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 having a plurality of storage tiers in which a plurality of packages each provided with destination information are stored arranged parallel to each other; a transport passage which transports the packages stored in the storage part in each tier to a lower tier; a sensor which reads the destination information provided to the packages; a moving device which sorts the packages stored in each storage tier and sequentially moves the packages to the transport passage in a sorted order; a delivery part which delivers the packages moved to the transport passage and transported to an undermost tier to a predetermined position; and an information processing device which controls the moving device so that the moving device sorts the packages stored in the storage tiers based on a predetermined delivery route and the destination information read by the sensor and moves the packages stored in the storage part in each tier to the transport passage in the sorted order to transport the packages to the delivery part.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a cargo bed for a vehicle and an automatic unloading system using the same. [[Background Art]]

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

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2022-035198 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] When cargo is delivered by a vehicle having an automatic driving function, the work of unloading the cargo from the vehicle and the work of delivering the cargo to the delivery destination need to be performed by a person, which results in labor costs.

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

[0006] According to one embodiment of the present invention, there is provided a cargo bed for a vehicle. The vehicle cargo bed includes a plurality of layered storage units each having a plurality of storage rows for parallelly storing a plurality of cargo items each provided with delivery destination information, a conveyance path configured to convey the cargo stored in the storage units of each layer to a lower layer, a sensor configured to read the delivery destination information attached to the plurality of cargo items, a moving device configured to rearrange the cargo items stored in each of the storage rows and move the cargo items to the conveyance path in the rearranged order, a delivery unit configured to deliver the cargo that has been moved to the conveyance path and conveyed to the lowermost layer to a predetermined position, The system includes an information processing device that controls the moving device to rearrange the packages stored in the storage rows based on a predetermined delivery route and the delivery destination information read by the sensor, and to move the packages stored in the storage section of each level to the transport path in the rearranged order and transport them to the handover section.

[0007] In addition, the vehicle cargo bed of the present invention may include a first moving device that lifts the cargo and moves it along the storage row, a second moving device that moves the cargo, which is stored in the storage row, along the storage row, and a third moving device that moves the cargo, which is stored in the storage row, by pushing it in a direction along the storage row.

[0008] Furthermore, in the vehicle cargo bed of the present invention, at least a portion of the transport path may have a slope for sliding the cargo down.

[0009] Furthermore, in the vehicle cargo bed of the present invention, at least a portion of the transport path may have a transport device for transporting the cargo to a lower level.

[0010] Furthermore, in the vehicle cargo bed of the present invention, the transfer section may extend continuously from the transport path to the predetermined position.

[0011] 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 the predetermined location, receives the package handed over by the transfer unit, and delivers it to the destination.

[0012] 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.

[0013] It should be noted that the above summary of the invention does not list all necessary features of the present invention. Subcombinations of these feature groups may also constitute inventions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] [Figure 1] It is a partial cross-sectional side view of an autonomous driving vehicle used in the automatic unloading system according to the present embodiment. [Figure 2] It is a five-view drawing showing the configuration of a cargo bed. [Figure 3] It is a drawing for explaining a moving device. [Figure 4] It is a diagram showing a schematic configuration of a third moving device. [Figure 5] It is a drawing for explaining a conveying device on a conveying path and a second moving device. [Figure 6] It is a drawing for explaining sliding falling of cargo on a slope. [Figure 7] It is a plan view showing the configuration of a lowermost accommodation portion of the cargo bed. [Figure 8] It is an external perspective view of an autonomous driving vehicle used in the automatic unloading system according to the present embodiment. [Figure 9] It is an external perspective view of an autonomous driving vehicle used in the automatic unloading system according to the present embodiment. [Figure 10] It is a diagram schematically showing an example of a functional configuration of an information processing device. [Figure 11] It is a drawing for explaining rearrangement of cargo. [Figure 12] It is a drawing for explaining rearrangement of cargo. [Figure 13] It is a drawing for explaining rearrangement of cargo. [Figure 14] It is a drawing for explaining rearrangement of cargo. [Figure 15] It is a drawing for explaining rearrangement of cargo. [Figure 16] It is a diagram schematically showing an example of a processing routine executed by an information processing device. [Figure 17]This diagram schematically shows an example of computer hardware that functions as an information processing device. [Modes for carrying out the invention]

[0015] The present invention will be described below through embodiments, but these embodiments are not intended to limit the scope of the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention. Figure 1 is a partial cross-sectional side view of an autonomous vehicle 10 used in an automated unloading system according to this embodiment.

[0016] The automated vehicle 10 used in the automated unloading system according to this embodiment is, for example, a Level 6 automated vehicle. Conventional non-autonomous vehicles are equipped with a steering wheel, but a Level 6 automated vehicle does not require a steering wheel, making it possible to design a larger interior space. Level 6 represents an automated driving level, and is even higher than Level 5, which represents fully automated driving. Although Level 5 represents fully automated driving, it is equivalent to human driving, and there is still a probability of accidents occurring. Level 6 represents a level higher than Level 5, and is a level where the probability of accidents occurring is lower than that of Level 5. Level 6 can be achieved, for example, by control at the nanosecond level.

[0017] The autonomous vehicle 10 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 10 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.

[0018] 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 10. The drive unit 12 includes a battery, motor, and a control device for controlling autonomous driving. The information processing unit 14 will be described later.

[0019] 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.

[0020] 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 transport path 5 is provided around the storage sections 3A to 3C. The transport path 5 is spirally arranged around the storage sections 3A to 3C, connecting the vertically adjacent storage sections 3A to 3C, and transports the cargo P from the upper levels 1A and 1B to the lowest level 1C. Note that in Figure 2, only the storage section 3A in the top view shows the state in which cargo P is stored. Also, in Figure 2, only the right side view shows the transfer section 8, which will be described later.

[0021] The transport path 5 has a slope 5A for transporting the load P to the lower level by sliding it down, and a flat section 5B for receiving the load P from the storage sections 3A to 3C. The surface of the slope 5A is, for example, fluorine-coated to improve smoothness. Alternatively, a surface with rib-like protrusions arranged along the inclination direction of the slope 5A may be formed to reduce the contact area with the load P.

[0022] At the four corners of the slope 5A, there are corners 6 with a radius (R) that change the direction of transport of the sliding load P by 90 degrees. This allows for a smooth change in the direction of transport of the load P as it slides down the slope 5A. Although not shown in the diagram, a fence is provided on the inside of the slope 5A. Outside of the slope 5A and the flat section 5B are the walls of the cargo bed 1 of the autonomous vehicle 10. The walls of the cargo bed 1 and the fence prevent the transported load P from falling off the transport path 5.

[0023] The flat section 5B 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 to the slope 5A. The conveying device 7 consists of, for example, an endless belt and a drive source such as a motor. The endless belt of the conveying device 7 is made of a material with a high coefficient of friction, such as rubber, to prevent the cargo P from slipping.

[0024] Furthermore, multiple sensors 18 are installed at predetermined intervals in each storage row 4A to 4E of the storage sections 3A to 3C. For example, the sensor 18 for the uppermost level 1A is installed on the ceiling or wall of the cargo bed 1. The sensors 18 for levels 1B and the lowermost level 1C are installed on the underside of the storage rows 4A to 4E of the upper levels. The sensors 18 will be described later.

[0025] Furthermore, each of the storage rows 4A to 4E has a moving device for rearranging the luggage P stored in each of the storage rows 4A to 4E and moving the luggage P in the rearranged order to the flat section 5B of the transport path 5. Figure 3 is a diagram illustrating the moving device. Note that Figure 3 corresponds to the right side view in Figure 2, and the exit for luggage P in storage rows 4A to 4E is located on the left side of Figure 3. As shown in Figure 3, the moving device 20 has a first moving device 21, a second moving device 22, and a third moving device 23. Note that in Figure 3, three luggage items PA, PB, and PC are stored in storage rows 4A to 4E in order from the exit side.

[0026] The first moving device 21 is installed on the ceiling of the cargo platform 1 on the uppermost level 1A, and on the ceilings of the storage sections 3B and 3C on levels 1B and the lowest level 1C. The first moving device 21 is, for example, a crane and has an arm 21A for gripping cargo P, a rail 21B for guiding the arm 21A along storage rows 4A to 4E, and a drive mechanism 21C consisting of a motor and drive source that moves the arm 21A up and down, opens and closes the arm 21A, and moves the arm 21A along the rail 21B. The arm 21A is guided by the rail 21B by the drive mechanism 21C and moves back and forth along storage rows 4A to 4E. In addition, by moving up and down and opening and closing the arm 21A from the drive mechanism 21C, it is possible to grip cargo P and lift it from storage rows 4A to 4E, or lower cargo P into storage rows 4A to 4E.

[0027] The second moving device 22 is installed on the underside of the storage sections 3A to 3C. The second moving device 22 consists of, for example, an endless belt and a drive source such as a motor, and moves the cargo P stored in the storage rows 4A to 4E back and forth along the storage rows 4A to 4E with the cargo P placed on it. The endless belt of the second moving device 22 is made of a material with a high coefficient of friction, such as rubber, to prevent the cargo P from slipping. The second moving device 22 is not limited to an endless belt, and may also consist of, for example, multiple conveyor rollers arranged in parallel.

[0028] The third moving device 23 is installed in the storage rows 4A to 4E on the side opposite to the exit side facing the transport path 5. Figure 4 is a schematic diagram of the third moving device. As shown in Figure 4, the third moving device 23 includes, for example, an extrusion mechanism 23A, a contact portion 23B attached to the tip of the extrusion mechanism 23A that contacts the load P, and a drive device (not shown) that extends and retracts the extrusion mechanism 23A. The contact portion 23B is configured such that the part that contacts the load P is, for example, flat, so as not to damage the load P.

[0029] When the third moving device 23 is not in use, the extrusion mechanism 23A is retracted and housed in the housing 23C of the third moving device 23, as shown in Figure 4(A). When changing the position of the load, as will be described later, the extrusion mechanism 23A is extended by a drive device (not shown), as shown in Figure 4(B). As a result, the contact portion 23B pops out from the housing 23C toward the storage rows 4A to 4E and pushes the load P, moving the load P toward the exit of the storage rows 4A to 4E.

[0030] Furthermore, the third moving device 23 is not limited to having an extrusion mechanism 23A, but may also consist of, for example, a bar that pushes the load P and a drive device that drives the bar.

[0031] The rearrangement of the luggage P using the first moving device 21, the second moving device 22, and the third moving device 23 will be described later.

[0032] The second moving device 22 is also used to move the cargo P stored in storage rows 4A to 4E to the transport path 5. Figure 5 is a diagram illustrating the transport device and the second moving device of the transport path. The second moving device 22 is driven so that the endless belt moves in the direction of arrow A, moving the cargo stored in storage rows 4A to 4E toward the flat section 5B. The transport device 7 is driven so that the endless belt moves in the direction of arrow B, transporting the cargo P moved from storage rows 4A to 4E to the slope 5A of the transport path 5.

[0033] Furthermore, the conveying device 7 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 7 may consist of multiple conveying rollers arranged in parallel.

[0034] As shown in Figure 6, the cargo P, transported onto the slope 5A, slides down the slope 5A, and as shown by arrow C, the transport direction is changed by 90 degrees by corner 6, reaching the flat section 5B on the transport path 5 of the lower level. The flat section 5B on the transport path 5 of the lower level transports the cargo P onto the following slope 5A, and the cargo P slides down further to the lower level by slope 5A. Similarly, at each level, the cargo P is moved from the storage area to the transport path 5, transported by the flat section 5B and slope 5A, and the cargo P is transported to the lowest level 1C of the loading platform 1.

[0035] Figure 7 is a plan view showing the configuration of the lowest layer of the loading platform. As shown in Figure 7, the storage section 3C of the lowest layer 1C has four storage rows 4A to 4D, one less than the storage sections 3A and 3B, and is provided with a transfer section 8 that is continuous with the flat section 5B of the transport path 5. The transfer section 8 consists of a ramp for sliding and dropping, for example, a load P transported by the flat section 5B of the transport path 5 to a predetermined position 2A where the delivery robot 15 in space 2 is parked. The transfer section 8 is configured to reverse the transport direction of the load P by 180 degrees. In addition, a corner 6 with a radius R is formed in the part of the transfer section 8 that reverses the transport direction, similar to the transport path 5. This allows the direction of the load P sliding and dropping through the transfer section 8 to be smoothly changed.

[0036] As shown in Figure 7, the cargo P transported to the flat section 5B of the transport path 5 is transported toward the handover section 8 in the direction of arrow B, slides down the slope of the handover section 8 as shown by arrow D, and is handed over to the delivery robot 15 which is stationary at a predetermined position 2A.

[0037] Figures 8 and 9 are external perspective views of the autonomous vehicle. As shown in Figure 8, a door 13 for opening space 2 to the outside is mounted on one side of the autonomous vehicle 10, with its lower end rotatably attached. The door 13 is mounted at a predetermined position 2A where the delivery robot 15 is parked. As shown in Figure 9, 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 10.

[0038] The delivery robot 15 is, for example, a quadrupedal or four-wheeled robot 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 10, goes up the ramp provided by the door 13, and parks at a predetermined position 2A.

[0039] In this embodiment, the storage of packages P in storage sections 3A to 3C is performed as appropriate, regardless of the delivery route of the packages P. Then, by reading the delivery destination information attached to the packages P using the sensor 18, the packages P stored in storage rows 4A to 4E of storage sections 3A to 3C are rearranged in order according to the delivery route, as will be described later.

[0040] In this embodiment, the automated unloading system is controlled by an information processing device 14 located in space 2.

[0041] Figure 10 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.

[0042] Sensor 18 acquires positional information representing the position of luggage P stored in the cargo bed 1 of the autonomous vehicle 10, 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.

[0043] Furthermore, the sensor 18 reads the delivery destination information attached to the packages P stored in storage rows 4A to 4E of storage sections 3A to 3C. The delivery destination information is, for example, a two-dimensional barcode representing the delivery address of package P, and the 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.

[0044] 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 stored in the cargo area 1. The delivery destination information is stored in the information storage unit 144 in association with the delivery route.

[0045] 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 device 7, the first moving device 21, the second moving device 22, and the third moving device 23.

[0046] The control unit 142 performs the following processing. (1) The sensor 18 reads the two-dimensional barcode of the package P that has been placed inside, and the information acquisition unit 140 acquires the delivery destination information of the package P. (2) Based on the delivery route and delivery destination information stored in the information storage unit 144, the moving device 20 is driven to rearrange the packages P stored in storage rows 4A to 4E. At this time, the packages P are rearranged so that the packages P to be delivered first are located closer to the exits of storage rows 4A to 4E along the delivery route. (3) After rearranging the luggage P, the second moving device 22 is driven to move the luggage P stored in storage rows 4A to 4E to the transport path 5. (4) The transport device 7 is driven to transport the cargo P, which has been moved to the flat section 5B of the transport path 5, toward the slope 5A. The cargo P, having moved toward the slope 5A, slides down and is transported by the flat section 5B to the lowest level 1C of the loading platform 1, and is transported by the transfer section 8 to a predetermined position 2A and handed over to the delivery robot 15. (5) The delivery robot 15 detects that it has received the package P and opens the door 13. (6) The door 13 is closed when it is detected that the delivery robot 15 has returned.

[0047] Furthermore, it is preferable that the processes described in (1) and (2) above be carried out between the time the cargo P is loaded onto the cargo bed 1 and the time the autonomous vehicle 10 arrives at the first delivery destination.

[0048] Figures 11 to 15 are diagrams illustrating the rearrangement of luggage. Here, as shown in Figure 3, the initial state is when luggage PA, PB, and PC are arranged in this order from the exit side in the storage row. In the following explanation, left and right refer to left and right in Figures 11 to 15. The left direction is the exit direction for storage rows 4A to 4E, and the right direction is the opposite direction from the exit for storage rows 4A to 4E. First, we will explain the case of rearranging the order of luggage from the initial state to PA, PC, and PB. As shown in Figure 11, luggage PB is lifted by the first moving device 21 and moved to the right in Figure 11. Next, luggage PC is pushed to the left on the second moving device 22 by driving the third moving device 23, thereby moving luggage PC to the space where luggage PB was stored. Finally, luggage PB is lowered into the space where luggage PC was stored by the first moving device 21, completing the luggage rearrangement.

[0049] Next, we will explain the case where the order of the packages is rearranged from the initial state to PB, PA, PC. First, as shown in Figure 12, the first moving device 21 lifts package PB and moves it to the left in Figure 12. Next, the third moving device 23 is driven to push package PC to the left on the second moving device 22, thereby moving package PC to the space where package PB was stored. Furthermore, the second moving device 22 is driven to move packages PA and PC to the right in Figure 12. Finally, the first moving device 21 lowers package PB into the space where package PA was stored, completing the package rearrangement.

[0050] Next, we will explain the case where the order of the packages is rearranged from the initial state to PB, PC, PA. First, as shown in Figure 13, the first moving device 21 lifts package PC and moves it to the left in Figure 13. Next, the second moving device 22 is driven to move packages PA and PB to the right in Figure 12. Then, the first moving device 21 lowers package PC into the space where package PA was located. Subsequently, the first moving device 21 lifts package PB and moves it to the left in Figure 13. Furthermore, the second moving device 22 is driven to move packages PC and PA to the right in Figure 13. Finally, the first moving device 21 lowers package PB into the space where package PC was located, completing the package rearrangement.

[0051] Next, we will explain the case where the order of the packages is rearranged from the initial state to PC, PA, PB. First, as shown in Figure 14, the first moving device 21 lifts package PC and moves it to the left in Figure 14. Then, the second moving device 22 is driven to move packages PA and PB to the right in Figure 14. Finally, the first moving device 21 lowers package PC into the space where package PA was located, completing the package rearrangement.

[0052] Next, we will explain the case where the order of the packages is rearranged from the initial state to PC, PB, PA. First, as shown in Figure 15, the first moving device 21 lifts package PC and moves it to the left in Figure 15. Next, the second moving device 22 is driven to move packages PA and PB to the right in Figure 15. Then, the first moving device 21 lowers package PC into the space where package PA was located. Subsequently, the first moving device 21 lifts package PA and moves it to the right in Figure 15. Next, the third moving device 23 is driven to push package PB to the left on the second moving device 22, thereby moving package PB into the space where package PA was located. Finally, the first moving device 21 lowers package PA into the space where package PB was located, completing the package rearrangement.

[0053] Although Figures 11-15 illustrate the rearrangement of three packages, it is also possible to rearrange packages P in the same way as described above when four or more packages are stored in storage rows 4A-4E, so as to be in the order corresponding to the delivery destination.

[0054] Furthermore, in the above embodiment, the first moving device 21 uses its arm 21A to grasp only one package P0 and rearrange the packages. However, the arm 21A may be used to grasp multiple packages P0 and rearrange the packages.

[0055] Figure 16 is a schematic diagram showing an example of a processing routine executed by the information processing device. When the information processing device 14 transports the luggage P stored in storage units 3A to 3C to a predetermined position 2A, it repeatedly executes the flowchart shown in Figure 16.

[0056] In step S100, the information acquisition unit 140 acquires the delivery destination information of the package P read by the sensor 18.

[0057] In step S102, the control unit 142 rearranges the packages P stored in storage rows 4A to 4E based on the delivery route and delivery destination information.

[0058] In step S104, the information acquisition unit 140 acquires the location information of the package P to be delivered, which has been detected by the sensor 18.

[0059] In step S106, the control unit 142 uses the position information of the luggage P acquired in step S104 and AI to drive the second moving device 22, thereby moving the luggage P to the flat section 5B of the transport path 5.

[0060] In step S108, the control unit 142 drives the transport device 7 to move the load P from the flat section 5B to the slope 5A.

[0061] In step S110, the control unit 142 drives the conveying device 7 on the flat section 5B of the lowest layer 1C of the loading platform 1 to move the cargo P to the handover section 8, transport the cargo to a predetermined position 2A, and hand over the cargo P to the delivery robot 15.

[0062] 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 10.

[0063] According to this embodiment, the cargo P stored in the storage sections 3A to 3C is transported by the transport path 5 to the lowest level 1C of the loading platform 1, and then transported by the transfer section 8 to a predetermined position 2A where it is 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 10. 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 the work can be saved.

[0064] Furthermore, by acquiring the delivery destination information of the packages P, rearranging the packages P stored in storage rows 4A to 4E based on a predetermined delivery route and delivery destination information, and moving the packages to the transport path in the rearranged order and transporting them to the handover section, even if the packages P are stored in the loading platform 1 in an arbitrary order without considering the delivery destination, the packages P can be moved from storage sections 3A to 3C to the transport path and transported in the order of the delivery route.

[0065] 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 10. This not only provides security for the autonomous vehicle 10 but also facilitates the entry and exit of the delivery robot 15.

[0066] In this embodiment, the transport path 5 is configured with a slope 5A and a flat section 5B, and the load P is transported by sliding and dropping on the slope 5A, but it is not limited to this. The slope 5A may be configured with a transport device having an endless belt or a transport device with multiple transport rollers arranged in parallel, similar to the flat section 5B, to transport the load P to the lower level. Alternatively, the slope 5A may be used instead of the flat section 5B, and the transport path 5 may be configured to transport the load P solely by sliding and dropping.

[0067] Furthermore, in the above embodiment, the transfer section 8 is a ramp that slides and drops the cargo P to a predetermined position 2A for transport, but it is not limited to this. The receiving section 8 may be configured as a transport device having an endless belt, and the cargo P may be transported to the predetermined position 2A by the endless belt.

[0068] Figure 17 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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 programming languages.

[0081] 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.

[0082] 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.

[0083] 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]

[0084] 1. Cargo bed, 2. Space, 3A-3C. Storage area, 4A-4E. Storage row, 5. Transport path, 5A. Slope, 5B. Flat area, 7. Transport device, 8, 28. Transfer area, 10. Automated vehicle, 12. Drive device, 13. Door, 14. Information processing device, 15. Delivery robot, 18. Sensor, 20. Moving device, 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. A hierarchical storage system comprising multiple storage columns for storing multiple packages with delivery destination information in parallel, A transport path for transporting the cargo stored in the storage compartments on each level to the lower level, A sensor that reads the delivery destination information attached to the multiple packages, A moving device that rearranges the packages stored in each of the aforementioned storage rows and moves the packages to the transport path in the rearranged order, A transfer unit that transfers the cargo, which has been moved along the transport path and transported to the lowest level, to a predetermined position, The system includes an information processing device that controls the moving device to rearrange the packages stored in the storage rows based on a predetermined delivery route and delivery destination information read by the sensor, and to move the packages stored in the storage section of each level to the transport path in the rearranged order and transport them to the handover section. The moving device is a vehicle cargo bed having a first moving device that lifts the cargo and moves it along the storage row, a second moving device that moves the cargo, which is stored in the storage row, along the storage row, and a third moving device that moves the cargo, which is stored in the storage row, by pushing it in a direction along the storage row.

2. A hierarchical storage unit having a plurality of storage rows for storing a plurality of packages to which delivery destination information is attached in parallel, A transport path for transporting the cargo stored in the storage compartments on each level to the lower level, A sensor that reads the delivery destination information attached to the multiple packages, A moving device that rearranges the packages stored in each of the aforementioned storage rows and moves the packages to the transport path in the rearranged order, A transfer unit that transfers the cargo, which has been moved along the transport path and transported to the lowest level, to a predetermined position, The system includes an information processing device that controls the moving device to rearrange the packages stored in the storage rows based on a predetermined delivery route and delivery destination information read by the sensor, and to move the packages stored in the storage section of each level to the transport path in the rearranged order and transport them to the handover section. The transport path is a vehicle loading platform arranged spirally around the plurality of storage compartments.

3. The vehicle loading platform according to claim 1, wherein at least a portion of the transport path is a ramp for sliding the load down.

4. The vehicle cargo bed according to claim 1, wherein at least a portion of the transport path is a transport device for transporting the cargo to a lower level.

5. The transfer section is a vehicle loading platform according to claim 1, which extends continuously from the transport path to the predetermined position.

6. The vehicle loading platform according to claim 2, wherein at least a portion of the transport path is a ramp for sliding the load down.

7. The vehicle cargo bed according to claim 2, wherein at least a portion of the transport path is a transport device for transporting the cargo to a lower level.

8. The vehicle loading platform according to claim 2, wherein the transfer section extends continuously from the transport path to the predetermined position.

9. An autonomous vehicle equipped with a vehicle cargo bed as described in any one of claims 1 to 8, An automated unloading system comprising a delivery robot that is stationary at the predetermined location, receives the goods handed over by the transfer unit, and delivers them to the destination.

10. 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 8.

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