Operation for returning unmanned traveling vehicle

Abstract

The present invention provides an information processing apparatus configured to perform a reception process, an acquisition process, and a determination process. The reception process is for receiving a delivery request, including information on the position of a pickup location and the position of a second destination to which a package is to be delivered, from a communication device used by a user while an unmanned traveling vehicle that has completed delivery of a package at a first destination is traveling toward a depot location for the vehicle. The acquisition process is for acquiring information on the position of the first destination, the position of the unmanned traveling vehicle, and the depot location. The determination process is for determining whether or not to apply a delivery discount to the delivery pursuant to the delivery request on the basis of the position of the pickup location, the position of the first destination, the position of the second destination, the position of the unmanned traveling vehicle, and a position of the depot location. [Representative drawing] FIG. 1

Description

Operation of unmanned vehicles during return

[0001] The present disclosure relates to the operation of an unmanned ground vehicle when returning to a storage location.

[0002] Unmanned vehicles that can move autonomously on the ground without a driver are applied to a variety of fields. For example, Patent Literature 1 discloses a system that uses unmanned vehicles to deliver packages.

[0003] Japanese Patent Application Laid-Open No. 2018-058656

[0004] Because unmanned vehicles that deliver packages are powered by stored energy, such as batteries installed on the vehicle, it is desirable to use (consume) the stored energy efficiently. From this perspective, by using an unmanned vehicle that has completed a scheduled delivery for another delivery before returning to its storage location, the stored energy can be used effectively. Although such a delivery upon the return of an unmanned vehicle is not originally scheduled, it ultimately leads to effective use of the unmanned vehicle's stored energy. Furthermore, by returning the benefits of such effective use of the unmanned vehicle's stored energy to users, it can lead to user promotion. However, until now, there has been no mechanism for operating an unmanned vehicle upon returning to its storage location.

[0005] In view of the above-mentioned problems, the present disclosure aims to provide an operational mechanism for an unmanned vehicle when it returns to a storage location.

[0006] In order to solve the above problem, a management device according to one aspect of the present disclosure includes one or more processors, and at least one of the one or more processors executes a receiving process, an acquiring process, and a determining process. The receiving process is a process of receiving a delivery request from a communication device used by a user while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is traveling toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered. The acquiring process is a process of acquiring information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location. The determining process is a process of determining whether to apply a delivery discount to the delivery in accordance with the delivery request based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0007] In order to solve the above problem, a control method of a management device according to one aspect of the present disclosure includes a receiving step of receiving a delivery request from a communication device used by a user, while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is driving toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered; an acquiring step of acquiring information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location; and a determining step of determining whether to apply a delivery discount to the delivery in accordance with the delivery request, based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0008] In order to solve the above problem, a storage medium according to one aspect of the present disclosure is a computer-readable storage medium that stores a program, the program including instructions that, when executed by one or more processors of a management device, cause the management device to execute a receiving process, an acquiring process, and a determining process. The receiving process is a process of receiving a delivery request from a communication device used by a user while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is traveling toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered. The acquiring process is a process of acquiring information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location. The determining process is a process of determining whether to apply a delivery discount to the delivery in accordance with the delivery request based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0009] The technology disclosed herein provides a mechanism for operating an unmanned vehicle when it returns to a storage location.

[0010] FIG. 1 shows an example configuration of an unmanned delivery system according to an embodiment of the present disclosure. FIG. 2 shows an example schematic structure of a UGV according to an embodiment of the present disclosure. FIG. 3 shows an example of the positional relationship between a UGV, a package destination, and a warehouse according to a first embodiment. FIG. 4 shows an example hardware configuration of a management device according to an embodiment of the present disclosure. FIG. 5 shows an example functional configuration of a management device according to the first embodiment. FIG. 6 shows an example functional configuration of a UGV according to an embodiment of the present disclosure. FIG. 7 shows an example communication sequence diagram between a management device and a UGV according to the first embodiment. FIG. 8A is a diagram for explaining a determination of whether or not to apply a delivery discount. FIG. 8B is a diagram for explaining a determination of whether or not to apply a delivery discount. FIG. 9 is a flowchart showing processing executed by the management device according to the first embodiment. FIG. 10 shows an example of the positional relationship between a UGV, a package destination, and a warehouse according to a second embodiment. FIG. 11 shows an example functional configuration of a management device according to the second embodiment. FIG. 12 shows an example communication sequence diagram between a management device and a UGV according to the second embodiment.

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Among the components disclosed below, components having the same functions are designated by the same reference numerals, and their description will be omitted. Note that the embodiment disclosed below is one form of the present disclosure, and should be appropriately modified or changed depending on the configuration of the device and various conditions, and is not limited to the following embodiment. Furthermore, not all of the combinations of features described in the present embodiment are necessarily essential to solving the above-mentioned problems.

[0012] First Embodiment [Configuration of Unmanned Delivery System] FIG. 1 shows an example configuration of an unmanned delivery system according to this embodiment. The unmanned delivery system 100 shown in FIG. 1 is composed of a management device 10, an unmanned autonomous vehicle 20, and terminal devices 30-1, 30-2, and 30-3. The management device 10, the unmanned autonomous vehicle 20, and the terminal devices 30-1, 30-2, and 30-3 are configured to be able to communicate via a network 40. The 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 while FIG. 1 shows the number of users (and terminal devices) as three, this number may be any integer greater than or equal to one. In the following description, the terms terminal device and user may be used interchangeably.

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

[0014] The terminal device 30 is, for example, a device such as a smartphone or 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 using a graphic user interface (GUI) equipped on the liquid crystal display. These operations include various operations on content such as images displayed on the screen, such as tapping, sliding, and scrolling using a finger or stylus. The terminal device 30 may also be a device such as a tablet terminal or a notebook PC. The terminal device 30 may also have a separate display unit.

[0015] The unmanned vehicle 20 is an Unmanned Ground Vehicle (UGV) that can travel on the ground in an unmanned state without being operated by a driver, and will be referred to as the UGV 20 hereinafter. The UGV 20 can travel autonomously on roads according to a preset route. The maximum speed of the UGV 20 is, for example, 6 km / h.

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

[0017] Since the luggage compartments 22a to 22d all have the same structure, only the luggage compartment 22a will be described. The luggage compartment 22a has a door 23, and the door 23 can be unlocked and locked using a locking mechanism (not shown). In this embodiment, the door 23 is configured to be unlocked using a smart lock, and the door 23 can be unlocked through operations by the user U via the terminal device 30, for example. A smart lock is a key that unlocks and locks using an electronic device rather than a physical key. Note that the door may be locked using the smart lock in the same way as it is unlocked, or may be locked simultaneously when the door 23 is closed. The luggage compartment 22a may also have a freezing or refrigeration function. Note that although the UGV 20 shown in FIG. 2 is configured to have multiple wheels 21 for traveling on the ground, it may also be configured to have other mobility functions instead of wheels.

[0018] The UGV 20 also has a monitoring unit such as a camera and sensors (e.g., optical sensors, temperature sensors, humidity sensors, weather sensors, etc.) not shown, and the UGV 20 recognizes the external environment using the monitoring unit, and in principle travels along a route instructed by the management device 20 while avoiding obstacles on the road. In its initial state, the UGV 20 is stored in a specified warehouse (storage location).

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

[0020] A user U requesting 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, including information on the collection location and delivery destination (hereinafter also referred to as the destination), and information on the user U receiving the package (hereinafter also referred to as the receiving user U). The collection location information includes information specifying the location of the collection location (e.g., an address). The destination information includes information specifying the location of the destination (e.g., an address). The receiving user U's information may be any information necessary for the management device 10 to communicate with the receiving user U's terminal device 30. The requesting user U may include information on the scheduled delivery time, the type of package (perishable food, electrical appliances, fragile items, etc.), 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 the route. For example, the management device 10 derives a route based on map information (including the location of the warehouse), information on the collection location and destination included in the delivery request, the scheduled delivery time, the type of package, and the like, and generates route information indicating the route. The management device 10 instructs the UGV 20 on the route to travel by transmitting the generated route information to the UGV 20. Note that if the delivery request does not include information on the collection 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 collection location.

[0021] The UGV 20 automatically travels on ground roads such as public roads, private roads, parks, and inside buildings according to the route information received from the management device 20. If the UGV 20 is stored in a warehouse before traveling, it travels from the warehouse to a collection location according to the route information, stops temporarily to collect the goods, and then travels toward the destination.

[0022] When 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 the route information to UGV 20. UGV 20 travels to make deliveries to the multiple destinations according to the route information received from management device 20. UGV 20 may be capable of delivering to multiple destinations, up to the number of cargo compartments.

[0023] Referring to FIG. 2, the operation of locking and unlocking the luggage compartment 22a when the requesting user U loads a package in the luggage compartment 22a will be described. As an example, the requesting user U is user U1, and the receiving user U is user U2. User U1 sends the above-described delivery request to the management device 20 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. The UGV 20 travels to the collection location according to the received route information and stops. When the UGV 20 arrives at the collection location, user U1 unlocks the door 23 of the luggage compartment 22a, loads the package, and locks it. After locking, the UGV 20 notifies the management device 20 that locking is complete, i.e., that loading is complete. In addition, user U1 may notify the management device 20 of the completion of loading via terminal device 30-1. In response to the notification of loading completion, the management device 20 releases the UGV 20 from its stopped state at the user U1's location, and the UGV 20 travels to the destination according to the route information and stops. When the luggage arrives at the destination, the user U2 unlocks the luggage compartment 22a, removes the luggage, and locks it. After locking, the UGV 20 notifies the management device 20 that locking is complete, i.e., that delivery is complete. In addition, the user U2 may notify the management device 20 of delivery completion via the terminal device 30-2. The notification of delivery completion allows the management device 20 to 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 along the scheduled route (i.e., the route indicated by the route information) and completed delivery, it transmits route information indicating the route from the destination (delivery end point) to the warehouse to the UGV 20 so that the UGV 20 returns to the warehouse where it was originally stored. In response to this, the UGV 20 travels toward the warehouse. Note that in this embodiment, since there is only one warehouse, the route information generated by the management device 10 upon receiving a delivery request may be configured to include a route to the warehouse after the destination. The UGV 20 that has arrived at the warehouse waits until it receives the next route information from the management device 20. Furthermore, while waiting, the UGV 20 may be replenished with energy, for example, by charging.

[0025] FIG. 3 shows an example of the positional relationship between a warehouse, a collection location, and a destination according to this embodiment. On a map 31 including a delivery area 32, FIG. 3 shows a route taken by a UGV 20 stored in a warehouse W1 to collect goods at a collection location P1, travel to a destination D1, and return to the warehouse W1. The delivery area 32 is preset in the unmanned delivery system 100 as an area where delivery by the UGV 20 is possible. Within the delivery area 32, a requesting user U can use a delivery app to use the delivery service UGV 20 for collection and delivery for a specified delivery fee. The specified delivery fee is, for example, the same fee within the delivery area 32.

[0026] The UGV 20 is powered by stored energy, such as an on-board battery. Therefore, in order to use the UGV 20 more efficiently, it is necessary to more effectively reduce the power consumption during package delivery. From this perspective, it is preferable to use the UGV 20 that has completed a scheduled delivery and is returning to the warehouse for another delivery if its remaining energy meets a predetermined condition. If the UGV 20 has sufficient remaining energy, controlling the UGV 20 so that it can be used immediately for delivery is more effective in terms of power consumption than returning the UGV 20 to the warehouse and then retrieving it in response to a delivery request.

[0027] Therefore, the UGV 20 according to this embodiment checks the remaining energy amount when the scheduled delivery is completed, and if the remaining energy amount is large (i.e., the value of the remaining energy amount is equal to or greater than a predetermined threshold), the UGV 20 is controlled so that it can be used for delivery while returning to the warehouse. On the other hand, if the remaining energy amount is small (i.e., the value of the remaining energy amount is less than the predetermined threshold), the UGV 20 is controlled so that it returns to the warehouse as is. For example, if the UGV 20 is powered by power supplied from a battery, the remaining energy amount (value) is represented by the battery charge amount (State of Charge (SOC)).

[0028] In this embodiment, when a scheduled delivery is completed, the UGV 20 acquires information about the remaining energy amount held by the UGV 20 and the location information of the UGV 20, and transmits this information to the management device 20. The management device 10 determines the mode (return mode) in which the UGV 20 returns to the warehouse based on at least the information about the remaining energy amount. Specifically, the management device 10 switches between controlling the UGV 20 to return to the warehouse in a state in which delivery is possible, and controlling the UGV 20 to return to the warehouse in a state in which delivery is not possible. In the present disclosure, the mode in which the UGV 20 returns to the warehouse in a state in which delivery is possible is referred to as the "recovery mode," and the mode in which the UGV 20 returns to the warehouse in a state in which delivery is not possible is referred to as the "recovery mode."

[0029] Using a UGV 20 in "collection mode" for delivery can be said to be an effective use of the UGV 20 from the perspective of power saving. Taking this into consideration, in this embodiment, when using a UGV 20 in "deadline mode" for delivery, if it is determined that the delivery will not require a significant detour to the warehouse, a delivery discount is applied (i.e., the delivery usage fee is discounted). For example, whether or not to apply a delivery discount is determined based on the relationship between the location of the final destination (delivery end point), the location of the UGV 20, the location of the warehouse, the pickup location included in the new delivery request, and the location of the destination.

[0030] An example of the configuration of a device for realizing such an operation and an example of a specific processing procedure will be described below.

[0031] 4 shows an example of the hardware configuration of the management device 10 according to this embodiment. The UGV 20 also has a similar hardware configuration.

[0032] As shown in FIG. 4 , the management device 10 includes, as an example of a 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 include an external memory. The CPU (Central Processing Unit) 41 is configured with one or more processors and provides overall control of the operation of the management device 10. The CPU 41 controls each component (42 to 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), an FPGA (Field Programmable Gate Array), or a DSP (Digital Signal Processor).

[0033] The ROM (Read Only Memory) 42 is a nonvolatile memory that stores control programs and the like necessary for the CPU 41 to execute processing. Note that these programs may be stored in a nonvolatile memory such as a hard disk drive (HDD) 44 or a solid state drive (SSD) or in an external memory such as a removable storage medium (not shown). The RAM (Random Access Memory) 43 is a volatile memory that functions as the main memory, work area, and the like of the CPU 41. That is, when executing processing, the CPU 41 loads the necessary programs and the like from the ROM 42 into the RAM 43 and executes the programs and the like to realize various functional operations.

[0034] The HDD 44 stores, for example, various data and information required when the CPU 41 performs processing using a program. The HDD 44 also stores, for example, various data and information obtained when the CPU 41 performs processing using a program. The communication I / F 45 is an interface that controls communication between the management device 10 and external devices.

[0035] The management device 10 and the UGV 20 may be provided with dedicated hardware for executing each function, or some functions may be executed by hardware and other functions may be executed by a computer running a program, or all functions may be executed by a computer and a program.

[0036] [Functional Configuration of 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, for example, and can be realized by the CPU 41 executing a program stored in the ROM 42 or the like. In this embodiment, the management device 10 has, as its functional configuration, a communication unit 51, a UGV information acquisition unit 52, a travel management unit 53, a cargo space management unit 54, a threshold setting unit 55, and a mode determination unit 56.

[0037] The communication unit 51 transmits and receives various signals (data, packets) via the communication I / F 45. The UGV information acquisition unit 52 acquires information about the UGV 20 transmitted from the UGV 20 via the communication unit 51. For example, the UGV information acquisition unit 52 acquires the position information and remaining energy information of the UGV 20.

[0038] The travel management unit 53 controls the travel (movement) of the UGV 20. For example, the travel management unit 53 derives a route for the UGV 20 based on map information and a delivery request received via the communication unit 51, and generates route information (route schedule). The map information (e.g., map 31 in FIG. 3 ) is pre-stored in the ROM 41 or RAM 43 of the management device 10. The delivery request includes at least information on the collection location and destination, and information on the recipient user U. Furthermore, the delivery request may include information on the scheduled delivery time and the type of package (perishable food, electrical appliances, fragile items, etc.).

[0039] An example of the derived route will be described with reference to FIG. 3. The management device 20 stores information on a map 31 (including the location of warehouse W1) in advance. The UGV 20 is initially stored in warehouse W1. The delivery request received by the driving management unit 53 includes information on the collection location P1 and the destination D1. Based on the information on warehouse W1, collection location P1, and destination D1, the driving management unit 53 derives a route from the location of warehouse W1 as the starting point to destination D1 via collection location P1. Note that if the UGV 20 is located at a location other than warehouse W1, the management device 10 acquires location information for the UGV 20 and derives a route from the location of the UGV 20 to destination D1 via collection location P1.

[0040] The UGV 20 travels from warehouse W1 to collection location P1 to collect the cargo, and then travels to destination D1 after collection, according to the route information received from management device 20. After arriving at destination D1 and notifying management device 20 that delivery is complete, the UGV 20 travels from destination D1 to warehouse W1 according to the route information received from management device 20. In FIG. 3, it is assumed that there is one destination (i.e., destination D1), but if there are multiple destinations, the UGV 20 is controlled to return to warehouse W1 after passing through the multiple destinations.

[0041] In this embodiment, the UGV 20 stored in the warehouse W1 has stored energy that can supply the power consumed 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 door of the cargo compartment of the UGV 20, and the power for the UGV 20 to remain in standby mode after the package arrives at the destination until the recipient can unlock it.

[0042] In FIG. 3 , the route is set to connect the warehouse W1, the collection location P1, and the destination D1. However, on an actual map, the route derived by the travel management unit 53 may be longer than the route (straight line) connecting the points due to roads, buildings, construction conditions, etc. Furthermore, the number of routes connecting the points is not limited to one. The travel management unit 53 may derive the shortest route by default or according to a predetermined setting, or may derive a route with less power consumption by taking into account elevation differences, etc. Furthermore, if the received delivery request indicates that the package type is perishable food, the travel management unit 53 may derive a route that shortens the route from the collection location P1 to the destination D1. Furthermore, if the received delivery request includes a scheduled delivery time, the travel management unit 53 may adjust the time at which the UGV 20 starts traveling and / or the speed of the UGV 20.

[0043] Furthermore, when the cargo compartment management unit 54, which will be described later, detects that delivery in accordance with the delivery request has been completed, the travel management unit 53 derives a route for the UGV 20 from the destination (delivery end point) to the warehouse, and transmits route information indicating this route to the UGV 20 via the communication unit 51. The travel management unit 53 includes information on the return mode, either "collection mode" or "deadline mode," in the route information. As a result, when the UGV 20 completes delivery in accordance with the delivery request, it transitions to either return mode and begins moving to the warehouse.

[0044] Furthermore, when the mode determination unit 56 (described later) determines to transition the UGV 20 to the "collection mode," the travel management unit 53 derives the UGV 20's remaining energy at the time the scheduled delivery is completed, and calculates the UGV 20's travelable distance (travelable range) from the UGV 20's remaining energy. For example, the travel management unit 53 calculates the power that can be supplied from the remaining energy, and calculates the travelable range from the power. Alternatively, the travel management unit 53 may calculate the travelable range from the power that can be supplied from the remaining energy, minus the power required to unlock and lock the cargo compartment door of the UGV 20 and / or the power required for the UGV 20 to remain in standby mode after the package arrives at the destination (e.g., one location) until the recipient unlocks the door. When the travel management unit 53 receives a new delivery request and calculates a route in accordance with the delivery request, it can determine whether the UGV 20 in the "collection mode" can be used for delivery, based on the travelable range.

[0045] In addition to the functions described in the first embodiment, the driving management unit 53 also 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.

[0046] The luggage compartment management unit 54 controls the luggage compartments of the UGV 20. For example, the luggage compartment management unit 54 determines which of the multiple luggage compartments of the UGV 20 to allocate to the requesting user U. As an example, it is assumed that the requesting user U is user U1, the receiving user U is user U2, and that among luggage compartments 22a to 22d of the UGV 20 shown in FIG. 2, luggage compartment 22b has a refrigeration function. When the type of luggage included in the delivery request received from user U1 via the communication unit 51 is fresh food, the luggage compartment management unit 54 allocates luggage compartment 22b as the luggage compartment in which user U1 will load the luggage (fresh food).

[0047] The luggage compartment management unit 54 also manages the locking and unlocking of the luggage compartment door of the UGV 20. As described above, the door 23 of the luggage compartment 22a of the UGV 20 shown in FIG. 2 is configured to be unlockable by a smart lock. For example, the door 23 can be unlocked by the UGV 20 reading a QR code (registered trademark) or a barcode. Alternatively, the door 23 can be unlocked by inputting a predetermined personal identification number into the UGV 20. Alternatively, the door 23 can be configured to be unlocked via any information. The luggage compartment management unit 54 manages unlocking information (e.g., a QR code or a personal identification number) for unlocking the door. The luggage compartment management unit 54 can change the unlocking information for each luggage compartment at a predetermined timing, such as each time a package is delivered (each time a luggage compartment is used). The luggage compartment management unit 54 shares the unlocking information with the UGV 20 by transmitting the unlocking information to the UGV 20 via the communication unit 51. Each time the unlocking information is updated, the luggage compartment management unit 54 can transmit the unlocking information to the UGV 20 via the communication unit 51.

[0048] 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. As an example, when the luggage compartment management unit 54 assigns luggage compartment 22b to user U1, who is the requesting user U, as described above, the luggage compartment management unit 54 transmits unlocking information for luggage compartment 22b to user U1 via the communication unit 51. The luggage compartment management unit 54 also transmits unlocking information for luggage 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 luggage compartment 22b and, when the UGV 20 arrives, can use the information to unlock the door 23 of luggage compartment 22b.

[0049] Furthermore, when the recipient user U locks the UGV 20 after removing the package from the UGV 20, the luggage compartment management unit 54 receives a notification of locking completion, i.e., delivery completion, from the UGV 20 via the communication unit 51. In addition, a notification of delivery completion may be received from the recipient user U via the communication unit 51. The notification of delivery completion allows the luggage compartment management unit 54 to detect the completion of delivery in accordance with the delivery request.

[0050] The threshold setting unit 55 sets an energy threshold for determining the return mode of the UGV 20 (i.e., "recovery mode" or "deadline mode") after the UGV 20 completes its delivery. The threshold setting unit 55 can dynamically set the energy threshold based on the location of the UGV 20 (i.e., destination) and the location of the warehouse at the time the UGV 20 completes its scheduled delivery. For example, referring to FIG. 3 , when the UGV 20 completes its delivery at destination D1, the UGV information acquisition unit 52 acquires information on the location of the UGV 20 (the location of destination D1). The threshold setting unit 55 can set the energy threshold according to the distance between destination D1 and warehouse W1.

[0051] 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 amount of power required for the UGV 20 to travel the distance between destination D1 and warehouse W1. As described with reference to FIG. 3 , in this embodiment, the UGV 20 stored in warehouse W1 has stored energy sufficient to supply the power required to travel to one or more destinations in the delivery area 32 and return to warehouse W1. However, it is not guaranteed that the UGV 20 will have stored energy sufficient to supply the power required to travel to one or more destinations again for delivery and return to the warehouse after completing a scheduled delivery. Therefore, as an example, the energy threshold is set as described above, and a UGV 20 with a remaining energy amount equal to or greater than the energy threshold is transitioned to the "recovery mode," while a UGV 20 with a remaining energy amount less than the energy threshold is transitioned to the "deadline mode." The energy threshold is determined based on the type of energy possessed by the UGV 20. For example, if the UGV 20 is driven by power supplied from a battery, the energy threshold is represented by the battery state of charge (SOC). Note that the energy threshold may be set by other methods. Alternatively, the threshold setting unit 55 may set a predetermined value as the energy threshold.

[0052] 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 of completion of delivery to determine the return mode. That is, the mode determination unit 56 determines whether to transition the UGV 20 to a "recovery mode" or a "deadhead mode." For example, referring to FIG. 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. Then, if the remaining energy is equal to or greater than the energy threshold, the mode determination unit 56 determines to transition the UGV 20 to a "recovery mode," and if the remaining energy is less than the energy threshold, the mode determination unit 56 determines to transition the UGV 20 to a "deadhead mode." The mode determination unit 56 notifies the travel management unit 53 of the determined return mode via the communication unit 51. The travel management unit 53 notifies the UGV 20 that has completed delivery of route information indicating the route to the warehouse, including the determined return mode, via the communication unit 51.

[0053] [Functional Configuration of UGV 20] Figure 6 shows an example of the functional configuration of the UGV 20 according to this embodiment. Each function of the UGV 20 is a logical function realized by the hardware of the management device 10 shown in Figure 4, for example, and can be realized by the CPU 41 executing a program stored in the ROM 42 or the like. In this embodiment, the UGV 20 has, as its functional configuration, a communication unit 61, a cargo space management unit 62, a positioning unit 63, a remaining energy amount acquisition unit 64, and a driving control unit 65.

[0054] The communication unit 61 transmits and receives various signals (data, packets) via the communication I / F 45. The luggage compartment management unit 62 receives luggage compartment unlocking information from the management device 20 via the communication unit 61. As described above, the unlocking information is information for unlocking a luggage compartment provided in the UGV 20, such as a QR code or a personal identification number. The luggage compartment management unit 62 unlocks one or more luggage compartments provided in the UGV 20 that matches the unlocking information used by the user U. When the luggage compartment is locked by the requesting user U, the luggage compartment management unit 62 notifies the communication unit 61 that locking is complete, i.e., loading is complete. When the luggage compartment is locked by the receiving user U, the luggage compartment management unit 62 notifies the communication unit 61 that locking is complete, i.e., delivery is complete. The luggage compartment management unit 62 also notifies the positioning unit 63 and the remaining energy amount acquisition unit 64 of delivery completion. The luggage compartment management unit 62 can detect locking by the requesting user U and locking by the receiving user U, for example, by distinguishing between a first locking (by the requesting user U) and a second locking (by the receiving user). Alternatively, the luggage compartment management unit 62 can detect locking by the requesting user U and locking by the receiving user U, by distinguishing between locking at the collection location and locking at the destination.

[0055] The positioning unit 63 receives radio waves transmitted from, for example, Global Navigation Satellite System (GNSS) satellites and detects the position (latitude and route) of the UGV 20 based on the radio waves. The remaining energy acquisition unit 64 acquires information on the remaining energy amount held by the UGV 20. For example, when the UGV 20 is powered by power supplied from a battery, the remaining energy amount is represented by the battery state of charge (SOC). In this embodiment, the positioning unit 63 and the remaining energy acquisition unit 64 acquire position information and remaining energy information in response to a delivery completion notification from the cargo space management unit 62, and transmit the information to the management device 20 via the communication unit 61. As a result, the positioning unit 63 in particular does not need to frequently perform satellite communication processing to detect the position of the UGV 20, thereby achieving further power savings for the UGV 20.

[0056] The travel control unit 65 controls the autonomous travel mechanism of the UGV 20 so that the UGV 20 travels along the route instructed by the management device 20. In principle, the travel control unit 65 controls the autonomous travel mechanism of the UGV 20 so that the UGV 20 travels along the route instructed by the management device 20 while avoiding obstacles on the road.

[0057] [Processing Flow] The processing flow of the UGV 20 according to this embodiment, after completing a scheduled delivery, until it transitions to the "deadline mode" or the "collection mode" will be described with reference to Fig. 7. Fig. 7 shows an example of a communication sequence diagram between the management device 10 and the UGV 20 according to this embodiment.

[0058] 7 illustrates the process after the UGV 20 travels along the route instructed by the management device 20 in accordance with 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 that user U1 delivers the package using the luggage compartment 22a of the UGV 20. It is also assumed that the UGV 20 travels along the route shown in FIG.

[0059] When the UGV 20 arrives at destination D1, the receiving user U unlocks the door 23 of the luggage compartment 22a, removes the luggage, and locks it again (S71). The UGV 20 may wait for a certain period of time until the receiving user U unlocks the door. After the receiving user U locks the door, the luggage compartment management unit 62 of the UGV 20 detects the locking and notifies the management device 10 of delivery completion via the communication unit 61 (S72). In addition, user U2 may notify the management device 10 of delivery completion via terminal device 30-2.

[0060] After detecting completion of delivery, the UGV information acquisition unit 52 of the UGV 20 acquires the location information and remaining energy information of the UGV 20 (S73). The UGV information acquisition unit 52 transmits the information to the management device 10 via the communication unit 61 (S74). The UGV 20 according to this embodiment does not frequently transmit the location information of the UGV 20 to the management device 10 while traveling (for example, several times to several hundred times per millisecond), but can transmit the location information of the UGV 20 upon detecting completion of delivery. This enables further power savings of the UGV 20.

[0061] The travel management unit 53 of the management device 10 receives the delivery completion notification from the UGV 20 via the communication unit 51 and detects that delivery in accordance with the delivery request has been completed. Now that delivery in accordance with the delivery request has been completed, the travel management unit 53 generates route information indicating the route from destination D1 to warehouse W1 in order to return the UGV 20 to warehouse W1 where the UGV 20 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 warehouse W1 (S76).

[0062] After setting the energy threshold, the mode determination unit 56 of the management device 10 determines the return mode of the UGV 20 (S77). That is, 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, determines to transition the UGV 20 to "recovery mode." On the other hand, if the remaining energy is less than the remaining energy, the mode determination unit 56 determines to transition the UGV 20 to "deadhead mode." After the return mode is determined by the mode determination unit 56, the travel management unit 53 transmits route information including the determined return mode to the UGV 20 via the communication unit 51 (S78). Furthermore, if the travel management unit 53 determines to transition the UGV 20 to "recovery mode," it can derive the travelable distance of the UGV 20.

[0063] When it is decided to transition the UGV 20 to the "recovery mode", the traveling management unit 53 of the management device 10 starts tracking the position of the UGV 20 until it arrives at warehouse W1. That is, the positioning unit 63 of the UGV 20 acquires position information of the UGV 20 and transmits the position information to the management device 10 via the communication unit 61, and the traveling management unit 53 of the management device 10 receives the position information via the communication unit 51. The acquisition of position information by the UGV 20 (i.e., positioning processing) is performed, for example, at regular intervals. On the other hand, when it is decided to transition the UGV 20 to the "deadline mode", the traveling management unit 53 of the management device 10 does not track the position of the UGV 20 until it arrives at warehouse W1.

[0064] When the travel control unit 65 of the UGV 20 receives the route information including the determined return mode via the communication unit 61, it starts traveling to warehouse W1 in accordance with the determined return mode (S79). The UGV 20 that has transitioned to the "collection mode" may be used for delivery before returning to warehouse W1. For example, if the distance of the route derived when the management device 10 receives a delivery request from user U3 is shorter than the travelable distance, it transmits route information indicating the route to the UGV 20. The UGV 20 that has received the route information starts traveling to a collection location (not shown) in accordance with the route information. On the other hand, the UGV 20 that has transitioned to the "deadline mode" is not used for delivery and returns to warehouse W1 as is, where its energy is replenished.

[0065] Next, an operation mode when the UGV 20 completes a scheduled delivery and transitions to "collection mode" will be described. In this embodiment, when using a UGV 20 in "deadline mode" for delivery, the management device 10 applies a delivery discount (i.e., discounts the delivery fee) if it is determined that the UGV 20 will not have to make a significant detour to the warehouse. For example, the management device 10 determines whether to apply a delivery discount based on the relationship between the location of the final destination (delivery end point), the location of the UGV 20, the location of the warehouse, and the locations of the pickup location and destination included in the new delivery request.

[0066] [Example of Determining Whether to Apply a Delivery Discount] An example of determining whether to apply a delivery discount will be described with reference to Figures 8A and 8B. Figures 8A and 8B are diagrams for explaining the determination whether to apply a delivery discount, and parts common to Figure 3 are assigned the same reference numerals. In this example, it is assumed that user U can use the delivery service at the same rate regardless of the location of the pickup location and the package destination as long as it is within the delivery area 32. When a new delivery request is received while the UGV 20 in "collection mode" is traveling toward the warehouse, the driving management unit 53 determines whether 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, an example of applying a delivery discount based on the planned traveling distance of the UGV 20 and an example of applying a delivery discount based on the direction from the new pickup location to the new destination will be described.

[0067] (1) Delivery Discount Based on Planned Travel Distance of UGV 20 In FIG. 8A, UGV 20 is traveling toward warehouse W1 after completing delivery at destination D1. When a new delivery request is received, the travel management unit 53 of the management device 10 controls the UGV 20 to temporarily stop. Next, the travel management unit 53 derives a route based on the new delivery request. The new delivery request includes information on the location of collection location P2 and the location of destination D2. In the example of FIG. 8A, UGV 20 is stopped at point 8, and the management device 10 derives a route from point 8 to destination D2 via collection location P2.

[0068] Next, the travel management unit 53 calculates the planned travel distance for that route. In this example, the travel management unit 53 calculates the planned travel distance as the total distance of the distance 81 from point 8 to collection location P2, the distance 82 from collection location P2 to destination D2, and the distance 83 from destination D2 to warehouse W1. The travel management unit 53 determines to apply a delivery discount if the total distance is within a predetermined multiple of the distance 80 from destination D1 to warehouse W1.

[0069] When the predetermined number is 3, the driving management unit 53 determines to apply a delivery discount when the planned driving distance is within three times the distance 80. Figure 8A shows a 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 a case where the total distance of the distance 84 from point 8 to collection location P2, the distance 85 from collection location 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 Discount Based on Direction from New Pickup Location to New Destination In addition to the determination based on the planned travel distance of the UGV 20 as described above, whether to apply a delivery discount may also be determined 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 FIG. 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 approximately the same, only the distance 81 from the position 8 of the UGV 20 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 the direction toward warehouse W1, the distances 81 and 83 are the travel distances for the new pickup and delivery, and it can be said that the UGV 20 in deadhead mode is being used effectively.

[0071] In this example, the angle is used to determine whether the direction returning from destination D1 to warehouse W1 is substantially the same as the direction from collection location P2 to destination D2. In FIG. 8A , the travel management unit 53 derives the direction from destination D1 to warehouse W1 (first direction) and the direction from collection location P2 to destination D2 (second direction), and determines whether the second direction is within a predetermined angle (a predetermined threshold or less) from the first direction. The travel 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 location P2 as the starting point of distance 80) and determines whether angle A1 is less than a predetermined angle. If angle A1 between the first direction and the second direction is less than the predetermined angle, the travel management unit 53 considers the direction returning from destination D1 to warehouse W1 of the UGV 20 to be substantially the same as the direction from collection location P2 to destination D2, and determines to apply a delivery discount.

[0072] If the predetermined angle is 30°, the travel management unit 53 determines to apply a delivery discount when the angle between the first direction and the second direction is within 30°. Figure 8A shows a case where the angle A1 between the first direction and the second direction is within 30°, in which case the delivery discount is applied. On the other hand, Figure 8B shows a 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] When it is determined that a delivery discount should be applied, 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 delivery fee based on the location of the collection 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 so that it is cheaper when the planned driving distance is shorter.

[0074] As described above, the driving management unit 53 derives the UGV 20's available driving distance when transitioning the UGV 20 to the "collection mode." Based on the available driving distance, the driving management unit 53 determines whether the UGV 20 is capable of driving the planned driving distance of the route derived in accordance with the new delivery request. For example, in FIG. 8A , the driving management unit 53 determines whether the available driving distance is equal to or greater than the total planned driving distance (distance 81 + distance 82 + distance 83 in the case of FIG. 8A ) plus the distance from destination D1 to point 8 (total planned driving distance). If the available driving distance is equal to or greater than the total planned driving distance, it is determined that the planned driving distance can be driven; otherwise, it is determined that the planned driving distance cannot be driven.

[0075] If it is determined that the UGV 20 can travel the planned distance, the travel 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 suspends travel to the warehouse W1 and starts traveling from point 8 to the collection location P2. The travel management unit 53 may also notify the new requesting user U (the sender of the new delivery request) that a delivery discount will be applied. The travel management unit 53 may also notify the new requesting user U of the discounted delivery fee. Having received the route information, the UGV 20 travels toward destination D2 after the requesting user U loads the package at collection location P2. On the other hand, if it is determined that the UGV 20 cannot travel the planned distance, the management device 10 determines whether another UGV 20 can be used for delivery based on the delivery request. For example, the management device 10 may transmit route information to another UGV 20 stored in a storage location.

[0076] The flow of processing by the management device 10 when it is decided to transition the UGV 20 to the "recovery mode" will be described with reference to Fig. 9. Fig. 9 is a flowchart showing processing executed by the travel management unit 53 of the management device 10 according to this embodiment. The processing according to this flowchart starts when it is decided in S77 of Fig. 7 that the return mode of the UGV 20 is to be transitioned to the "recovery mode".

[0077] When it is determined that the UGV 20 should transition to the "collection mode," the management device 10 derives the travelable distance of the UGV 20 (S91). Furthermore, the management device 10 transmits route information including the determined "collection mode," which is the return mode, to the UGV 20 (S91). This process by the management device 10 corresponds to S78 in FIG. 7. Next, the management device 10 starts tracking the position of the UGV 20 until it arrives at the warehouse (S92). If the management device 10 receives a new delivery request before the UGV 20 arrives at the warehouse (Yes in S93), the management device 10 derives a route that passes through the position of the UGV 20, the collection location, and the destination, and generates route information indicating this route (S94).

[0078] Based on the travelable distance calculated in S91, the management device 10 determines whether the UGV 20 can travel the distance of the route calculated in S94 (planned travel distance) (S95). If it is determined that the planned travel distance is possible (Yes in S95), processing proceeds to S96. In S96, the management device 10 determines whether to apply a delivery discount. An example of determining whether to apply a delivery discount is as described above with reference to Figures 8A and 8B. If it is determined that a delivery discount should be applied (Yes in S96), the management device 10 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 traveling according to the route information received in S97. Furthermore, the management device 10 notifies the requesting user U that a delivery discount will be applied. For example, the requesting user U is notified 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 transmits 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 begins traveling according to the route information received in S97. Because the delivery discount is not applied, the requesting user can use the delivery service at the normal delivery fee.

[0079] 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 performs the determination of S95 whether the answer to S96 is Yes or No, and if the answer is Yes, the process proceeds to S97 or S98, respectively.

[0080] 9, a single-stage delivery discount is assumed, but multiple stages of delivery discounts may be applied. For example, multiple stages of delivery discounts may be applied depending on the planned driving distance, and the management device 10 may set a lower delivery fee when the planned driving distance is shorter.

[0081] According to this embodiment, when a UGV 20 that has been released from a 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 that allows it to make another delivery. As a result, even if a UGV 20 has completed its scheduled delivery, if it satisfies the remaining energy condition, it can be used more efficiently and immediately for another delivery than if it were to return to the warehouse and be released again, thereby improving the power saving of the UGV 20.

[0082] Furthermore, in this embodiment, the UGV 20 transmits its position information to the management device 10 when it detects that delivery has been completed. This reduces the power consumption of the UGV 20 compared to when the UGV 20 frequently transmits its position information to the management device 10. This also allows the management device 10 to reduce the processing of receiving position information (i.e., tracking frequency). Furthermore, a UGV 20 that transitions to "collection mode" is tracked until it returns to the warehouse, and a UGV 20 that transitions to "deadline mode" is not tracked until it returns to the warehouse. This reduces the power consumption of the UGV 20 in "deadline mode." This type of control makes it possible to achieve power savings not only for the UGV 20 but for the entire unmanned delivery system 100.

[0083] Furthermore, according to this embodiment, when a UGV 20 in "deadhead mode" is used for delivery, if it is determined that the delivery route to the warehouse will not be a significant detour, a delivery discount is applied. This not only allows for effective use of the UGV 20 in "deadhead mode," but also allows the benefits of effective use to be passed on to the user through a delivery discount, which can result in improved user satisfaction. Furthermore, this can also lead to increased use of unmanned delivery services.

[0084] Second Embodiment In the first embodiment, it is assumed that there is one UGV 20 and that the UGV 20 is originally stored in one warehouse. In this embodiment, there are multiple UGVs 20 and multiple warehouses, and an operation mode will be described in which the UGV 20 returns to one of the multiple warehouses after completing a scheduled delivery. Hereinafter, a description of the configuration common to the first embodiment will be omitted.

[0085] FIG. 10 shows an example of the relative positions of multiple warehouses, pickup locations, and destinations according to this embodiment. FIG. 10 illustrates a route taken by a UGV 20 stored in warehouse W1 on a map 101 including a delivery area 102, where the UGV 20 collects items at pickup location P1, travels to destination D1, and returns to warehouse W1, W2, or W3. The delivery area 102 is preset in the unmanned delivery system 100 as an area where delivery by the UGV 20 is possible. Within the delivery area 102, a requesting user U can use a delivery app to have the delivery service UGV 20 collect and deliver items for a fixed delivery fee. For example, the fixed delivery fee is the same throughout the delivery area 102.

[0086] 10 shows only one UGV 20, in this embodiment, multiple UGVs 20 are available within the delivery area 102 and are originally stored in warehouses W1, W2, or W3. Warehouses W1, W2, and W3 have a limit on the number of UGVs 20 that can be stored. The management device 10 in this embodiment controls the UGV 20 that has completed its scheduled delivery to return to a warehouse that is not full and is closest to its location at the time of delivery completion.

[0087] The configurations of the unmanned delivery system 100 and the UGVs 20 according to this embodiment are the same as those of the first embodiment. An example of the functional configuration of the management device 10 according to this embodiment is shown in FIG. 11 . In addition to the configuration shown in FIG. 5 , the management device 10 according to this embodiment includes 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 may check the availability of multiple warehouses when the UGV 20 notifies the UGV 20 that delivery is complete. Additionally or alternatively, the warehouse management unit 57 may periodically check the availability of multiple warehouses, or may check the availability of multiple warehouses when each of the multiple warehouses notifies the UGV 20 that the number of UGVs has changed. Furthermore, the warehouse management unit 57 determines (selects) the warehouse to which the UGV 20 should return based on the availability of multiple warehouses.

[0088] [Processing Flow] With reference to Figure 12, the processing flow until the UGV 20 according to this embodiment transitions to "deadline mode" or "collection mode" after completing a scheduled delivery will be described. Figure 12 shows an example of a communication sequence diagram between the management device 10 and the UGV 20 according to this embodiment. Note that the same processes as those in Figure 7 described in the first embodiment are assigned the same reference numerals and their description will be omitted. It is also assumed that the UGV 20 travels along the route shown in Figure 10.

[0089] After detecting the completion of delivery, the UGV information acquisition unit 52 of the UGV 20 transmits the location information and remaining energy information of the UGV 20 to the management device 10 (S74), and the management device 10 receives the information. Next, the warehouse management unit 57 of the management device 10 checks the availability of warehouses W1, W2, and W3, and determines the warehouse to which the UGV 20 should return (S121). For example, if the management device 10 checks that warehouse W1 is full and warehouses W2 and W3 are available, it determines (selects) W2, which is closest to the location of the UGV 20 at the time of completion of delivery (destination D1), as the warehouse to which the UGV 20 should return (S121).

[0090] Next, the travel management unit 53 of the management device 10 generates route information indicating the route from destination D1 to warehouse W2 (S122). Subsequently, the threshold setting unit 55 of the management device 10 sets an energy threshold based on the route from the UGV 20's location information received in S74 (i.e., the location information of destination D1) to warehouse W2 (S123). Because the energy threshold varies depending on the location of the warehouse, the value will differ depending on the location of the warehouse determined in S121. After setting the energy threshold, the mode determination unit 56 of the management device 10 determines the return mode of the UGV 20 (S77). The processing from S77 onwards is the same as that shown in FIG. 7.

[0091] Furthermore, as described in the first embodiment, the management device 10 may determine whether or not to apply a delivery discount. That is, when it is determined in S77 of Fig. 10 that the return mode of the UGV 20 is to be changed to the "recovery mode," the management device 10 may perform the processing shown in Fig. 9 described in the first embodiment.

[0092] In this way, when there are multiple UGVs 20 and multiple warehouses, the management device 10 according to this embodiment determines a warehouse to which the UGV 20 will return after completing its scheduled delivery, and determines the return mode for returning to that warehouse. The returning warehouse is selected to be a warehouse that is close to the time when the UGV 20 completes its delivery and is not full (capable of storing the UGV 20), so the traveling distance to the warehouse can be shortened, leading to power savings for the UGV 20.

[0093] Although two embodiments have been described above in this disclosure, the various features shown in the embodiments can be combined with each other.

[0094] Although specific embodiments have been described above, these embodiments are merely examples and are not intended to limit the scope of the present disclosure. The devices and methods described herein may be embodied in forms other than those described above. Furthermore, appropriate omissions, substitutions, and modifications may be made to the above-described embodiments without departing from the scope of the present disclosure. Such omissions, substitutions, and modifications are included within the scope of the claims and their equivalents, and belong to the technical scope of the present disclosure.

[0095] (Embodiments of the Present Disclosure) The present disclosure includes the following embodiments: [1] A management device including one or more processors, wherein at least one of the one or more processors executes a reception process to receive a delivery request from a communication device used by a user while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is traveling toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered, an acquisition process to acquire information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location, and a determination process to determine whether to apply a delivery discount to the delivery in accordance with the delivery request, based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0096] [2] The management device described in [1], wherein the determination process determines to apply a delivery discount when the total distance of a first distance from the position of the unmanned vehicle to the position of the collection location, a second distance from the position of the collection location to the second destination, and a third distance from the second destination to the warehouse is within a predetermined multiple of a reference distance from the first destination to the storage location.

[0097] [3] The management device described in [2], wherein the determination process determines to apply a delivery discount when the total distance is within a predetermined number of times the reference distance and the angle between a first direction from the location of the first destination to the location of the warehouse and a second direction from the location of the collection location to the second destination is less than a predetermined angle.

[0098] [4] A management device described in any of [1] to [3], wherein at least one of the one or more processors further executes a setting process for setting a discounted rate for the shipping discount when it is decided in the decision process to apply a shipping discount, and a notification process for notifying the user of the set discounted rate.

[0099] [5] The management device described in [4], wherein the setting process includes setting a discount rate based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned vehicle, and the location of the storage location.

[0100] [6] A control method for a management device, comprising: a receiving step of receiving a delivery request from a communication device used by a user while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is driving toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered; an acquiring step of acquiring information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location; and a determining step of determining whether to apply a delivery discount to the delivery in accordance with the delivery request, based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0101] [7] A computer-readable storage medium storing a program, the program including instructions that, when executed by one or more processors of a management device, cause the management device to execute the following: a receiving process for receiving a delivery request from a communication device used by a user while an unmanned autonomous vehicle that has completed delivery of a package at a first destination is traveling toward a storage location of the vehicle, the delivery request including information on the location of a collection location and the location of a second destination to which the package is to be delivered; an acquiring process for acquiring information on the location of the first destination, the location of the unmanned autonomous vehicle, and the storage location; and a determining process for determining whether to apply a delivery discount to the delivery in accordance with the delivery request based on the location of the collection location, the location of the first destination, the location of the second destination, the location of the unmanned autonomous vehicle, and the location of the storage location.

[0102] 100: Unmanned delivery system, 10: Management device, 20: Unmanned guided 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: Remaining energy acquisition unit, 65: Driving control unit

Claims

1. comprising one or more processors, by at least one of the one or more processors, while an autonomous vehicle that has completed the delivery of a package at a first destination is traveling towards the storage location of the vehicle, a receiving process of receiving a delivery request including information on the location of the pick-up location and the location of a second destination which is the delivery destination of the package from a communication device used by a user; an acquisition process of acquiring information on the location of the first destination, the location of the autonomous vehicle, and the storage location; a determination process of determining whether to apply a delivery discount to the delivery according to the delivery request based on the location of the pick-up location, the location of the first destination, the location of the second destination, the location of the autonomous vehicle, and the location of the storage location; A management device in which the above is executed.

2. The determination process determines to apply a delivery discount when the total distance of a first distance from the location of the autonomous vehicle to the location of the pick-up location, a second distance from the location of the pick-up location to the second destination, and a third distance from the second destination to the storage location is within a predetermined multiple of a reference distance from the first destination to the storage location. The management device according to Claim 1.

3. The determination process determines to apply a delivery discount when the total distance is within a predetermined multiple of the reference distance and the angle between a first direction from the location of the first destination to the location of the storage location and a second direction from the location of the pick-up location to the second destination is equal to or less than a predetermined angle. The management device according to Claim 2.

4. by at least one of the one or more processors, further a setting process of setting a discounted fee due to the delivery discount when it is determined to apply a delivery discount in the determination process; a notification process of notifying the user of the set discounted fee is executed, The management device according to Claim 1.

5. The setting process includes setting a discounted fee based on the location of the pick-up location, the location of the first destination, the location of the second destination, the location of the autonomous vehicle, and the location of the storage location. The management device according to Claim 4.

6. a receiving step of receiving a delivery request including information on the location of the pick-up location and the location of a second destination which is the delivery destination of the package from a communication device used by a user while an autonomous vehicle that has completed the delivery of a package at a first destination is traveling towards the storage location of the vehicle; An acquisition step of acquiring the position of the first destination, the position of the driverless vehicle, and the information of the storage location; A determination step of determining whether to apply a delivery discount to the delivery according to the delivery request based on the position of the collection location, the position of the first destination, the position of the second destination, the position of the driverless vehicle, and the position of the storage location; A control method for a management device, including the above.

7. A computer-readable storage medium storing a program, When the program is executed by one or more processors of a management device, the program causes the management device to: A reception process of receiving a delivery request including the position of a collection location and the position of a second destination which is the delivery destination of a package from a communication device used by a user while a driverless vehicle that has completed package delivery at a first destination is traveling toward the storage location of the vehicle; An acquisition process of acquiring the position of the first destination, the position of the driverless vehicle, and the information of the storage location; A storage medium including instructions for executing a determination process of determining whether to apply a delivery discount to the delivery according to the delivery request based on the position of the collection location, the position of the first destination, the position of the second destination, the position of the driverless vehicle, and the position of the storage location.