Patent Publication Number: US-2023146237-A1

Title: Delivery system, control method therefor and non-transitory computer readable medium storing program

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority from Japanese patent application No. 2021-181824, filed on Nov. 8, 2021, the disclosure of which is incorporated herein in its entirety by reference. 
     BACKGROUND 
     The present disclosure relates to a delivery system, a control method therefor, and a control program. 
     Japanese Unexamined Patent Application Publication No. 2019-128801 discloses a delivery system including an autonomously-moving-type delivery vehicle for delivering an article(s) to the destination of the article(s) to be delivered (hereinafter also referred to as “delivery destination” of the article(s)) and a transportation vehicle for carrying and transporting the delivery vehicle. 
     SUMMARY 
     The inventors have found the following problem in the delivery system in which a transportation vehicle that carries therein a delivery vehicle for delivering an article(s) travels to the vicinity of the destination of the article(s) to be delivered (hereinafter also referred to as “delivery destination” of the article(s)), and then the delivery vehicle gets out of the transportation vehicle and delivers the article to the delivery destination. 
     When a delivery vehicle gets out of a transportation vehicle, the delivery vehicle needs to detect the operation of the unloading mechanism of the transportation vehicle and therefore moves around and performs sensing inside the transportation vehicle, which leads to a problem that the power consumption of the delivery vehicle within the transportation vehicle increases. 
     The present disclosure has been made in view of the above-described circumstances, and an object thereof is to provide a delivery system in which increase in the power consumption of a delivery vehicle within a transportation vehicle can be suppressed. 
     A first exemplary aspect is a delivery system including: 
     an autonomously-moving-type delivery vehicle configured to deliver an article; and 
     a transportation vehicle configured to carry and transport the delivery vehicle, in which 
     the delivery system is configured so that after the transportation vehicle carrying the delivery vehicle travels toward a delivery destination of the article, the delivery vehicle gets out of the transportation vehicle and delivers the article to the delivery destination, 
     the transportation vehicle includes an unloading mechanism for letting the delivery vehicle get out of the transportation vehicle and a control unit configured to control the unloading mechanism, and 
     the delivery vehicle receives a control signal for controlling the unloading mechanism output from the control unit and gets out of the transportation vehicle based on the control signal. 
     Further, another exemplary aspect is a control method for a delivery system that includes: 
     an autonomously-moving-type delivery vehicle configured to deliver an article; and 
     a transportation vehicle configured to carry and transport the delivery vehicle, in which 
     the delivery system is configured so that after the transportation vehicle carrying the delivery vehicle travels toward a delivery destination of the article, the delivery vehicle gets out of the transportation vehicle and delivers the article to the delivery destination, 
     the transportation vehicle includes an unloading mechanism for letting the delivery vehicle get out of the transportation vehicle, and 
     the delivery vehicle receives a control signal for controlling the unloading mechanism and gets out of the transportation vehicle based on the control signal. 
     Further, another exemplary aspect is a control program for a delivery system that includes: 
     an autonomously-moving-type delivery vehicle configured to deliver an article; and 
     a transportation vehicle configured to carry and transport the delivery vehicle, wherein 
     the delivery system is configured so that after the transportation vehicle carrying the delivery vehicle travels toward a delivery destination of the article, the delivery vehicle gets out of the transportation vehicle and delivers the article to the delivery destination, 
     the transportation vehicle includes an unloading mechanism for letting the delivery vehicle get out of the transportation vehicle, and 
     the control program causes the delivery vehicle to receive a control signal for controlling the unloading mechanism and get out of the transportation vehicle based on the control signal. 
     As described above, according to an aspect of the present disclosure, a transportation vehicle includes an unloading mechanism for letting a delivery vehicle get out of the transportation vehicle and a control unit configured to control the unloading mechanism, and the delivery vehicle receives a control signal for controlling the unloading mechanism from the control unit and gets out of the transportation vehicle based on the control signal. 
     Therefore, since the operation of the unloading mechanism of the transportation vehicle is detected when a delivery vehicle gets out of a transportation vehicle, the delivery vehicle does not need to move around and perform sensing inside the transportation vehicle. As a result, it is possible to suppress increase in power consumption of a delivery vehicle within a transportation vehicle. 
     The unloading mechanism may include an opening/closing door that opens when the delivery vehicle gets out of the transportation vehicle. Here, when the delivery vehicle gets out of the transportation vehicle, the opening/closing door may function as a slope extending from the inside of the transportation vehicle to the ground surface. The above-described configuration allows for simplification of the unloading mechanism. 
     According to the present disclosure, it is possible to provide a delivery system in which increase in the power consumption of a delivery vehicle within a transportation vehicle can be suppressed. 
     The above and other objects, features and advantages of the present disclosure will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus are not to be considered as limiting the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a block diagram of a delivery system according to a first embodiment; 
         FIG.  2    is a perspective view showing the state in which a delivery vehicle  200  gets out of a transportation vehicle  100  in the delivery system according to the first embodiment; and 
         FIG.  3    is a side view showing the state in which the delivery vehicle  200  gets out of the transportation vehicle  100  in the delivery system according to the first embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Specific embodiments will be described hereinafter in detail with reference to the drawings. The same or corresponding elements are denoted by the same reference numerals (or symbols) throughout the drawings, and redundant descriptions thereof are omitted as required for clarifying the explanation. 
     First Embodiment 
     &lt;Configuration of Delivery System&gt; 
     Firstly, a delivery system and a delivery method according to a first embodiment will be described with reference to  FIG.  1   .  FIG.  1    is a block diagram of a delivery system according to the first embodiment. As shown in  FIG.  1   , the delivery system according to this embodiment includes a transportation vehicle  100 , a delivery vehicle  200 , and a management server  300 . 
     After the transportation vehicle  100  carrying the delivery vehicle  200  travels toward the delivery destination of an article(s), the delivery vehicle  200  gets out of the transportation vehicle  100  and delivers the article(s) to the delivery destination. 
     Firstly, the transportation vehicle  100  will be described. 
     The transportation vehicle  100  carries and transports the delivery vehicle  200 . Although the transportation vehicle  100  in this embodiment is an autonomously-moving-type vehicle (i.e., a self-driving vehicle), the transportation vehicle  100  may be a vehicle driven by a human driver. As shown in  FIG.  1   , the transportation vehicle  100  includes a control unit  110 , a sensor unit  120 , a traveling mechanism  130 , and an unloading mechanism  140 . Further, the transportation vehicle  100  is wirelessly connected to the delivery vehicle  200  and the management server  300  so as to be able to communicate with them. 
     Note that when the management server  300  is disposed in the transportation vehicle  100 , the transportation vehicle  100  may be connected to the management server  300  through a cable(s). Further, although the transportation vehicle  100  is carrying only one delivery vehicle  200  in the example shown in  FIG.  1   , the transportation vehicle  100  may carry a plurality of delivery vehicles  200 . 
     The control unit  110  controls the traveling mechanism  130  based on various types of information acquired from the sensor unit  120 . In this way, the transportation vehicle  100  travels autonomously. Further, the control unit  110  controls the unloading mechanism  140  for letting the delivery vehicle  200  get out of the transportation vehicle  100 . 
     The control unit  110  includes, for example, an arithmetic unit such as a CPU (Central Processing Unit), and a storage unit such as a RAM (Random Access Memory) and a ROM (Read Only Memory) in which various types of control programs, data, and the like are stored. That is, the control unit  110  has a function as a computer, and controls the traveling mechanism  130  and the unloading mechanism  140  based on the aforementioned various types of control programs and the like. 
     In the example shown in  FIG.  1   , the sensor unit  120  includes an obstacle sensor  121 , an acceleration sensor  122 , a speed sensor  123 , and a posture sensor  124 . 
     The obstacle sensor  121  detects an obstacle ahead of the transportation vehicle  100  in the traveling direction thereof. Further, the obstacle sensor  121  detects an obstacle at the time when the delivery vehicle  200  gets out of the transportation vehicle  100 . The obstacle sensor  121  is, for example, a radar sensor, a sonar sensor, an ultrasonic sensor, a LiDAR sensor, a camera, or the like. Examples of the obstacle are not limited to other vehicles and objects on the road that have accidentally fallen from other vehicles, and include humans such as pedestrians, animals, and so on. 
     The acceleration sensor  122  detects the acceleration of the transportation vehicle  100 . It is possible to detect vibrations of the transportation vehicle  100  caused by irregularities (roughness) or the like on the road surface by detecting the acceleration of the transportation vehicle  100 . 
     The speed sensor  123  detects the speed of the transportation vehicle  100 . 
     The posture sensor  124  detects the posture of the transportation vehicle  100 . It is possible to detect the gradient of the road on which the transportation vehicle  100  is traveling by the posture sensor  124 . 
     The traveling mechanism  130  is a mechanism for moving the transportation vehicle  100  (i.e., making the transportation vehicle  100  travel). For example, the traveling mechanism  130  includes, in addition to the driving mechanism, such as a motor or an engine, for moving the transportation vehicle  100 , a braking mechanism for stopping the transportation vehicle  100 , and a steering mechanism for making the transportation vehicle  100  turn (i.e., making the transportation vehicle  100  change its traveling direction). 
     The unloading mechanism  140  is a mechanism for letting the delivery vehicle  200  get out of the transportation vehicle  100 . Next, an example of the unloading mechanism  140  will be described with reference to  FIGS.  2  and  3   .  FIG.  2    is a perspective view showing a state in which the delivery vehicle  200  gets out of the transportation vehicle  100 .  FIG.  3    is a side view showing the state in which the delivery vehicle  200  gets out of the transportation vehicle  100 . 
     As shown in  FIGS.  2  and  3   , the unloading mechanism  140  according to this embodiment is a simple plate-like slope. In the example shown in  FIGS.  2  and  3   , the unloading mechanism  140  also functions as an opening/closing door provided in the rear part of the transportation vehicle  100 . The unloading mechanism  140  is connected to one side (e.g., a side at the lower edge) of the opening provided in the rear part of the transportation vehicle  100 . In the normal state, the unloading mechanism  140  serves as an opening/closing door and is closed. However, when the delivery vehicle  200  gets out of the transportation vehicle  100 , the unloading mechanism  140 , which serves as the opening/closing door, is opened and functions as a slope extending from the inside of the transportation vehicle  100  to the ground surface. 
     For example, when the delivery vehicle  200  gets out of the transportation vehicle  100  to deliver an article(s), the control unit  110  of the transportation vehicle  100  outputs a control signal for controlling the unloading mechanism  140  as shown in  FIG.  1   . Then, the control unit  210  of the delivery vehicle  200  receives the control signal output from the control unit  110  of the transportation vehicle  100 . Based on the control signal, the delivery vehicle  200  gets out of the transportation vehicle  100 . 
     Specifically, as shown in  FIGS.  2  and  3   , the control unit  110  opens the unloading mechanism  140 , which functions as the opening/closing door, and have the unloading mechanism  140  function as a slope extending from the inside of the transportation vehicle  100  to the ground surface. Then, as shown in  FIGS.  2  and  3   , the delivery vehicle  200  travels on the unloading mechanism  140  and thereby gets down onto the roadway. Further, the delivery vehicle  200  delivers the article(s) to the delivery destination, for example, by traveling from the roadway to the sidewalk and to the delivery destination. 
     Note that the unloading mechanism  140  may have the opening/closing door and the slope disposed separately. In such a case, the unloading mechanism  140  is housed, for example, under the floor of the transportation vehicle  100 . 
     Further, the unloading mechanism  140  shown in  FIGS.  2  and  3    is just an example, and the mechanism is not limited to any particular mechanism as long as it can let the delivery vehicle  200  get out of the transportation vehicle  100 . Further, the opening/closing door provided to the unloading mechanism  140  includes a shutter, a blocking bar, and the like. 
     Next, the delivery vehicle  200  will be described. 
     The delivery vehicle  200  is an autonomously-moving-type vehicle which, after being transported by the transportation vehicle  100 , gets out of the transportation vehicle  100  and delivers an article(s) to the delivery destination thereof. As shown in  FIG.  1   , the delivery vehicle  200  includes a control unit  210 , a sensor unit  220 , and a traveling mechanism  230 . Further, the delivery vehicle  200  is wirelessly connected to the transportation vehicle  100  and the management server  300  so as to be able to communicate with them. Note that when the management server  300  is disposed in the delivery vehicle  200 , the delivery vehicle  200  may be connected to the management server  300  through a cable(s). 
     The control unit  210  controls the traveling mechanism  230  based on various types of information acquired from the sensor unit  220 . That is, the delivery vehicle  200  travels autonomously as the control unit  210  controls the traveling mechanism  230 . Note that, similarly to the sensor unit  120  of the transportation vehicle  100 , the sensor unit  220  includes various types of sensors. 
     Similarly to the control unit  110  of the transportation vehicle  100 , the control unit  210  includes an arithmetic unit such as a CPU, and a storage unit such as a RAM and a ROM in which various types of control programs, data, and the like are stored. That is, the control unit  210  has a function as a computer, and controls the traveling mechanism  230  based on the aforementioned various types of control programs and the like. 
     Further, as described above, the control unit  210  receives a control signal for controlling the unloading mechanism  140  output from the control unit  110  of the transportation vehicle  100 . The delivery vehicle  200  can recognize the operation of the unloading mechanism  140  based on the control signal. Then, based on the control signal, the delivery vehicle  200  gets out of the transportation vehicle  100 . 
     Note that the control unit  210  does not need to receive the control signal output from the control unit  110  directly from the control unit  110  and may instead receive it through, for example the management server  300 . 
     For example, the control unit  210  may shift from the sleep mode or the suspend mode to the normal mode based on the aforementioned control signal and recognize the operation of the unloading mechanism  140 , and then determine the timing to get out of the transportation vehicle  100 . Here, the operation of the unloading mechanism  140  includes, for example, the unlocking operation of the opening/closing door provided to the unloading mechanism  140 . 
     In the delivery system according to this embodiment, since the operation of the unloading mechanism  140  is detected when the delivery vehicle  200  gets out of the transportation vehicle  100 , the delivery vehicle  200  does not need to move around and perform sensing inside the transportation vehicle  100 . Therefore, it is possible to suppress increase in power consumption of the delivery vehicle  200  within the transportation vehicle  100 . 
     The traveling mechanism  230  is a mechanism for moving the delivery vehicle  200  (i.e., making the delivery vehicle  200  travel). For example, the traveling mechanism  230  includes, in addition to the driving mechanism, such as a motor or an engine, for moving the delivery vehicle  200 , a braking mechanism for stopping the delivery vehicle  200 , and a steering mechanism for making the delivery vehicle  200  turn (i.e., making the delivery vehicle  200  change the traveling direction). 
     Next, the management server  300  will be described. 
     The management server  300  is a server for communicating with the transportation vehicle  100  and the delivery vehicle  200  and managing the delivery system. The management server  300  is, for example, a cloud server. As shown in  FIG.  1   , the management server  300  includes a route determination unit  310  and a storage unit  320 . 
     The route determination unit  310  is configured of, for example, an arithmetic unit such as a CPU and the like. As shown in  FIG.  1    the route determination unit  310  determines the delivery route from the current location of the transportation vehicle  100  to the delivery destination based on the map information stored in the storage unit  320 . Then, the route determination unit  310  transmits the determined delivery route to the control unit  110  of the transportation vehicle  100  and the control unit  210  of the delivery vehicle  200 . Further, the map information may include road-surface information. 
     The storage unit  320  is configured of, for example, RAM, ROM, and the like, and stores various control programs and data in addition to the map information. 
     That is, the management server  300  has a function as a computer, and manages the delivery system based on the aforementioned various types of control programs and the like. 
     As described above, according to the delivery system according to this embodiment, while the transportation vehicle  100  is traveling, the control unit  110  determines whether or not the delivery vehicle  200  can get out of the transportation vehicle  100  based on the situation of the transportation vehicle  100 . Then, only when the control unit  110  has determined that the delivery vehicle  200  can get out of the transportation vehicle  100 , the control unit  110  controls the unloading mechanism  140  so as to let the delivery vehicle  200  get out of the transportation vehicle  100 . 
     As described above, in the delivery system according to this embodiment, the control unit  210  of the delivery vehicle  200  receives a control signal for controlling the unloading mechanism  140  output from the control unit  110  of the transportation vehicle  100 . Then, based on the control signal, the delivery vehicle  200  gets out of the transportation vehicle  100 . 
     In the delivery system according to this embodiment, since the operation of the unloading mechanism  140  is detected when the delivery vehicle  200  gets out of the transportation vehicle  100 , the delivery vehicle  200  does not need to move around and perform sensing inside the transportation vehicle  100 . Therefore, it is possible to suppress increase in power consumption of the delivery vehicle  200  within the transportation vehicle  100 . 
     In the above-described examples, the program includes instructions (or software codes) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-transitory computer readable medium or a tangible storage medium. By way of example, and not a limitation, non-transitory computer readable media or tangible storage media can include a random-access memory (RAM), a read-only memory (ROM), a flash memory, a solid-state drive (SSD) or other types of memory technologies, a CD-ROM, a digital versatile disc (DVD), a Blu-ray disc or other types of optical disc storage, and magnetic cassettes, magnetic tape, magnetic disk storage or other types of magnetic storage devices. The program may be transmitted on a transitory computer readable medium or a communication medium. By way of example, and not a limitation, transitory computer readable media or communication media can include electrical, optical, acoustical, or other forms of propagated signals. 
     The present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and scope of the present disclosure. 
     From the disclosure thus described, it will be obvious that the embodiments of the disclosure may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure, and all such modifications as would be obvious to one skilled in the art are intended for inclusion within the scope of the following claims.