodiment, since there is only one warehouse, the route information generated by the management device 10 upon receiving the delivery request may be configured to include the route from the destination to the warehouse. Upon arriving at the warehouse, the UGV 20 waits until it receives the next route information from the management device 20. During this waiting period, the UGV 20 may undergo energy replenishment, such as charging.

[0025] Figure 3 shows an example of the positional relationship between the warehouse, collection point, and destination according to this embodiment. Figure 3 shows a route in a map 31 including the delivery area 32, in which an UGV 20 stored in warehouse W1 collects goods at collection point P1, travels to destination D1, and returns to warehouse W1. The delivery area 32 is pre-set in the unmanned delivery system 100 as an area where delivery is possible by the UGV 20. A requesting user U can use the delivery service UGV 20 for collection and delivery within the delivery area 32 using a delivery application for a predetermined delivery fee. The predetermined delivery fee is, for example, the same fee within the delivery area 32.

[0026] The UGV20 is powered by stored energy, such as its onboard battery. Therefore, in order to use the UGV20 more efficiently, it is necessary to more effectively reduce power consumption during package delivery. From this perspective, it is preferable to use a UGV20 that has completed a scheduled delivery and returned to the warehouse for delivery again if its remaining energy meets certain conditions. This is because, when the UGV20 has sufficient energy remaining, it is more efficient from a power consumption standpoint to control it so that it can be immediately used for delivery rather than returning it to the warehouse and then dispatching it again in response to a delivery request.

[0027] Therefore, in this embodiment, when the scheduled delivery is completed, the UGV20 checks the remaining energy level and, if the remaining energy level is high (i.e., the value of the remaining energy level is above a predetermined threshold), controls the UGV20 to be usable for delivery while returning to the warehouse. On the other hand, if the remaining energy level is low (i.e., the value of the remaining energy level is below a predetermined threshold), controls the UGV20 to return to the warehouse as is. The remaining energy level (value) is represented, for example, by the battery charge level (State of Charge (SOC)) when the UGV20 is powered by electricity supplied from a battery.

[0028] The following describes an example of the configuration of a device to achieve such operation, as well as an example of a specific processing procedure. In this embodiment, when the scheduled delivery is completed, the UGV20 acquires information on the remaining energy level and location of the UGV20, and transmits this information to the management device 20. The management device 10 determines the mode (return mode) in which the UGV20 returns to the warehouse, based at least on the remaining energy level information. Specifically, the management device 10 switches between controlling the UGV20 to return to the warehouse in a state where it is capable of delivery, and controlling the UGV20 to return to the warehouse in a state where it is not capable of delivery. In this disclosure, the mode in which the UGV20 returns to the warehouse in a state where it is capable of delivery is referred to as the "recovery mode," and the mode in which the UGV20 returns to the warehouse in a state where it is not capable of delivery is referred to as the "recovery mode."

[0029] [Hardware configuration of management device and UGV] Figure 4 shows an example of the hardware configuration of the management device 10 according to this embodiment. The UGV 20 has a similar hardware configuration.

[0030] As shown in Figure 4, the management device 10 includes, as an example of hardware configuration, a CPU 41, a ROM 42, a RAM 43, an HDD 44, a communication I / F 45, and a system bus 36. The management device 10 may also have external memory. The CPU (Central Processing Unit) 41 is composed of one or more processors and comprehensively controls the operation of the management device 10. The CPU 41 controls each component (42-45) via the system bus 36, which is a data transmission path. The CPU 41 may be replaced by one or more processors such as an ASIC (Application specific integrated circuit), FPGA (Field Programmable Gate Array), or DSP (Digital Signal Processor).

[0031] The ROM (Read Only Memory) 42 is a non-volatile memory that stores control programs and other data necessary for the CPU 41 to execute processing. These programs may also be stored in non-volatile memory such as an HDD (Hard Disk Drive) 44 or SSD (Solid State Drive), or in external memory such as a removable storage medium (not shown). The RAM (Random Access Memory) 43 is volatile memory and functions as the main memory, work area, etc., of the CPU 41. In other words, when executing a process, the CPU 41 loads the necessary programs, etc., from the ROM 42 into the RAM 43 and executes those programs, etc., to realize various functional operations.

[0032] HDD44 stores various data and information necessary for the CPU41 to perform processing using programs, for example. Furthermore, HDD44 also stores various data and information obtained through the processing performed by the CPU41 using programs, for example. Communication I / F45 is an interface that controls communication between the management device 10 and external devices.

[0033] Furthermore, the management device 10 and UGV20 may be equipped with dedicated hardware to perform each function, or some functions may be performed by hardware and other parts by a computer running a program. Alternatively, all functions may be performed by a computer and a program.

[0034] [Functional configuration of the management device 10] Figure 5 shows an example of the functional configuration of the management device 10 according to this embodiment. Each function of the management device 10 is a logical function realized by the hardware of the management device 10 shown in Figure 4, and can be realized by the CPU 41 executing a program stored in ROM 42 or the like. In this embodiment, the management device 10 has a functional configuration of a communication unit 51, a UGV information acquisition unit 52, a driving management unit 53, a cargo compartment management unit 54, a threshold setting unit 55, and a mode determination unit 56.

[0035] The communication unit 51 transmits and receives various signals (data, packets) via the communication interface 45. The UGV information acquisition unit 52 acquires information about UGV20 transmitted from UGV20 via the communication unit 51. For example, the UGV information acquisition unit 52 acquires the location information and energy level information of UGV20.

[0036] The driving management unit 53 controls the driving (movement) of the UGV 20. For example, the driving management unit 53 derives the route of the UGV 20 and generates route information (route schedule) based on map information and delivery requests received via the communication unit 51. Map information (for example, map 31 in Figure 3) is pre-stored in the ROM 41 and RAM 43 of the management device 10. A delivery request includes at least information on the collection location and destination, and information on the receiving user U. Furthermore, a delivery request may include information on the scheduled delivery time and the type of package (fresh food, electrical appliances, fragile items, etc.).

[0037] An example of a derived route will be explained with reference to Figure 3. The management device 20 has pre-stored information from the map 31 (including the location of warehouse W1). The UGV 20 is initially stored in warehouse W1. The delivery request received by the driving management unit 53 includes information on the collection point P1 and the destination D1. Based on the information of warehouse W1, collection point P1, and destination D1, the driving management unit 53 derives a route from the location of warehouse W1, via collection point P1, to destination D1. If UGV20 is located anywhere other than warehouse W1, the management device 10 acquires the location information of UGV20 and derives a route from UGV20's location to destination D1 via collection point P1.

[0038] UGV20 moves from warehouse W1 to collection point P1 to collect goods according to the route information received from management device 20, and after collection, moves to destination D1. After arriving at destination D1 and notifying management device 20 of the completion of delivery, UGV20 travels from destination D1 to warehouse W1 according to the route information received from management device 20. In Figure 3, it is assumed that there is only one destination (i.e., destination D1), but if there are multiple destinations, UGV20 is controlled to return to warehouse W1 after passing through multiple destinations.

[0039] In this embodiment, the UGV 20 stored in warehouse W1 is assumed to have stored energy capable of supplying the power needed to travel to one or more destinations in the delivery area 32 and return to the warehouse. This power may include not only the power for travel, but also the power for unlocking and locking the cargo compartment door of the UGV 20, and the power required for the UGV 20 to remain in a standby state after the cargo arrives at its destination and is unlocked by the recipient.

[0040] In Figure 3, a route is set to connect warehouse W1, collection point P1, and destination D1. However, on an actual map, due to roads, buildings, construction status, etc., the route derived by the driving management unit 53 may be longer than the route (straight line) connecting each point. Furthermore, the route connecting each point is not limited to one. The driving management unit 53 may derive the shortest route by default or according to predetermined settings, or it may derive a route that consumes less power, taking into account elevation differences, etc. Also, if the received delivery request includes the type of package being fresh food, the driving management unit 53 may derive a route that is shorter from collection point P1 to destination D1. Also, if the received delivery request includes a scheduled delivery time, the driving management unit 53 may adjust the time when the UGV 20 starts driving and / or the speed of the UGV 20.

[0041] Furthermore, when the cargo compartment management unit 54 (described later) detects that a delivery has been completed in accordance with the delivery request, the driving management unit 53 derives a route for the UGV 20 from the destination (delivery completion point) to the warehouse, and transmits route information indicating this route to the UGV 20 via the communication unit 51. The driving management unit 53 includes information on either the "recovery mode" or the "deployment mode" return mode in the route information. As a result, when the UGV 20 completes a delivery in accordance with the delivery request, it transitions to one of the return modes and begins moving to the warehouse.

[0042] Furthermore, when the mode determination unit 56, described later, determines that the UGV20 should be transitioned to "recovery mode," the driving management unit 53 derives the UGV20's drivable distance (drivable range) from the remaining energy of the UGV20 at the time of completion of the scheduled delivery. For example, the driving management unit 53 derives the power that can be supplied by the remaining energy and derives the drivable distance from that power. Alternatively, the driving management unit 53 may derive the drivable distance from the power that can be supplied by the remaining energy, minus the power required to unlock and lock the doors of the UGV20's cargo compartment and / or the power required for the UGV20 to maintain a standby state until the cargo arrives at its destination (e.g., one location) and is unlocked by the recipient. When the driving management unit 53 receives a new delivery request and derives a route according to the delivery request, it can determine, based on the drivable distance, whether the UGV20 in "recovery mode" is available for delivery.

[0043] The cargo compartment management unit 54 controls the cargo compartments of the UGV 20. For example, the cargo compartment management unit 54 decides which of the multiple cargo compartments of the UGV 20 to assign to the requesting user U. As an example, let's assume that the requesting user U is user U1 and the receiving user U is user U2, and that among the cargo compartments 22a to 22d of the UGV 20 shown in Figure 2, cargo compartment 22b has a refrigeration function. If the type of package included in the delivery request received from user U1 via the communication unit 51 is perishable food, the cargo compartment management unit 54 assigns cargo compartment 22b to user U1 as the cargo compartment in which the package (perishable food) will be loaded.

[0044] Furthermore, the cargo compartment management unit 54 manages the unlocking and locking of the cargo compartment door of the UGV20. As mentioned above, the door 23 of the cargo compartment 22a of the UGV20 shown in Figure 2 is configured to be unlockable by a smart lock. For example, the door 23 can be unlocked by the UGV20 reading a QR code (registered trademark) or a barcode. Alternatively, the door 23 can be unlocked by the UGV20 entering a predetermined PIN. In addition, the door 23 can be configured to be unlocked via any information. The cargo compartment management unit 54 manages the unlocking information (for example, a QR code or PIN) for unlocking. The cargo compartment management unit 54 can change this unlocking information for each cargo compartment, at predetermined timings, such as after each delivery of a single package (after each use of a single cargo compartment). The cargo compartment management unit 54 shares the unlocking information with the UGV 20 by transmitting it to the UGV 20 via the communication unit 51. Each time the unlocking information is updated, the cargo compartment management unit 54 may transmit the unlocking information to the UGV 20 via the communication unit 51.

[0045] From a security standpoint, it is preferable that the unlocking information be held only by both the requesting user U and the receiving user U. For example, if the cargo compartment management unit 54 assigns cargo compartment 22b to user U1, who is the requesting user U, as described above, the cargo compartment management unit 54 transmits the unlocking information for cargo compartment 22b to user U1 via the communication unit 51. The cargo compartment management unit 54 also transmits the unlocking information for cargo compartment 22b to user U2, who is the receiving user U, via the communication unit 51. As a result, users U1 and U2 can obtain the unlocking information for cargo compartment 22b and, when the UGV 20 arrives, can use this information to unlock the door 23 of cargo compartment 22b.

[0046] Furthermore, the cargo compartment management unit 54 receives a notification from the UGV 20 via the communication unit 51 that the locking is complete, i.e., the delivery is complete, when the receiving user U locks the UGV 20 after removing the package. In addition, the communication unit 51 may also receive a notification of delivery completion from the receiving user U. The notification of delivery completion allows the cargo compartment management unit 54 to detect that the delivery has been completed in accordance with the delivery request.

[0047] The threshold setting unit 55 sets an energy threshold to determine the return mode of the UGV20 (i.e., "recovery mode" or "transfer mode") after the UGV20 has completed its delivery. The threshold setting unit 55 can dynamically set the energy threshold based on the location of the UGV20 (i.e., destination) and the location of the warehouse when the UGV20 has completed its scheduled delivery. For example, referring to Figure 3, when the UGV20 has completed its delivery at destination D1, the UGV information acquisition unit 52 acquires information on the location of the UGV20 (location of destination D1). The threshold setting unit 55 can set the energy threshold according to the distance between destination D1 and warehouse W1.

[0048] For example, the threshold setting unit 55 sets the energy threshold to a value obtained by adding a predetermined margin to the energy value required to supply the minimum power necessary for the UGV 20 to travel the distance between destination D1 and warehouse W1. As explained with reference to Figure 3, in this embodiment, the UGV 20 stored in warehouse W1 has stored energy that can supply the power required to travel to one or more destinations in the delivery area 32 and return to warehouse W1. On the other hand, it is not guaranteed that after completing a scheduled delivery, the UGV 20 will have stored energy that can supply the power required to travel to one or more destinations for delivery and return to the warehouse. Therefore, as an example, the energy threshold is set as described above, and it is decided that UGV 20 with an energy level above the energy threshold will be transitioned to "recovery mode," and UGV 20 with an energy level below the energy threshold will be transitioned to "departure mode." The energy threshold is determined by the type of energy the UGV20 possesses. For example, if the UGV20 is powered by electricity supplied from a battery, the energy threshold is represented by the battery state of charge (SOC). The energy threshold may be set by other methods. Alternatively, the threshold setting unit 55 may set a predetermined value as the energy threshold.

[0049] The mode determination unit 56 compares the energy threshold set by the threshold setting unit 55 with the remaining energy of the UGV 20 at the time delivery is completed to determine the return mode. In other words, the mode determination unit 56 decides whether to transition the UGV 20 to "recovery mode" or to "transfer mode". For example, referring to Figure 3, when the UGV 20 completes delivery at destination D1, the UGV information acquisition unit 52 acquires information on the remaining energy of the UGV 20. The mode determination unit 56 then decides whether to transition the UGV 20 to "recovery mode" if the remaining energy is above the energy threshold, or to transition the UGV 20 to "transfer mode" if the remaining energy is below the energy threshold. The mode determination unit 56 notifies the driving management unit 53 of the determined return mode via the communication unit 51. The driving management unit 53 notifies the UGV 20 that has completed delivery of the determined return mode along with route information indicating the route to the warehouse via the communication unit 51.

[0050] [UGV20 Functional Configuration] Figure 6 shows an example of the functional configuration of the UGV20 according to this embodiment. Each function of the UGV20 is a logical function realized by, for example, the hardware of the management device 10 shown in Figure 4, and can be realized by the CPU 41 executing a program stored in the ROM 42 or the like. In this embodiment, the UGV20 has a functional configuration consisting of a communication unit 61, a cargo compartment management unit 62, a positioning unit 63, an energy level acquisition unit 64, and a driving control unit 65.

[0051] The communication unit 61 transmits and receives various signals (data, packets) via the communication interface 45. The cargo compartment management unit 62 receives cargo compartment unlocking information from the management device 20 via the communication unit 61. As mentioned above, the unlocking information is information for unlocking the cargo compartments of the UGV 20, such as a QR code or a PIN code. The cargo compartment management unit 62 unlocks the cargo compartment of the UGV 20 that matches the unlocking information used by user U from among the one or more cargo compartments provided by the UGV 20. The cargo compartment management unit 62 notifies the communication unit 61 of the completion of locking, i.e., loading completion, when the cargo compartment is locked by the requesting user U. The cargo compartment management unit 62 also notifies the communication unit 61 of the completion of locking, i.e., delivery completion, when the cargo compartment is locked by the receiving user U. The cargo compartment management unit 62 also notifies the positioning unit 63 and the energy level acquisition unit 64 of the completion of delivery. The cargo compartment management unit 62 can distinguish and detect locking by the requesting user U and locking by the receiving user U, for example, by the first locking (requesting user U) and the second locking (receiving user). Alternatively, the cargo compartment management unit 62 can distinguish and detect locking by the requesting user U and locking by the receiving user U, for example, by locking at the collection point and locking at the destination.

[0052] The positioning unit 63 receives, for example, radio waves transmitted from a Global Navigation Satellite System (GNSS) satellite and detects the position (latitude and path) of the UGV20 based on those radio waves. The energy level acquisition unit 64 acquires information on the remaining energy level of the UGV20. For example, if the UGV20 is powered by electricity supplied from the battery, the remaining energy level is represented by the battery charge level (SOC). In this embodiment, the positioning unit 63 and the energy level acquisition unit 64 acquire location information and energy level information in response to the delivery completion notification from the cargo compartment management unit 62, and transmit this information to the management device 20 via the communication unit 61. As a result, the positioning unit 63, in particular, no longer needs to perform satellite communication processing to detect the position of the UGV 20, and further power saving of the UGV 20 can be achieved.

[0053] The driving control unit 65 controls the autonomous driving mechanism of the UGV 20 so that the UGV 20 travels along the route instructed by the management device 20. In principle, the driving control unit 65 controls the autonomous driving mechanism of the UGV 20 to avoid obstacles on the road while traveling along the route instructed by the management device 20.

[0054] [Process Flow] Referring to Figure 7, the processing flow of the UGV20 according to this embodiment, from the completion of scheduled deliveries until it transitions to "return mode" or "recovery mode," will be explained. Figure 7 shows an example of a communication sequence diagram between the management device 10 and the UGV20 according to this embodiment.

[0055] Figure 7 illustrates the process after UGV20 travels along the route instructed by the management device 20 according to the delivery request and arrives at the destination. In this example, it is assumed that the requesting user U is user U1, the receiving user U is user U2, and user U1 uses the cargo compartment 22a of UGV20 to deliver the goods. It is also assumed that UGV20 travels along the route shown in Figure 3.

[0056] Upon arrival at destination D1, UGV20 is opened by receiving user U, who then unlocks the door 23 of the cargo compartment 22a, retrieves the cargo, and locks the door (S71). Note that UGV20 may wait for a certain period of time after arriving at destination D1 for receiving user U to unlock the door. After receiving user U locks the door, the cargo compartment management unit 62 of UGV20 detects the locking and notifies the management device 10 of the completion of delivery via the communication unit 61 (S72). In addition, user U2 may notify the management device 10 of the completion of delivery via the terminal device 30-2.

[0057] The UGV information acquisition unit 52 of UGV20 acquires the location information and remaining energy information of UGV20 after detecting the completion of delivery (S73). The UGV information acquisition unit 52 transmits this information to the management device 10 via the communication unit 61 (S74). In this embodiment, the UGV20 does not frequently transmit its location information to the management device 10 while driving (for example, several to several hundred times per millisecond), but can transmit its location information only after detecting the completion of delivery. This enables further power saving of the UGV20.

[0058] The driving management unit 53 of the management device 10 receives a delivery completion notification from the UGV 20 via the communication unit 51 and detects that the delivery has been completed in accordance with the delivery request. Since the delivery has been completed in accordance with the delivery request, the driving management unit 53 generates route information indicating the route from destination D1 to warehouse W1 in order to return the UGV 20 to the warehouse W1 where it was originally stored (S75). Next, the threshold setting unit 55 of the management device 10 sets an energy threshold based on the route from the location information of the UGV 20 received in S74 (i.e., the location information of destination D1) to the warehouse W1 (S76).

[0059] After setting the energy threshold, the mode determination unit 56 of the management device 10 determines the return mode of the UGV 20 (S77). Specifically, the mode determination unit 56 compares the energy threshold set in S76 with the remaining energy of the UGV 20 received in S74, and if the energy threshold is equal to or greater than the remaining energy, it decides to transition the UGV 20 to "recovery mode". On the other hand, if the remaining energy is less than the set energy, the mode determination unit 56 decides to transition the UGV 20 to "return mode". After the mode determination unit 56 determines the return mode, the driving management unit 53 transmits route information, including the determined return mode, to the UGV 20 via the communication unit 51 (S78). Furthermore, the driving management unit 53 can derive the remaining driving distance of the UGV20 when it decides to transition the UGV20 to "recovery mode".

[0060] When it is decided to transition UGV20 to "recovery mode," the driving management unit 53 of the management device 10 starts tracking the location of UGV20 until it arrives at warehouse W1. That is, the positioning unit 63 of UGV20 acquires the location information of UGV20, transmits this location information to the management device 10 via the communication unit 61, and the driving management unit 53 of the management device 10 receives this location information via the communication unit 51. The acquisition of location information by UGV20 (i.e., positioning processing) is performed, for example, at regular intervals. On the other hand, if it is decided to switch UGV20 to "deadheading mode", the travel management unit 53 of the management device 10 will not track the location of UGV20 until it arrives at warehouse W1.

[0061] When the UGV20's driving control unit 65 receives route information, including the determined return mode, via the communication unit 61, it starts driving to warehouse W1 according to the determined return mode (S79). Once UGV20 has entered "recovery mode," it may be used for delivery before returning to warehouse W1. For example, if the distance of the route derived by the management device 10 when it receives a delivery request from user U3 is shorter than the drivable distance, it sends route information indicating that route to UGV20. Upon receiving the route information, UGV20 begins traveling to the collection point (not shown) according to that route information. Meanwhile, UGV20 units that have transitioned to "deployment mode" will not be used for delivery but will return directly to warehouse W1 for energy replenishment.

[0062] Thus, according to this embodiment, when a UGV20 that has been dispatched from the warehouse and used for delivery completes its scheduled delivery, if it has sufficient remaining energy, it is controlled to return to the warehouse in a state where it can continue delivery. As a result, even if a UGV20 has completed its scheduled delivery, if the energy level condition is met, it can be used for delivery immediately and more efficiently than returning to the warehouse and dispatching it again, thereby improving the power saving of the UGV20.

[0063] Furthermore, in this embodiment, when the UGV20 detects that delivery is complete, it transmits its location information to the management device 10. This reduces the power consumption of the UGV20 compared to when the UGV20 frequently transmits its location information to the management device 10. As a result, the management device 10 can also reduce the processing of receiving location information (i.e., tracking frequency). Furthermore, UGV20s that transition to "recovery mode" are tracked until they return to the warehouse, while UGV20s that transition to "transport mode" are not tracked until they return to the warehouse. This reduces the power consumption of UGV20s in "transport mode". This type of control makes it possible to reduce power consumption not only for the UGV20 but for the entire unmanned delivery system 100.

[0064] <Second Embodiment> This embodiment describes the operational configuration when the UGV20 has completed its scheduled delivery and transitioned to "recovery mode". Using the UGV20 in "recovery mode" for delivery can be considered an effective use of the UGV20 from a power saving perspective. Taking this into consideration, in this embodiment, when using the UGV20 in "transfer mode" for delivery, a delivery discount is applied (i.e., the delivery fee is discounted) if it is determined that the detour to the warehouse will not be significantly longer. For example, whether or not to apply the delivery discount is determined by the relationship between the location of the final destination (delivery end point), the location of the UGV20, the location of the warehouse, and the locations of the collection point and destination included in the new delivery request. The following description omits the explanation of configurations common to the first embodiment.

[0065] The configuration of the unmanned delivery system 100, the management device 10, and the UGV 20 according to this embodiment is the same as in the first embodiment. However, in addition to the functions described in the first embodiment, the driving management unit 53 of the management device 10 according to this embodiment has the function of determining whether or not to apply a delivery discount, and if it is determined that a delivery discount should be applied, setting a discounted delivery fee based on the delivery discount and notifying the requesting user U of the discounted delivery fee.

[0066] [Example of how to determine whether or not to apply a shipping discount] Refer to Figures 8A and 8B to explain an example of how to determine whether or not to apply a delivery discount. Figures 8A and 8B are diagrams illustrating how to determine whether or not to apply a delivery discount, and parts common to Figure 3 are denoted by the same reference numerals. In this example, it is assumed that user U can use the delivery service at the same rate regardless of where the pickup location and the destination of the package are set, as long as they are within the delivery area 32. When the UGV 20 in "collection mode" is traveling towards the warehouse and a new delivery request is received, the driving management unit 53 decides whether or not to apply a delivery discount based on the location of the UGV 20, the location of the delivery end point, the location of the warehouse, the location of the pickup location, and the location of the destination. In this embodiment, we will describe an example of applying a delivery discount based on the planned distance traveled by the UGV20, and (2) an example of applying a delivery discount based on the direction from the new pickup location to the new destination.

[0067] (1) Delivery discount based on the estimated mileage of the UGV20 In Figure 8A, UGV20 is traveling towards warehouse W1 after completing delivery at destination D1. The driving management unit 53 of the management device 10 controls UGV20 to temporarily stop when it receives a new delivery request. Subsequently, the driving management unit 53 derives a route based on the new delivery request. The new delivery request includes information on the location of collection point P2 and the location of destination D2. In the example in Figure 8A, UGV20 is stopped at point 8, and the management device 10 derives a route from point 8 to destination D2 via collection point P2.

[0068] Next, the driving management unit 53 calculates the planned distance traveled along the given route. In this example, the driving management unit 53 calculates the total distance as the sum of the distance 81 from point 8 to collection point P2, the distance 82 from collection point P2 to destination D2, and the distance 83 from destination D2 to warehouse W1. The driving management unit 53 decides to apply a delivery discount if the total distance is within a predetermined number of times the distance 80 between destination D1 and warehouse W1 (base distance).

[0069] If the predetermined number is 3, the driving management unit 53 decides to apply the delivery discount if the planned driving distance is within three times the distance 80. Figure 8A shows the case where the total distance (distance 81 + distance 82 + distance 83) is within three times the distance 80, in which case the delivery discount is applied. On the other hand, Figure 8B shows the case where the sum of the distance 84 from point 8 to collection point P2, the distance 85 from collection point P2 to destination D2, and the distance 86 from destination D2 to warehouse W1 is greater than three times the distance 80, in which case the delivery discount is not applied.

[0070] (2) Delivery discounts based on the direction from the new pickup location to the new destination As mentioned above, in addition to the determination based on the planned distance traveled by UGV20, it is also possible to decide whether to apply a delivery discount based on the direction from the pickup location (new pickup location) to the destination (new destination) included in the new delivery request. For example, in Figure 8A, if it is determined that the direction from destination D1 to warehouse W1 and the direction from pickup location P2 to destination D2 are almost the same, then only the distance 81 from UGV20's position 8 to pickup location P2 and the distance 83 from destination D2 to warehouse W1 can be considered as extra travel distance. In other words, since the distance 82 from pickup location P2 to destination D2 is in the direction toward warehouse W1, distances 81 and 83 are the travel distances for the new pickup and delivery, and it can be said that UGV20 in deadhead mode is being used effectively.

[0071] In this example, the system determines whether the direction of return from destination D1 to warehouse W1 and the direction from collection point P2 to destination D2 are approximately the same using angles. In Figure 8A, the driving management unit 53 derives the direction from destination D1 to warehouse W1 (first direction) and the direction from collection point P2 to destination D2 (second direction), and determines whether the second direction is within a predetermined angle (below a predetermined threshold) from the first direction. The driving management unit 53 calculates the angle A1 between the first direction (the direction of distance 82) and the second direction (the direction of distance 80' with collection point P2 as the starting point of distance 80), and determines whether the angle A1 is less than or equal to a predetermined angle. If the angle A1 between the first and second directions is less than or equal to a predetermined angle, the driving management unit 53 considers that the direction of return of UGV 20 from destination D1 to warehouse W1 and the direction from collection point P2 to destination D2 are approximately the same, and decides to apply a delivery discount.

[0072] If the predetermined angle is set to 30°, the travel management unit 53 decides to apply the delivery discount if the angle between the first direction and the second direction is 30° or less. Figure 8A shows the case where the angle A1 between the first direction and the second direction is 30° or less, in which case the delivery discount is applied. On the other hand, Figure 8B shows the case where the angle A2 between the first direction and the second direction is greater than 30°, in which case the delivery discount is not applied.

[0073] If it is decided to apply a delivery discount, the driving management unit 53 may set a discounted delivery fee based on the delivery discount. The driving management unit 53 may set the discounted fee based on the location of the pickup location, the location of destination D1, the location of destination D2, the location of UGV 20, and the location of warehouse W2. For example, the driving management unit 53 may set the discounted delivery fee to be cheaper when the planned distance traveled is shorter.

[0074] As mentioned above, the driving management unit 53 derives the remaining driving distance of the UGV20 when transitioning the UGV20 to "recovery mode". The driving management unit 53 determines, based on the drivable distance, whether the UGV 20 can travel the planned distance of the route derived in accordance with the new delivery request. For example, in Figure 8A, the driving management unit 53 determines whether the drivable distance is greater than or equal to the total planned distance, which is the sum of the planned distance (distance 81 + distance 82 + distance 83 in Figure 8A) and the distance from destination D1 to point 8. If the drivable distance is greater than or equal to the total planned distance, it is determined that the planned distance can be traveled; otherwise, it is determined that the planned distance cannot be traveled.

[0075] If it is determined that the planned distance can be covered, the driving management unit 53 transmits route information indicating the derived route to the UGV 20 via the communication unit 51. As a result, the UGV 20 interrupts its journey to warehouse W1 and begins traveling from point 8 to collection point P2. The driving management unit 53 may also notify the new requesting user U (the source of the new delivery request) that a delivery discount will be applied. The driving management unit 53 may also notify the new requesting user U of the discounted delivery fee. After receiving the route information, the UGV 20 travels to destination D2 after the requesting user U loads the cargo at collection point P2. The flow after delivery is completed at destination D2 is the same as in the first embodiment. On the other hand, if it is determined that the planned distance cannot be covered, the UGV20 cannot be used for delivery based on the delivery request. Therefore, the management device 10 determines whether another UGV20 can be used for delivery. For example, the management device 10 may transmit route information to other UGV20s stored in the storage location.

[0076] [Process Flow] The processing flow of the management device 10 according to this embodiment will be explained with reference to Figure 9. Figure 9 is a flowchart showing the processing performed by the travel management unit 53 of the management device 10 according to this embodiment. The processing shown in this flowchart starts when it is decided to transition the return mode of the UGV 20 to "recovery mode" in S77 of Figure 7, which was described in the first embodiment.

[0077] When it is decided to transition UGV20 to "recovery mode", the management device 10 derives the remaining travel distance of UGV20 (S91). Furthermore, the management device 10 transmits route information, including the decided return mode, "recovery mode," to UGV20 (S91). This process corresponds to S78 in Figure 7. Subsequently, the management device 10 starts tracking the location of UGV20 until it arrives at the warehouse (S92). If the management device 10 receives a new delivery request before the UGV20 arrives at the warehouse (Yes in S93), the management device 10 derives the route through the UGV20's location, pickup location, and destination, and generates route information indicating that route (S94).

[0078] Based on the drivable distance derived in S91, the management device 10 determines whether the UGV 20 can travel the distance of the route derived in S94 (planned travel distance) (S95). If it is determined that the planned travel distance is drivable (Yes in S95), the process proceeds to S96. In S96, the management device 10 determines whether or not to apply the delivery discount. An example of whether or not to apply the delivery discount is as described above with reference to Figures 8A and 8B. If the management device 10 determines that a delivery discount should be applied (Yes in S96), it transmits the route information generated in S94 to the UGV 20 (S97). As a result, the UGV 20 discards the route information received in S91 and begins driving according to the route information received in S97. Furthermore, the management device 10 notifies the requesting user U that the delivery discount will be applied. For example, it notifies the requesting user U of the discounted delivery fee (S97). On the other hand, if it is determined that the delivery discount should not be applied (No in S96), the management device 10 sends the route information generated in S94 to the UGV 20 (S98). As a result, the UGV 20 discards the route information received in S91 and starts driving according to the route information received in S97. Since the delivery discount is not applied, the requesting user can use the delivery service at the normal delivery fee.

[0079] In the flowchart of Figure 9, the process of S96 is performed after the process of S95, but the process of S95 may be configured to be performed after the process of S96. In this case, the management device 10 makes the determination of S95 regardless of whether the answer to S96 is Yes or No, and if it is Yes, the process proceeds to S97 or S98, respectively.

[0080] Furthermore, while the example in Figure 9 assumes a single-stage delivery discount, multiple-stage delivery discounts may also be applied. For example, multiple-stage delivery discounts may be applied according to the planned distance traveled, and the management device 10 may set a lower delivery fee when the planned distance is shorter.

[0081] Thus, according to this embodiment, when using the UGV20 in "departure mode" for delivery, a delivery discount is applied if it is determined that the detour to the warehouse is not significantly longer. This not only allows for the effective use of the UGV20 in "departure mode," but also allows the benefits of this effective use to be returned to the user through a delivery discount, potentially improving user satisfaction. Furthermore, it may also lead to increased use of unmanned delivery services.

[0082] <Third Embodiment> In the first and second embodiments, it was assumed that there was one UGV20 and that there was one warehouse in which the UGV20 was originally stored. In this embodiment, there are multiple UGV20s and multiple warehouses, and the operational configuration for when a UGV20 that has completed its scheduled delivery returns to one of the warehouses will be described. The following description will omit details of configurations common to the first and second embodiments.

[0083] Figure 10 shows an example of the spatial relationship between multiple warehouses, collection points, and destinations according to this embodiment. Figure 10 shows a route in which an UGV 20 stored in warehouse W1 collects goods at collection point P1, travels to destination D1, and returns to warehouse W1, W2, or W3 in a map 101 that includes a delivery area 102. The delivery area 102 is pre-set in the unmanned delivery system 100 as an area where delivery is possible by the UGV 20. A requesting user U can use the delivery service UGV 20 for collection and delivery within the delivery area 102 using a delivery application for a predetermined delivery fee. The predetermined delivery fee is, for example, the same fee within the delivery area 102.

[0084] Although Figure 10 shows only one UGV20, in this embodiment, multiple UGV20s are available within the delivery area 102, and these are originally stored in warehouses W1, W2, or W3. Warehouses W1, W2, and W3 have limitations on the number of UGV20s they can store. The management device 10 in this embodiment controls UGV20s that have completed their scheduled deliveries to return to a warehouse that is closer to their location at the time of delivery completion and is not full.

[0085] The configuration of the unmanned delivery system 100 and the UGV 20 according to this embodiment is the same as in the first embodiment. An example of the functional configuration of the management device 10 according to this embodiment is shown in Figure 11. In addition to the configuration shown in Figure 5, the management device 10 according to this embodiment has a warehouse management unit 57. The warehouse management unit 57 checks and manages the availability of multiple warehouses in the delivery area. The warehouse management unit 57 can check the availability of multiple warehouses when the UGV 20 notifies it that delivery is complete. In addition to this, or instead, the warehouse management unit 57 may check the availability periodically, or it may check the availability when it is notified that the number of UGVs has changed from each of the multiple warehouses. The warehouse management unit 57 also determines (selects) which warehouse to return the UGV 20 to based on the availability.

[0086] [Process Flow] Referring to Figure 12, the processing flow of the UGV20 according to this embodiment from the completion of scheduled deliveries until it transitions to "return mode" or "recovery mode" will be explained. Figure 12 shows an example of a communication sequence diagram between the management device 10 and the UGV20 according to this embodiment. Note that the same processes as those described in Figure 7 in the first embodiment are denoted by the same reference numerals and their explanation is omitted. Furthermore, it is assumed that the UGV20 travels along the route shown in Figure 10.

[0087] The UGV information acquisition unit 52 of UGV20 transmits the location information and remaining energy information of UGV20 to the management device 10 after detecting the completion of delivery (S74), and the management device 10 receives this information. Subsequently, the warehouse management unit 57 of the management device 10 checks the availability of warehouses W1, W2, and W3 and determines which warehouse to return UGV20 to (S121). For example, if the management device 10 confirms that warehouse W1 is full and warehouses W2 and W3 are available, it determines (selects) W2, which is closer to the location of UGV20 at the time of delivery completion (destination D1), as the warehouse to return UGV20 to (S121).

[0088] Next, the travel management unit 53 of the management device 10 generates route information indicating the route from destination D1 to warehouse W2 (S122). Next, the threshold setting unit 55 of the management device 10 sets an energy threshold (S123) based on the route from the location information of the UGV 20 received in S74 (i.e., the location information of destination D1) to the warehouse W2. Since the energy threshold changes depending on the location of the warehouse, it will be a different value depending on the location of the warehouse determined in S121. After setting the energy threshold, the mode determination unit 56 of the control device 10 determines the return mode of the UGV 20 (S77). The processing from S77 onward is the same as in Figure 7.

[0089] Furthermore, as described in the second embodiment, the management device 10 may determine whether or not to apply a delivery discount. That is, if the management device 10 determines in S77 of Figure 10 to transition the return mode of the UGV 20 to "recovery mode", it may perform the process shown in Figure 9 described in the first embodiment.

[0090] Thus, in this embodiment, the management device 10 determines which warehouse a UGV20 will return to after completing its scheduled delivery, and determines the return mode when it returns to that warehouse, when there are multiple UGV20s and multiple warehouses. The warehouse to which the UGV20 will return is selected to be close to the warehouse at the time the UGV20 completes its delivery and is not full (capable of storing the UGV20). As a result, the travel distance to the warehouse can be shortened, leading to power savings for the UGV20.

[0091] Although three embodiments have been described in this disclosure, the various features shown in the embodiments can be combined with each other.

[0092] While specific embodiments are described above, these embodiments are merely illustrative and not intended to limit the scope of this disclosure. Apparatuses and methods described herein can be embodied in forms other than those described above. Furthermore, the embodiments described above can be omitted, replaced, and modified as appropriate without departing from the scope of this disclosure. Such omitted, replaced, and modified forms fall within the scope of the claims and their equivalents and are within the technical scope of this disclosure.

[0093] (Embodiments of the present disclosure) This disclosure includes the following embodiments. [1] A management device comprising one or more processors, wherein at least one of the one or more processors performs: a determination process to determine whether or not an autonomous vehicle has completed the delivery of a package; an acquisition process to acquire information on the remaining energy of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the package; and a decision process to determine, based on the remaining energy information, whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state in which it is capable of delivery, or to a second mode in which it travels to the storage location in a state in which it is not capable of delivery.

[0094] [2] The management device according to [1], wherein the acquisition process includes acquiring location information indicating the location of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the cargo, and the decision process includes setting a threshold based on the location of the autonomous vehicle and the location of the storage place, and determining whether to transition the autonomous vehicle to the first mode or to the second mode by comparing the remaining energy with the threshold.

[0095] [3] The control device according to [2], wherein the decision process includes determining whether to transition the unmanned vehicle to the first mode if the remaining energy is equal to or greater than the threshold, and whether to transition the unmanned vehicle to the second mode if the remaining energy is less than the threshold.

[0096] [4] The management device according to any one of [1] to [3], wherein at least one of the one or more processors further performs a driving control process, which involves tracking the unmanned vehicle to the storage location if the decision process determines to transition the unmanned vehicle to the first mode, and not tracking the unmanned vehicle to the storage location if the decision process determines to transition the unmanned vehicle to the second mode.

[0097] [5] The control device according to any one of [1] to "4], wherein the unmanned vehicle is equipped with one or more cargo compartments that can be unlocked and locked, and the determination process includes determining that the delivery of the cargo has been completed when the unmanned vehicle arrives at the destination of the cargo and the cargo compartment in which the cargo is loaded is unlocked and locked among the one or more cargo compartments.

[0098] [6] An unmanned vehicle comprising one or more processors, wherein at least one of the one or more processors performs: a determination process to determine whether or not the vehicle has completed the delivery of a package by traveling along a route instructed by a management device; a transmission process to transmit information on the remaining energy to the management device if it is determined that the delivery of the package has been completed; a reception process to receive instructions from the management device, based on the information on the remaining energy, for a first mode of traveling to a storage location in a state that enables delivery, or a second mode of traveling to a storage location in a state that does not enable delivery; and a control process to control the vehicle to travel to the storage location in the first mode or the second mode according to the received instructions.

[0099] [7] A control method for a management device, comprising: a determination step of determining whether or not an autonomous vehicle has completed the delivery of a package; an acquisition step of acquiring information on the remaining energy of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the package; and a decision step of determining, based on the information on the remaining energy, whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state in which it is capable of delivery, or to a second mode in which it travels to the storage location in a state in which it is not capable of delivery.

[0100] [8] A method for controlling an unmanned vehicle, comprising: a determination step of determining whether or not the delivery of a package has been completed by traveling along a route instructed by a management device; a transmission step of transmitting information on the remaining energy to the management device if it is determined that the delivery of the package has been completed; a reception step of receiving instructions from the management device, based on the information on the remaining energy, for a first mode of traveling to a storage location in a state that enables delivery, or a second mode of traveling to a storage location in a state that does not enable delivery; and a control step of controlling the vehicle to travel to the storage location in the first mode or the second mode in accordance with the received instructions.

[0101] [9] A computer-readable storage medium for storing a program, the storage medium including instructions that, when executed by one or more processors of a management device, cause the management device to perform: a determination process for determining whether or not an autonomous vehicle has completed the delivery of a package; an acquisition process for obtaining information on the remaining energy of the autonomous vehicle if it is determined that the autonomous vehicle has completed the delivery of the package; and a decision process for determining, based on the remaining energy information, whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state that enables delivery, or to transition it to a second mode in which it travels to the storage location in a state that does not enable delivery.

[0102]

[10] A computer-readable storage medium for storing a program, the storage medium including instructions that, when executed by one or more processors of an unmanned vehicle, cause the unmanned vehicle to perform: a determination process for determining whether or not it has completed the delivery of a package by traveling along a route instructed by a management device; a transmission process for transmitting information on the remaining energy to the management device if it is determined that the delivery of the package has been completed; a reception process for receiving instructions from the management device, based on the information on the remaining energy, for a first mode of traveling to a storage location in a state that enables delivery, or a second mode of traveling to a storage location in a state that does not enable delivery; and a control process for controlling the vehicle to travel to the storage location in the first mode or the second mode in accordance with the received instructions. [Explanation of Symbols]

[0103] 100: Unmanned delivery system, 10: Management device, 20: Unmanned ground vehicle (UGV), 30-1; 30-2; 30-3: Terminal device, U1; U2; U3: User, 21: Wheel, 22a; 22b; 22c; 22d: Cargo compartment, 23: Door, 31; 101: Map, 32; 102: Delivery area, 41: CPU, 42: ROM, 43: RAM, 44: HDD, 45: Input unit, 46: Display unit, 47: Communication I / F, 51: Communication unit, 52: UGV information acquisition unit, 53: Driving management unit, 54: Cargo compartment management unit, 54: Threshold setting unit, 56: Mode determination unit, 61: Communication unit, 62: Cargo compartment management unit, 63: Positioning unit, 64: Energy remaining amount acquisition unit, 65: Driving control unit

Claims

1. Equipped with one or more processors, At least one of the one or more processors mentioned above, A determination process to determine whether or not the autonomous vehicle has completed the delivery of the package, When it is determined that the autonomous vehicle has completed the delivery of the cargo, an acquisition process is performed to acquire information on the remaining energy level of the autonomous vehicle. Based on the information on the remaining energy, a decision process is performed to determine whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state that enables delivery, or to transition it to a second mode in which it travels to the storage location in a state that does not enable delivery. The execution is performed. The acquisition process includes acquiring location information indicating the location of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the cargo. The decision process includes setting a threshold based on the location of the unmanned vehicle and the location of the storage location, and comparing the remaining energy with the threshold to determine whether to transition the unmanned vehicle to the first mode or to the second mode. Management device.

2. The decision process includes determining whether to transition the unmanned vehicle to the first mode if the remaining energy is equal to or greater than the threshold, and whether to transition the unmanned vehicle to the second mode if the remaining energy is less than the threshold. The control device according to claim 1.

3. At least one of the one or more processors mentioned above, If the decision process determines that the unmanned vehicle should be transitioned to the first mode, the unmanned vehicle is tracked to the storage location. If the decision process determines that the unmanned vehicle should be transitioned to the second mode, the driving control process will not track the unmanned vehicle to the storage location. The management device according to claim 1, wherein the following is performed.

4. The aforementioned unmanned vehicle is equipped with one or more cargo compartments that can be unlocked and locked, The determination process includes determining that the delivery of the cargo has been completed when the unmanned vehicle arrives at the destination of the cargo and the cargo compartment in which the cargo is loaded is unlocked and locked among the one or more cargo compartments. The control device according to claim 1.

5. An unmanned vehicle, Equipped with one or more processors, At least one of the one or more processors mentioned above, A determination process that determines whether or not the delivery of the package has been completed by traveling along the route instructed by the management device, When it is determined that the delivery of the aforementioned package has been completed, a transmission process is performed to send information on the remaining energy amount to the management device. The management device receives instructions for either a first mode, which involves traveling to the storage location in a state that allows delivery, or a second mode, which involves traveling to the storage location in a state that does not allow delivery, based on the energy remaining information. A control process that controls the vehicle to travel to the storage location in the first mode or the second mode according to the received instructions, The execution is performed. The transmission process includes, when it is determined that the delivery of the package has been completed, transmitting location information indicating the location of the unmanned vehicle to the management device. The receiving process includes receiving an instruction for the first mode or the second mode, which is determined by comparing the remaining energy level with a threshold set based on the location of the unmanned vehicle and the location of the storage place.

6. A determination process to determine whether or not the autonomous vehicle has completed the delivery of the package, When it is determined that the autonomous vehicle has completed the delivery of the cargo, the process includes acquiring information on the remaining energy level of the autonomous vehicle, A decision step of determining whether to transition the autonomous vehicle to a first mode in which it travels to the storage location in a state that enables delivery, or to transition it to a second mode in which it travels to the storage location in a state that does not enable delivery, based on the energy remaining information, Includes, The acquisition step includes acquiring location information indicating the location of the autonomous vehicle when it is determined that the autonomous vehicle has completed the delivery of the cargo. The control method, performed by a management device, includes the determination step of setting a threshold based on the location of the unmanned vehicle and the location of the storage location, and determining whether to transition the unmanned vehicle to the first mode or to the second mode by comparing the remaining energy with the threshold.

Images