Delivery system, delivery method, and non-transitory computer-readable recording medium storing a program

Abstract

The present invention provides a delivery system, a delivery method, and a non-temporary computer-readable recording medium storing a program. The delivery system (10) is a delivery system that delivers goods (74) to a delivery destination (16) using a mobile body (14). The delivery system (10) has: a human information acquisition unit (86) that acquires information related to a person located in a peripheral space of a storage unit (106) of the delivery destination, i.e., human information; and a determination unit (88) that determines whether to restrict the delivery of goods from the mobile body to the storage unit based on the human information acquired by the human information acquisition unit. In this way, the risk of theft of goods by people located in the periphery of the storage unit can be more reliably reduced, and delivery can be performed appropriately.

Description

Technical Field

[0001] The present invention relates to a delivery system, a delivery method, and a non-transitory computer-readable recording medium storing a program. Background Art

[0002] Japanese Patent Publication No. 2018-165205 discloses a delivery system for delivering goods from a consignor to a consignee's vehicle by an unmanned aerial vehicle. According to the delivery system of Japanese Patent Publication No. 2018-165205, the unmanned aerial vehicle is made to fly toward the vehicle based on the location information of the vehicle. When the vehicle door is opened, the unmanned aerial vehicle puts the goods into the vehicle compartment. Summary of the invention

[0003] However, the technology described in Japanese Patent Application Publication No. 2018-165205 may not necessarily enable good delivery.

[0004] An object of the present invention is to provide a delivery system, a delivery method, and a non-transitory computer-readable recording medium storing a program, which are capable of satisfactorily delivering goods to a delivery destination.

[0005] A delivery system according to one embodiment of the present invention is a delivery system for delivering goods to a delivery destination using a mobile body, and comprises: a human information acquisition unit for acquiring information related to a person located in a peripheral space of a storage unit of the delivery destination, i.e., human information; and a determination unit for determining whether to restrict the delivery of the goods by the mobile body to the storage unit based on the human information acquired by the human information acquisition unit.

[0006] A delivery method according to another aspect of the present invention comprises: a step of acquiring information related to a person located in a peripheral space of a storage unit at a delivery destination, namely, human information; and a step of determining whether to restrict delivery of goods by a mobile body to the storage unit based on the human information.

[0007] In another embodiment of the present invention, a non-temporary computer-readable recording medium storing a program stores a program for causing a computer to execute the following steps: a step of obtaining information related to a person located in a peripheral space of a storage section at a delivery destination, i.e., human information; and a step of determining whether to restrict the delivery of goods by a mobile body to the storage section based on the human information.

[0008] According to the present invention, it is possible to provide a delivery system, a delivery method, and a non-transitory computer-readable recording medium storing a program, which are capable of satisfactorily delivering goods to a delivery destination.

[0009] The above-mentioned objects, features and advantages will be easily understood through the following description of the embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a block diagram showing a delivery system according to one embodiment.

[0011] Figure 2 This is a flowchart showing an example of the operation of the delivery system according to one embodiment.

[0012] Figure 3 This is a flowchart showing an example of the operation of the delivery system according to one embodiment.

[0013] Figure 4 This is a flowchart showing an example of the operation of the delivery system according to one embodiment.

[0014] Figure 5 This is a flowchart showing an example of the operation of the delivery system according to one embodiment. DETAILED DESCRIPTION

[0015] Hereinafter, the delivery system, the delivery method, and the non-transitory computer-readable recording medium storing the program of the present invention will be described in detail by way of preferred embodiments with reference to the accompanying drawings.

[0016] [One embodiment]

[0017] A delivery system, a delivery method, and a non-transitory computer-readable recording medium storing a program according to an embodiment will be described with reference to the drawings. Figure 1 It is a block diagram showing the delivery system according to the present embodiment.

[0018] The delivery system 10 of this embodiment can be composed of a server (service management server, service server) 12, a mobile body 14, a vehicle 16, and a user terminal 18, but is not limited thereto. In addition, here, the mobile body 14 is an autonomous flying mobile body (drone) as an example for description, but is not limited thereto.

[0019] In the delivery system 10 of the present embodiment, a user (customer) orders a product (order) not shown in the figure by operating a user terminal (customer terminal) 18. The server 12 instructs the mobile body 14 to deliver (post) a cargo 74 including the product based on the order information (order information) supplied from the user terminal 18. The mobile body 14 delivers the cargo 74 to the delivery destination based on the instruction from the server 12. Here, the case where the delivery destination is the vehicle 16 is described as an example, but the present invention is not limited to this.

[0020] The user terminal 18 and the server 12 can communicate with each other via a network (communication network) 20 or the like. The network 20 is, for example, the Internet communication network or the like, but is not limited thereto. Figure 1The example in which the user terminal 18 is a portable terminal is shown. When the user terminal 18 is a portable terminal, the user terminal 18 and the server 12 can communicate via the wireless relay station 22 and the network 20. In addition, when the user terminal 18 is a fixed terminal, the user terminal 18 and the server 12 can communicate via the network 20.

[0021] The server 12 and the mobile object 14 can communicate via the network 20 and the wireless relay station 22. The server 12 and the vehicle 16 can communicate via the network 20 and the wireless relay station 22.

[0022] The mobile body 14 and the vehicle 16 can communicate via the wireless relay station 22 and the network 20. In addition, the mobile body 14 and the vehicle 16 can perform near-field wireless communication. As the near-field wireless communication, for example, near-field communication based on the Bluetooth (registered trademark) standard can be cited. In addition, the mobile body 14 and the vehicle 16 can communicate using a wireless LAN (Local Area Network). More specifically, the mobile body 14 and the vehicle 16 can perform wireless communication based on, for example, the Wi-Fi (registered trademark) standard.

[0023] The mobile object 14 and the user terminal 18 can communicate with the network 20 via the wireless relay station 22. In addition, the vehicle 16 and the user terminal 18 can communicate with the network 20 via the wireless relay station 22.

[0024] As described above, the user can order goods by operating the user terminal 18. The user terminal 18 is, for example, a portable communication terminal. As a portable communication terminal, for example, a smart phone can be cited, but it is not limited to this. As described above, the user terminal 18 is not limited to a portable communication terminal, and it can also be a fixed terminal. As a fixed terminal, for example, a personal computer can be cited, but it is not limited to this. The user terminal 18 has a computing unit 24, a storage unit 26, and a communication unit 28. In addition, the user terminal 18 may also have structural elements other than these structural elements, but the description is omitted here.

[0025] The server 12 can perform order acceptance management, inventory management, delivery management, etc. The server 12 can be managed by, for example, a company, etc., but is not limited to this. In order acceptance management, the server 12 accepts orders for goods from users, etc. In inventory management, the server 12 performs inventory management of goods. In delivery management, the server 12 manages the delivery of goods 74 using the mobile body 14. The server 12 has a computing unit 30, a storage unit 32, and a communication unit 34. In addition, the server 12 may also have components other than these components, but the description is omitted here.

[0026] The computing unit 30 is responsible for overall control of the server 12. The computing unit 30 can be constituted by, for example, a CPU (Central Processing Unit) or an ASIC (Application Specific Integrated Circuit), but is not limited thereto.

[0027] The storage unit 32 includes a volatile memory (not shown) and a nonvolatile memory (not shown). Examples of the volatile memory include a RAM (Random Access Memory). Examples of the nonvolatile memory include a ROM (Read Only Memory), a flash memory, and the like. Programs, data, and the like can be stored in the storage unit 32.

[0028] The storage unit 32 has an order database (order DB) 36, an inventory database (inventory DB) 38, a mobile database (mobile DB) 40, a map database (map DB) 42, and a delivery database (delivery DB) 44. In the order database (order database) 36, information related to ordering (ordering), that is, ordering information (ordering information) can be stored. In addition, as described above, the user can order goods by operating the user terminal 18. In the inventory database 38, information related to the inventory of goods, that is, inventory information, can be stored. In the mobile database 40, individual information related to the mobile 14 used to deliver the goods 74 can be stored. This individual information can include, for example, identification information (identification ID) of the mobile 14, the type of the mobile 14 (drone, etc.), the maximum load weight of the mobile 14, the maximum size of the goods 74 that the mobile 14 can load, etc. In addition, the individual information may include the fuel consumption of the mobile body 14, the maximum speed of the mobile body 14, the number of years of service of the mobile body 14, the total travel distance of the mobile body 14, the number of goods 74 that the mobile body 14 can carry, the current position of the mobile body 14, etc. In the map database 42, map information used by the mobile body 14 for delivery, etc. may be stored. In the delivery database 44, information related to the delivery of goods 74 including ordered goods, that is, delivery information, etc. may be stored. The delivery information may also include information related to the mobile body 14 that delivers the goods 74.

[0029] The communication unit 34 can communicate with the user terminal 18 , the moving object 14 , the vehicle 16 , and the like via the network 20 and the wireless relay station 22 .

[0030] The mobile body 14 can be used to deliver the goods 74 to the delivery destination, etc. According to the delivery instruction (flight instruction) sent from the server 12 to the mobile body 14, the mobile body 14 delivers the goods 74 from the delivery source to the delivery destination. The delivery source is, for example, a warehouse not shown, but is not limited thereto. The delivery destination is, for example, a vehicle 16, but is not limited thereto.

[0031] The mobile body 14 includes a communication device (communication unit) 46, a sensor group 48, a mobile body control device 50, a drive device (propeller drive unit) 52, a water immersion prevention mechanism 54, and a gripping mechanism 55. The mobile body 14 may also include components other than these components, but the description thereof is omitted here.

[0032] The communication device 46 has a telephone network communication unit 56, a near-field wireless communication unit 58, and a wireless LAN communication unit 60. The telephone network communication unit 56 has a communication module not shown in the figure that can correspond to the mobile phone network. The telephone network communication unit 56 can communicate via the telephone network. The near-field wireless communication unit 58 has a near-field wireless communication module not shown in the figure. As the near-field wireless communication module, for example, a communication module corresponding to the Bluetooth (registered trademark) standard can be used. The near-field wireless communication unit 58 can perform near-field wireless communication with the near-field wireless communication unit 110 of the vehicle 16. The wireless LAN communication unit 60 has a wireless LAN module not shown in the figure. As the wireless LAN module, for example, a module corresponding to the Wi-Fi (registered trademark) standard can be used. The wireless LAN communication unit 60 can perform wireless communication with the wireless LAN communication unit 112 of the vehicle 16.

[0033] The sensor group 48 may include an external sensor 67 , a GNSS (Global Navigation Satellite System) sensor 68 , a raindrop sensor 70 , and a tag reader 72 .

[0034] The external sensors 67 may include radar 62 , camera 64 , and ultrasonic sensor 66 .

[0035] The radar 62 transmits a transmission wave to an object, and receives a reflected wave that is reflected by the object and returns from the transmitted transmission wave. Examples of transmission waves include electromagnetic waves, etc. Examples of electromagnetic waves include millimeter waves, etc. Examples of objects include vehicles 16, people not shown in the figure, etc., but are not limited to these. The radar 62 generates radar information (reflected wave signal) based on the reflected wave, etc. The radar 62 supplies the generated radar information to the mobile body control device 50. Figure 1 In the figure, one radar 62 is shown, but in fact, the moving body 14 has a plurality of radars 62. In addition, the radar 62 is not limited to a millimeter wave radar. For example, a laser radar or the like may be used as the radar 62.

[0036] The camera (camera unit) 64 can capture images of the surroundings of the moving body 14. As the camera 64, for example, a camera capable of acquiring three-dimensional information can be used. The information acquired by the camera 64, i.e., the camera information, is supplied from the camera 64 to the moving body control device 50. The camera information can include captured information, specifically, dynamic images, static images, etc. Figure 1 In the figure, one camera 64 is shown, but in fact there are multiple cameras 64. The orientation of the camera 64 can be adjusted by an actuating mechanism not shown.

[0037] The ultrasonic sensor 66 transmits ultrasonic waves to an object and receives reflected waves that are reflected by the object. The ultrasonic sensor 66 can detect the presence of an object, the distance to the object, etc. The ultrasonic sensor 66 generates ultrasonic sensor information based on the reflected waves, etc. The ultrasonic sensor 66 supplies the generated ultrasonic sensor information to the mobile body control device 50. Figure 1 Although one ultrasonic sensor 66 is shown in the figure, the moving object 14 actually has a plurality of ultrasonic sensors 66 .

[0038] The external information may be composed of radar information acquired by the radar 62 , camera information acquired by the camera 64 , and ultrasonic sensor information acquired by the ultrasonic sensor 66 , but the present invention is not limited thereto.

[0039] The GNSS sensor 68 can detect the current position of the moving object 14 . The information acquired by the GNSS sensor 68 , that is, the information indicating the current position of the moving object 14 (moving object position information) is supplied to the moving object control device 50 .

[0040] The raindrop sensor (raindrop sensing sensor) 70 detects the presence of rainfall and outputs a signal indicating the detection result to the mobile body control device 50. As the raindrop sensor 70, for example, a raindrop sensor that detects the presence of rainfall by detecting a change in electrostatic capacitance caused by water droplets attached between a pair of electrodes can be used, but the invention is not limited thereto.

[0041] The label reader 72 can read information recorded on a label (not shown) attached to the cargo 74. Examples of such labels include, but are not limited to, labels recording information such as the name of the recipient (for example, in the compartment of the vehicle 16), a barcode, and the like. The label reader 72 has a lighting unit (not shown), a camera (not shown), and a barcode reader (not shown). The label reader 72 uses the lighting unit to illuminate the label attached to the cargo 74, and uses the camera to photograph the label. The image obtained by photographing the label is supplied to the barcode reader. The barcode reader obtains the information recorded on the label based on the image. The information obtained by the barcode reader can be supplied to the mobile control device 50.

[0042] The sensor group 48 may further include a speedometer (not shown), an altimeter (not shown), and a gyro sensor (not shown). The speedometer can detect the moving speed of the mobile body 14, and more specifically, the flight speed. The altimeter can detect the distance from the ground below the mobile body 14 to the mobile body 14, that is, the ground height (height). The gyro sensor can detect the angular velocity of the mobile body 14. The angular velocity includes the angular velocity (yaw angle) relative to the up-down axis, the angular velocity (pitch angle) relative to the left-right axis, and the angular velocity (roll angle) relative to the front-back axis.

[0043] The mobile body control device 50 is responsible for overall control of the mobile body 14. The mobile body control device 50 causes the mobile body 14 to autonomously move (fly) from a departure point (delivery source) to a destination (delivery destination).

[0044] The mobile body control device 50 includes a computing unit 76 and a storage unit 78. The computing unit 76 is responsible for overall control of the mobile body control device 50. The computing unit 76 may be composed of, for example, a CPU, an ASIC, etc., but is not limited thereto. The computing unit 76 controls each unit based on a program stored in the storage unit 78, thereby controlling the mobile body 14.

[0045] The computing unit 76 includes a weather information acquisition unit 80, an attribute information acquisition unit 82, a storage space information acquisition unit 84, a human information acquisition unit 86, a determination unit 88, and a control unit 89. The weather information acquisition unit 80, the attribute information acquisition unit 82, the storage space information acquisition unit 84, the human information acquisition unit 86, the determination unit 88, and the control unit 89 can be realized by the computing unit 76 executing a program stored in the storage unit 78.

[0046] The storage unit 78 includes a volatile memory (not shown) and a nonvolatile memory (not shown). Examples of the volatile memory include a RAM. Examples of the nonvolatile memory include a ROM and a flash memory. Weather information, attribute information, storage space information, and human information are stored in the volatile memory. Programs, tables, and maps are stored in the nonvolatile memory.

[0047] The weather information acquisition unit 80 acquires weather information. The weather information includes information about the weather at the delivery destination. When the delivery destination is the vehicle 16, the weather information acquisition unit 80 acquires weather information at the location where the vehicle 16 is located. Such weather information can be acquired, for example, using a raindrop sensor 118 or the like at the delivery destination. When the delivery destination is the vehicle 16, the weather information can be acquired, for example, using a raindrop sensor 118 or the like at the vehicle 16. In addition, the weather information is not limited to the information acquired by the raindrop sensor 118. For example, the weather information can be acquired based on meteorological information (meteorological data) and location information indicating the location of the delivery destination. The meteorological information can be, for example, meteorological information provided by a public institution or meteorological information provided by a private enterprise or the like. The weather information can further include information about the weather on the delivery route, but is not limited thereto. The determination unit 88 can determine whether the mobile body 14 can deliver the goods 74 to the delivery destination based on the weather information acquired by the weather information acquisition unit 80. In addition, at the stage when the mobile body 14 arrives near the delivery destination, the weather information can be acquired by the raindrop sensor 70 or the like at the mobile body 14. The weather information acquisition unit 80 also acquires weather information of the location where the moving object 14 is located. Such weather information can be acquired by the raindrop sensor 70 provided in the moving object 14, for example.

[0048] The attribute information acquisition unit 82 can acquire information related to the attributes of the goods 74, that is, attribute information. The attribute information may include information related to whether the goods 74 have anti-immersion measures. The information related to whether the goods 74 have anti-immersion measures is, for example, information indicating whether the packaging of the goods 74 is waterproof. The determination unit 88 can also determine whether the goods 74 can be delivered to the delivery destination by the mobile body 14 based on the attribute information acquired by the attribute information acquisition unit 82. The determination unit 88 can determine whether the goods 74 can be delivered to the delivery destination by the mobile body 14 based on whether anti-immersion measures are implemented for the goods 74. In addition, the information related to whether the goods 74 have anti-immersion measures is, for example, pre-stored in the server 12. The attribute information acquisition unit 82 can request the server 12 to provide information related to whether the goods 74 have anti-immersion measures. In addition, for example, the information related to whether the goods 74 have anti-immersion measures can also be read from a tag attached to the goods 74.

[0049] The storage space information acquisition unit (storage unit information acquisition unit) 84 can acquire storage space information. The storage space information is information related to the storage space (free space) of the storage unit 106 of the delivery destination. The determination unit 88 can determine whether the mobile body 14 can execute the delivery (moving in) of the goods 74 into the storage unit 106 based on the storage space information acquired by the storage space information acquisition unit 84. In the case where the delivery destination is the vehicle 16, the storage unit 106 is, for example, a luggage compartment (trunk) possessed by the vehicle 16. In this case, the storage space is, for example, the free space in the luggage compartment. In addition, the storage unit 106 is not limited to the luggage compartment possessed by the vehicle 16. The storage unit 106 may also be a compartment not shown in the figure. In this case, the storage space is, for example, the free space in the compartment. Here, the case where the vehicle 16 has a storage unit 106 is used as an example for explanation, but it is not limited to this. For example, the storage unit 106 may also be a receiving box not shown in the figure. In this case, the storage space is the free space of the receiving box.

[0050] The storage space information acquired by the storage space information acquisition unit 84 may include information related to the size of the storage space. When there is no storage object stored in the storage unit 106, the size of the storage space is the same as the storage size of the storage unit 106. The storage size of the storage unit 106 is the inner size of the storage unit 106 when the storage unit 106 is empty. When there are storage objects in the storage unit 106, the storage space is reduced due to the presence of the storage objects. Therefore, when there are storage objects in the storage unit 106, the storage space is smaller than the storage size of the storage unit 106. When there are storage objects in the storage unit 106, the empty space located on one side or the other side relative to the storage objects can become the storage space. The determination unit 88 can determine whether the delivery of the goods 74 to the storage unit 106 can be performed based on the size of the goods 74, that is, the outer dimensions of the packaging of the goods 74 and the size of the storage space. The information about the size of the storage space in the storage section 106 can be obtained by the storage section sensor 124 of the vehicle 16. The control unit 89 of the mobile body 14 can request the vehicle 16 to provide the information about the size of the storage space. In addition, here, the case where the storage section sensor 124 of the vehicle 16 obtains the information about the size of the storage space is described as an example, but it is not limited to this. For example, when the door (not shown) of the storage section 106 is open, the external sensor 67 of the mobile body 14 can be used to obtain the information about the size of the storage space.

[0051] The storage space information acquired by the storage space information acquisition unit 84 may include information on whether the storage unit 106 has anti-flooding measures. The determination unit 88 may further determine whether the mobile body 14 can deliver the goods 74 to the storage unit 106 based on whether the anti-flooding measures are implemented for the storage unit 106. For example, when the storage unit 106 is located on a rainy day and the anti-flooding measures are not implemented for the storage unit 106, the determination unit 88 may determine that the goods 74 cannot be delivered to the storage unit 106. However, even in this case, when the user allows the goods 74 to be delivered to the storage unit 106, the determination unit 88 may determine that the goods 74 can be delivered to the storage unit 106. For example, the mobile body 14 asks the user to obtain permission to deliver the goods 74 to the storage unit 106 on a rainy day. In addition, the user may allow the goods 74 to be delivered to the storage unit 106 on a rainy day when ordering goods. The information on the anti-flooding measures of the storage section 106 may be pre-stored in the storage section 138 of the vehicle control device 94. The control section 89 of the mobile body 14 may request the vehicle 16 to provide the information on the anti-flooding measures of the storage section 106.

[0052] The storage space information acquired by the storage space information acquisition unit 84 may include information on the degree of dirt in the storage unit 106. The determination unit 88 may determine whether the mobile body 14 can execute the delivery of the goods 74 to the storage unit 106 based on the degree of dirt in the storage unit 106. In the case where the storage unit 106 is seriously dirty with mud or the like, the possibility of the goods 74 being stained by mud or the like is high. Therefore, when the degree of dirt in the storage unit 106 is greater than the dirt degree threshold, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 cannot be executed. On the other hand, when the storage unit 106 is not too dirty, the possibility of the goods 74 being stained is low. Therefore, when the degree of dirt in the storage unit 106 is less than the dirt degree threshold, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 is permitted. The information on the degree of dirt in the storage unit 106 can be obtained by the storage unit sensor 124 provided in the vehicle 16. The control unit 89 of the mobile body 14 can request the vehicle 16 to provide information on the degree of dirt in the storage unit 106. In addition, here, the case where the storage unit sensor 124 of the vehicle 16 obtains the information on the degree of dirt in the storage unit 106 is described as an example, but the present invention is not limited to this. For example, when the door (not shown) of the storage unit 106 is open, the external sensor 67 of the mobile body 14 can be used to obtain information on the degree of dirt in the storage unit 106.

[0053] The storage space information acquired by the storage space information acquisition unit 84 may include information on the degree of congestion in the storage unit 106. The determination unit 88 may determine whether the mobile body 14 can deliver the goods 74 to the storage unit 106 based on the degree of congestion in the storage unit 106. If the storage unit 106 is crowded, there is a possibility that some trouble will occur if the goods 74 are delivered to the storage unit 106. Therefore, if the degree of congestion in the storage unit 106 is greater than the congestion threshold, the determination unit 88 may determine that the goods 74 cannot be delivered to the storage unit 106. On the other hand, if the storage unit 106 is not too crowded, the possibility of trouble is low. Therefore, if the degree of congestion in the storage unit 106 is less than the congestion threshold, the determination unit 88 may determine that the goods 74 can be delivered to the storage unit 106. The information on the degree of congestion in the storage unit 106 can be acquired by the storage unit sensor 124 of the vehicle 16. The control unit 89 of the mobile body 14 can request the vehicle 16 to provide information on the degree of crowding in the storage unit 106. In addition, here, the case where the storage unit sensor 124 of the vehicle 16 obtains the information on the degree of crowding in the storage unit 106 is described as an example, but the present invention is not limited to this. For example, when the door (not shown) of the storage unit 106 is open, the external sensor 67 of the mobile body 14 can be used to obtain information on the degree of crowding in the storage unit 106.

[0054] The storage space information acquired by the storage space information acquisition unit 84 may include information on the flatness of the storage space in the storage unit 106. The determination unit 88 may determine whether the mobile body 14 can deliver the goods 74 to the storage unit 106 based on the flatness of the storage space in the storage unit 106. In the case where the goods 74 are loaded on the storage object with an uneven upper surface, some trouble may occur. Therefore, in this case, the determination unit 88 may determine that the goods 74 cannot be delivered to the storage unit 106. On the other hand, in the case where the goods 74 are loaded on the storage object with a flat upper surface, it is highly likely that no special problem will occur. Therefore, in this case, the determination unit 88 may determine that the goods 74 can be delivered to the storage unit 106. The information on the flatness of the storage space can be acquired by the storage unit sensor 124 of the vehicle 16. The control unit 89 of the mobile body 14 may request the vehicle 16 to provide information on the flatness of the storage space. In addition, here, although the case where the storage unit sensor 124 of the vehicle 16 obtains the information related to the flatness of the storage space is described as an example, the present invention is not limited to this. For example, when the door (not shown) of the storage unit 106 is open, the outside sensor 67 of the mobile body 14 can be used to obtain the information related to the flatness of the storage space.

[0055] The human information acquisition unit 86 acquires information related to a person located in a space including the storage unit 106, that is, human information. The space including the storage unit 106 refers to the space around the storage unit 106, that is, the area around the storage unit 106. For example, the space around the vehicle 16 having the storage unit 106 may correspond to the space including the storage unit 106. In addition, for example, as an example of a space including the storage unit 106, the surrounding space of a receiving box set in a parking lot of a shopping mall not shown can be cited. Here, the case where the storage unit 106 is set on the vehicle 16 is described as an example, but it is not limited to this. In the case where the vehicle 16 has the storage unit 106, the human information can be acquired by the human detection sensor (external sensor) 114 of the vehicle 16. The control unit 89 of the mobile body 14 can request the vehicle 16 to provide the human information. In addition, here, the case where such human information is acquired by the human detection sensor 114 of the vehicle 16 is described as an example, but it is not limited to this. For example, such human information may be acquired using an external sensor 67 provided on the mobile body 14. In addition, the human detection sensor 114 may be constituted by a surveillance sensor (surveillance camera) not shown and provided separately from the vehicle 16. The surveillance sensor may be provided on a building or the like, for example. The control unit 89 provided in the mobile body 14 may request the server not shown, which acquires information using the surveillance sensor, to provide the human information.

[0056] The determination unit 88 determines whether to restrict the mobile body 14 from delivering the goods 74 to the storage unit 106 based on the human information acquired by the human information acquisition unit 86 .

[0057] The human information acquired by the human information acquisition unit 86 may include information on whether the human is located in the space including the storage unit 106, and more specifically, information on whether the human is located around the storage unit 106. The determination unit 88 may determine whether to restrict the mobile body 14 from delivering the goods 74 to the storage unit 106 based on whether the human is located around the storage unit 106. For example, if the human is located around the storage unit 106, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 cannot be performed. On the other hand, if the human is not located around the storage unit 106, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 can be performed.

[0058] The person information acquired by the person information acquisition unit 86 may include information related to the direction of the person. The determination unit 88 may determine whether to restrict the delivery of the goods 74 from the mobile body 14 to the storage unit 106 according to the direction of the person. For example, when the person is walking toward the storage unit 106, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 cannot be performed. That is, when the direction of the person is from the person to the storage unit 106, the determination unit 88 interrupts or stops the delivery of the goods 74 from the mobile body 14 to the storage unit 106. On the other hand, when the person is walking in a direction away from the storage unit 106, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 can be performed.

[0059] The person information acquired by the person information acquisition unit 86 may include information related to the distance between the storage unit 106 and the person. The determination unit 88 may determine whether to restrict the mobile body 14 from delivering the goods 74 to the storage unit 106 based on the distance between the storage unit 106 and the person. For example, when the distance between the storage unit 106 and the person is greater than the distance threshold, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 can be performed. On the other hand, when the distance between the storage unit 106 and the person is less than the distance threshold, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 cannot be performed. That is, when the distance between the storage unit 106 and the person is less than the distance threshold, the determination unit 88 interrupts or stops the delivery of the goods 74 to the storage unit 106 by the mobile body 14.

[0060] The person information acquired by the person information acquisition unit 86 may include information related to the walking speed (moving speed) of the person. The determination unit 88 may determine whether to restrict the delivery of the goods 74 from the mobile body 14 to the storage unit 106 based on the walking speed of the person. For example, when the walking speed of the person is greater than the walking speed threshold (moving speed threshold), the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 cannot be performed. On the other hand, when the walking speed of the person is less than the walking speed threshold, the determination unit 88 may determine that the delivery of the goods 74 to the storage unit 106 can be performed.

[0061] The determination unit 88 can determine the time required for the person to reach the storage unit 106 based on the information about the distance between the storage unit 106 and the person and the information about the moving speed of the person. In the case where the direction of the person is from the person to the storage unit 106, and the time required for the person to reach the storage unit 106 is shorter than the time required for the mobile body 14 to complete the delivery of the goods 74 to the storage unit 106, the determination unit 88 can perform the following processing. That is, in this case, the determination unit 88 can interrupt or stop the delivery of the goods 74 to the storage unit 106 by the mobile body 14.

[0062] If any of the distance between the storage unit 106 and the person, the person's moving speed, and the person's direction changes while the moving body 14 is delivering the goods 74 , the determination unit 88 determines whether the moving body 14 continues to deliver the goods 74 .

[0063] The control unit 89 can perform a predetermined control according to the determination result of the determination unit 88. For example, when the determination unit 88 determines that the delivery of the goods 74 to the storage unit 106 can be performed, the control unit 89 performs the delivery of the goods 74 to the storage unit 106. On the other hand, when the determination unit 88 determines that the delivery of the goods 74 to the storage unit 106 cannot be performed, the control unit 89 does not perform the delivery of the goods 74 to the storage unit 106.

[0064] The drive device 52 includes a plurality of propellers (not shown) and a plurality of propeller actuation mechanisms (not shown). The propeller actuation mechanisms include, for example, electric motors. The control unit 89 can control the movement of the moving body 14 by performing predetermined control on the drive device 52.

[0065] The water-proof mechanism 54 can implement water-proof measures for the cargo 74. Specifically, it can prevent raindrops from reaching the cargo 74 by using a rainproof member (not shown) or the like.

[0066] The catcher 55 has a function of catchering the cargo 74 . The catcher 55 also has a function of measuring the mass of the cargo 74 . The catcher 55 also has a function of measuring the size of the cargo 74 .

[0067] The vehicle 16 includes a communication device (communication unit) 90, a sensor group 92, a vehicle control device 94, a drive device 96, a brake device 98, a steering device 100, an ignition switch 102, an opening and closing mechanism 104, and a storage unit 106. In addition, the vehicle 16 may also include components other than these components, but the description thereof is omitted here.

[0068] The communication device 90 has a telephone network communication unit 108, a near-field wireless communication unit 110, and a wireless LAN communication unit 112. The telephone network communication unit 108 has a communication module not shown in the figure that can correspond to the mobile phone network. The telephone network communication unit 108 can communicate via the telephone network. The near-field wireless communication unit 110 has a near-field wireless communication module not shown in the figure. As the near-field wireless communication module, for example, a communication module corresponding to the Bluetooth (registered trademark) standard can be used. The near-field wireless communication unit 110 can perform near-field wireless communication with the near-field wireless communication unit 58 of the mobile body 14. The wireless LAN communication unit 112 has a wireless LAN module not shown in the figure. As the wireless LAN module, for example, a module corresponding to the Wi-Fi (registered trademark) standard can be used. The wireless LAN communication unit 112 can perform wireless communication with the wireless LAN communication unit 60 of the mobile body 14.

[0069] The sensor group 92 may include a human detection sensor 114 , a GNSS sensor 116 , a raindrop sensor 118 , a speed sensor 120 , a gear position sensor 122 , a storage portion sensor 124 , and a humidity sensor 126 .

[0070] The human detection sensor (external sensor) 114 may include a radar 128 , a camera 130 , an ultrasonic sensor 132 , and the like.

[0071] The radar 128 transmits a transmission wave to an object, and receives a reflected wave that is reflected by the object and returns from the transmitted transmission wave. As the transmission wave, for example, electromagnetic waves can be cited. As the electromagnetic wave, for example, millimeter waves can be cited. As the object, for example, a person can be cited, but it is not limited to this. The radar 128 generates radar information (reflected wave signal) based on the reflected wave, etc. The radar 128 supplies the generated radar information to the vehicle control device 94. Figure 1 In the figure, one radar 128 is shown, but in fact, the vehicle 16 has a plurality of radars 128. In addition, the radar 128 is not limited to a millimeter wave radar. For example, a laser radar or the like may be used as the radar 128.

[0072] The camera 130 captures the surroundings of the vehicle 16. The information acquired by the camera 130, namely, the camera information, is supplied from the camera 130 to the vehicle control device 94. The camera information may include captured information, specifically, may include dynamic images, static images, etc. Figure 1 In the figure, one camera 130 is shown, but in fact there are multiple cameras 130. The orientation of the camera 130 can be adjusted by an actuating mechanism not shown.

[0073] The ultrasonic sensor 132 transmits ultrasonic waves to an object and receives reflected waves that are reflected by the object. The ultrasonic sensor 132 can detect the presence of an object, the distance to the object, etc. The ultrasonic sensor 132 generates ultrasonic sensor information based on the reflected waves, etc. The ultrasonic sensor 132 supplies the generated ultrasonic sensor information to the vehicle control device 94. Figure 1 In the figure, one ultrasonic sensor 132 is shown, but in reality, the vehicle 16 has a plurality of ultrasonic sensors 132 .

[0074] The external information may be composed of radar information acquired by the radar 128 , camera information acquired by the camera 130 , and ultrasonic sensor information acquired by the ultrasonic sensor 132 , but the present invention is not limited thereto.

[0075] The GNSS sensor 116 can detect the current position of the vehicle 16. The information acquired by the GNSS sensor 116, that is, the information indicating the current position of the vehicle 16 (vehicle position information) can be supplied to the vehicle control device 94.

[0076] The raindrop sensor (raindrop sensing sensor) 118 can detect the presence of rainfall and output a signal indicating the detection result. As the raindrop sensor 118, for example, a raindrop sensor that detects the presence of rainfall by detecting a change in electrostatic capacitance caused by water droplets attached between a pair of electrodes can be used, but the invention is not limited thereto. The information obtained by the raindrop sensor 118 can be supplied to the vehicle control device 94.

[0077] The speed sensor (vehicle speed sensor) 120 can detect the speed of the vehicle 16 , that is, the vehicle speed. The information acquired by the speed sensor 120 can be supplied to the vehicle control device 94 .

[0078] The shift position sensor (shift position sensor) 122 detects the operation content performed by the user using the shift lever (gear lever, selector) not shown in the figure, and outputs the detected operation content to the vehicle control device 94. That is, the shift position sensor 122 detects the shift position of the shift lever, and outputs the detected gear position to the vehicle control device 94. The shift lever has multiple gears. Specifically, the shift lever has a gear for moving the vehicle 16 forward, namely the D gear. In addition, the shift lever also has a gear for moving the vehicle 16 backward, namely the R gear. In addition, the shift lever also has the L gear and the N gear. In addition, the shift lever has the P gear used when parking. Here, the case of detecting the gear position of the shift lever is used as an example for explanation, but it is not limited to this. For example, when the P button is used when parking, it can be detected whether the P button is pressed.

[0079] The storage section sensor 124 can detect items stored in the storage section 106, that is, storage items. The storage section sensor 124 is, for example, disposed in the storage section 106, but is not limited thereto. As the storage section sensor 124, for example, a camera (in-vehicle camera) that can obtain three-dimensional information, which is not shown in the figure, a pressure sensor disposed on the floor surface of the vehicle compartment, which is not shown in the figure, etc. can be used. While the storage section 106 is illuminated by a lighting device that is not shown in the figure, the storage section sensor 124 can be used to photograph the inside of the storage section 106. The information obtained by the storage section sensor 124 can be supplied to the vehicle control device 94.

[0080] The humidity sensor 126 can detect the humidity in the storage section 106. The information acquired by the humidity sensor 126 can be supplied to the vehicle control device 94.

[0081] The vehicle control device 94 includes a calculation unit 136 and a storage unit 138. The calculation unit 136 includes a determination unit 134 and a control unit 137. The determination unit 134 and the control unit 137 can be realized by the calculation unit 136 executing a program stored in the storage unit 138.

[0082] The control unit 137 is responsible for overall control of the vehicle 16 and performs predetermined control. The control unit 137 controls each unit based on a program stored in the storage unit 138 to thereby perform vehicle control. The calculation unit 136 may be composed of, for example, a CPU, an ASIC, or the like.

[0083] The determination unit 134 may detect a person located in the space including the storage unit 106 based on the external information acquired by the person detection sensor 114. Specifically, the determination unit 134 may determine whether the person is located around the storage unit 106. In addition, the determination unit 134 may determine the orientation of the person relative to the storage unit 106 based on the external information acquired by the person detection sensor 114. In addition, the determination unit 134 may determine the distance between the storage unit 106 and the person based on the external information acquired by the person detection sensor 114. In addition, the determination unit 134 may determine the walking speed of the person based on the external information acquired by the person detection sensor 114. By such determination by the determination unit 134, the person information is generated. The person information may include information indicating whether the person is located around the storage unit 106. In addition, the person information may include information indicating the orientation of the person relative to the storage unit 106. In addition, the person information may include information indicating the distance between the storage unit 106 and the person. In addition, the person information may include information indicating the walking speed of the person.

[0084] The storage unit 138 includes a volatile memory (not shown) and a nonvolatile memory (not shown). Examples of the volatile memory include a RAM. Examples of the nonvolatile memory include a ROM, a flash memory, etc. Weather information, attribute information, storage space information, human information, etc. are stored in the volatile memory, for example. Programs, tables, maps, etc. are stored in the nonvolatile memory, for example.

[0085] The drive device (driving force control system) 96 has a driving ECU not shown in the figure and a driving source not shown in the figure. The driving ECU controls the driving force (torque) of the vehicle 16 by controlling the driving source. As the driving source, for example, an engine, a driving motor, etc. can be cited. The driving ECU can control the driving source according to the user's operation of the accelerator pedal, thereby controlling the driving force. In addition, the driving ECU can control the driving force by controlling the driving source according to the instructions supplied from the vehicle control device 94. The driving force of the driving source is transmitted to the wheels not shown in the figure via a transmission not shown in the figure, etc.

[0086] The brake device (braking force control system) 98 has a brake ECU (not shown) and a brake mechanism (not shown). The brake mechanism operates the brake components through a brake motor, a hydraulic mechanism, etc. The brake ECU can control the brake mechanism according to the user's operation of the brake pedal, thereby controlling the braking force. In addition, the brake ECU can control the brake mechanism according to the instruction supplied from the vehicle control device 94, thereby controlling the braking force.

[0087] The steering device (steering system) 100 includes a steering ECU (not shown), that is, an EPS (electric power steering system) ECU and a steering motor (not shown). The steering ECU controls the steering motor according to the operation of the steering wheel (not shown) by the user, thereby controlling the direction of the wheel (steering wheel). In addition, the steering ECU controls the steering motor according to the instruction supplied from the vehicle control device 94, thereby controlling the direction of the wheel. In addition, steering can also be performed by changing the torque distribution or braking force distribution to the left and right wheels.

[0088] The ignition switch (main switch) 102 is a switch of the main power source of the vehicle 16. A signal indicating whether the ignition switch 102 is in the on state can be supplied from the ignition switch 102 to the vehicle control device 94.

[0089] The opening and closing mechanism 104 is used to open and close a door (not shown) of a storage section 106. The opening and closing mechanism 104 can be controlled by the vehicle control device 94.

[0090] The storage section 106 is, for example, a luggage compartment (not shown) included in the vehicle 16 , but the present invention is not limited thereto. For example, the compartment of the vehicle 16 may be the storage section 106 .

[0091] Figure 2 1 is a flowchart showing an example of the operation of the delivery system of the present embodiment. Before executing step S1, the ordering of the product, the acceptance of the order for the product, the delivery preparation of the goods 74 including the product, etc. are completed. In addition, before executing step S1, it can also be determined whether the goods 74 can be delivered to the delivery destination based on weather information.

[0092] In step S1, delivery starts. Specifically, the server 12 sends a delivery start instruction of the goods 74 to the mobile body 14. The control unit 89 possessed by the mobile body 14 controls the way of holding the goods 74 through the holding mechanism 55. The control unit 89 controls the driving device 52 and the like to start the movement (flying) of the mobile body 14. The mobile body 14 moves from the delivery source to the delivery destination. Here, the case where the delivery destination is the vehicle 16 is used as an example for explanation, but it is not limited to this. The server 12 sends a notification to the vehicle 16 that the delivery of the goods 74 by the mobile body 14 has started. In addition, the notification can also be further sent to the user terminal 18. The control unit 89 sends information related to the delivered goods 74 to the vehicle 16. After this, transfer to step S2.

[0093] In step S2, movement control (flight control, delivery control) is performed. Specifically, the control unit 89 of the mobile body 14 moves the mobile body 14 to the delivery destination according to the delivery path predetermined by the server 12. In this way, the mobile body 14 arrives at the delivery destination. Figure 3 The details of the movement control are described below. When step S2 is completed, the process proceeds to step S3.

[0094] In step S3, control is performed to detect the surrounding conditions of the storage unit 106, that is, surrounding condition detection control is performed. Based on the surrounding conditions of the storage unit 106, the delivery of the goods 74 to the storage unit 106 is restricted. Figure 4 The details of the surrounding situation detection control will be described. When step S3 is completed, the process proceeds to step S4.

[0095] In step S4, control of delivering the goods 74 to the storage unit 106, that is, delivery control, is performed. Figure 5 The details of the delivery control will be described below. When step S4 is completed, the process proceeds to step S5.

[0096] In step S5, the control unit 89 of the mobile body 14 issues a notification that the delivery of the goods 74 to the storage unit 106 is completed. For example, the mobile body 14 may issue the notification to the vehicle 16, but the present invention is not limited thereto. For example, the mobile body 14 may issue the notification to the server 12. In addition, the mobile body 14 may issue the notification to the user terminal 18.

[0097] If the goods 74 are not delivered to the storage section 106, in step S6, the goods 74 are not delivered to the storage section 106, but a notification is issued to stop the delivery of the goods 74. For example, the notification is issued from the mobile body 14 to the vehicle 16, but the present invention is not limited thereto. For example, the notification may be issued from the mobile body 14 to the server 12. In addition, the notification may be issued from the mobile body 14 to the user terminal 18. After that, the process moves to step S7. The mobile body 14 does not deliver the goods 74 to the storage section 106, but brings the goods 74 back to the delivery source, such as a warehouse.

[0098] In step S7, the control unit 89 of the mobile body 14 determines whether redistribution (redelivery) is requested. For example, the user can request redistribution by operating the user terminal 18. The request for redistribution is accepted by the server 12. When the request for redistribution is accepted, the server 12 issues a redistribution instruction to the mobile body 14. When redistribution is requested (Yes in step S7), the processing after step S1 is repeated. When redistribution is not requested (No in step S7), the process moves to step S8.

[0099] In step S8, the control unit 89 of the mobile body 14 determines whether the predetermined time has passed. If the predetermined time has not passed (No in step S8), step S7 is repeated. If the predetermined time has passed (Yes in step S8), Figure 2 The indicated processing is completed.

[0100] Figure 3 This is a flowchart showing an example of the operation of the delivery system according to the present embodiment.

[0101] Figure 3 An example of movement control is shown.

[0102] In step S11, the control unit 89 of the mobile body 14 requests the vehicle position information, the driving state information, and the weather information from the vehicle 16. As described above, the vehicle position information is information indicating the current position of the vehicle 16. The driving state information is information indicating the driving state of the vehicle 16. The weather information is information indicating the weather at the location where the vehicle 16 is located. More specifically, the weather information is information indicating whether it is rainy.

[0103] In step S12, the control unit 137 of the vehicle 16 sends the vehicle position information, the driving state information, and the weather information to the mobile body control device 50 of the mobile body 14. In this way, the weather information acquisition unit 80 of the mobile body 14 acquires the weather information. In addition, here, the case where the weather at the location of the vehicle 16 is determined based on the weather information supplied from the vehicle 16 is described as an example, but the present invention is not limited to this. For example, the weather at the location of the vehicle 16 may also be determined based on the weather information and the vehicle position information.

[0104] In step S13, the determination unit 88 of the mobile body 14 determines whether it is raining at the location of the vehicle 16 based on the weather information acquired by the weather information acquisition unit 80. If it is not raining at the location of the vehicle 16 (Yes in step S13), the process proceeds to step S15. If it is raining at the location of the vehicle 16 (No in step S13), the process proceeds to step S14.

[0105] In step S14, the determination unit 88 of the mobile body 14 determines whether to continue the delivery. For example, if the package of the goods 74 is waterproof, the delivery of the goods 74 can be continued even in rainy days. If the delivery of the goods 74 is continued (yes in step S14), the process proceeds to step S15. If the delivery of the goods 74 is not continued (no in step S14), the process proceeds to step S6 (see step S7). Figure 2 ).

[0106] In step S15, the determination unit 88 included in the mobile body 14 determines whether the mobile body 14 can catch up with the vehicle 16 before the specified time as the delivery deadline. The calculation unit 76 determines whether the mobile body 14 can catch up with the vehicle 16 before the specified time based on the vehicle position information indicating the position of the vehicle 16, the driving state information indicating the driving state of the vehicle 16, the moving speed of the mobile body 14, etc. If the mobile body 14 can catch up with the vehicle 16 before the specified time (yes in step S15), the process proceeds to step S16. If the mobile body 14 cannot catch up with the vehicle 16 before the specified time (no in step S15), the process proceeds to step S6 (see step S7). Figure 2 ).

[0107] In step S16, the determination unit 88 included in the moving body 14 determines that the delivery of the goods 74 to the delivery destination can be performed. In this case, the control unit 89 causes the moving body 14 to continue moving to the delivery destination. Thereafter, the process moves to step S17.

[0108] In step S17, the determination unit 88 included in the mobile body 14 determines whether the distance from the mobile body 14 to the vehicle 16 is less than the distance threshold. The determination unit 88 can determine whether the distance from the mobile body 14 to the vehicle 16 is less than the distance threshold based on the vehicle position information indicating the current position of the vehicle 16 and the mobile body position information indicating the current position of the mobile body 14. In addition, it is also possible to determine whether the distance from the mobile body 14 to the vehicle 16 is less than the distance threshold based on the external information obtained by the external sensor 67 included in the mobile body 14. When the distance from the mobile body 14 to the vehicle 16 is less than the distance threshold (yes in step S17), transfer to step S18. When the distance from the mobile body 14 to the vehicle 16 is greater than the distance threshold (no in step S17), return to step S11.

[0109] In step S18, the control unit 89 included in the moving body 14 moves the moving body 14 at a speed equivalent to the running speed of the vehicle 16. Thereafter, the process proceeds to step S19.

[0110] In step S19, the determination unit 134 of the vehicle 16 determines whether the main power of the vehicle 16 is off, that is, whether the ignition switch 102 is off. The control unit 137 sends information indicating the determination result of the determination unit 134 to the mobile body 14. The control unit 89 of the mobile body 14 can determine whether the vehicle 16 is in a stopped state based on such information. When the main power of the vehicle 16 is off (yes in step S19), Figure 3 The processing shown ends. If the main power source of the vehicle 16 is turned on (No in step S19), the process proceeds to step S20.

[0111] In step S20, the determination unit 134 of the vehicle 16 determines whether the gear position of the shift lever is the P gear. The control unit 137 sends information indicating the determination result of the determination unit 134 to the mobile body 14. The control unit 89 of the mobile body 14 can determine whether the vehicle 16 is in a stopped state based on such information. If the gear position of the shift lever is not the P gear (No in step S20), the process returns to step S11. If the gear position of the shift lever is the P gear (Yes in step S20), Figure 3 The shown processing ends.

[0112] In this way, movement control is performed.

[0113] Figure 4 This is a flowchart showing an example of the operation of the delivery system according to the present embodiment. Figure 4 An example of the surrounding situation detection control is shown. For example, the surrounding situation detection control is performed to reduce the risk of the goods 74 being stolen by a person located near the storage section 106 .

[0114] In step S21, the control unit 89 of the mobile body 14 requests the vehicle 16 to provide human information. As described above, the human information is information about a person located in the space including the storage unit 106. In addition, here, the description is given as an example of a case where the human information can be obtained by the human detection sensor 114 of the vehicle 16, but the present invention is not limited thereto. The human information may also be obtained by the external sensor 67 of the mobile body 14. After this, the process moves to step S22.

[0115] In step S22, the control unit 137 of the vehicle 16 transmits the human information to the mobile body 14. As described above, the human information may include information indicating whether the person is located around the storage unit 106. In addition, as described above, the human information may include information indicating the direction of the person relative to the storage unit 106. In addition, as described above, the human information may include information indicating the distance between the storage unit 106 and the person. In addition, as described above, the human information may include information indicating the walking speed of the person. After that, the process moves to step S23.

[0116] In step S23, the determination unit 88 of the mobile body 14 determines whether the person is located around the storage unit 106 based on the person information. As described above, the person information may include information indicating whether the person is located around the storage unit 106. Therefore, the determination unit 88 may determine whether the person is located around the storage unit 106 based on such information. If the person is not located around the storage unit 106 (yes in step S23), Figure 4 The processing shown is completed. If a person is located around the storage unit 106 (No in step S23), the process proceeds to step S24.

[0117] In step S24, the determination unit 88 of the mobile body 14 determines whether the person has left the storage unit 106. As described above, the person information may include information indicating the direction of the person relative to the storage unit 106. In addition, as described above, the person information may include information indicating the walking speed of the person. Therefore, the determination unit 88 may determine whether the person has left the storage unit 106 based on this information. In the case where the person has left the storage unit 106 (yes in step S24), Figure 4 The processing shown ends. If the person has not left the storage unit 106 (No in step S24), the process proceeds to step S25.

[0118] In step S25, the determination unit 88 of the mobile body 14 determines whether the delivery of the goods 74 to the storage unit 106 is completed before the person arrives at the storage unit 106. As described above, the person information may include information about the direction of the person relative to the storage unit 106. In addition, as described above, the person information may include information indicating the distance between the storage unit 106 and the person. In addition, as described above, the person information may include information indicating the walking speed of the person. Therefore, the determination unit 88 can determine the time required for the person to arrive at the storage unit 106, that is, the first time. In addition, the determination unit 88 can determine the time required for the mobile body 14 to arrive at the storage unit 106, that is, the second time, based on the mobile body position information, the vehicle position information, and the moving speed of the mobile body 14. In addition, the determination unit 88 can determine the time required to determine whether the goods 74 can be delivered to the storage unit 106, that is, the third time. In addition, the determination unit 88 can determine the time required to deliver the goods 74 to the storage unit 106, that is, the fourth time. The sum of the second time, the third time, and the fourth time is the time required to complete the delivery of the goods 74 to the storage section 106. When the sum of the second time, the third time, and the fourth time is shorter than the first time, the determination unit 88 may determine that the delivery of the goods 74 to the storage section 106 is completed before the person arrives at the storage section 106. When the sum of the second time, the third time, and the fourth time is longer than the first time, the determination unit 88 may determine that the delivery of the goods 74 to the storage section 106 cannot be completed before the person arrives at the storage section 106. In addition, the method for determining whether the delivery of the goods 74 to the storage section 106 can be completed before the person arrives at the storage section 106 is not limited thereto. When the delivery of the goods 74 to the storage section 106 can be completed before the person arrives at the storage section 106 (yes in step S25), Figure 4 The processing shown is completed. If the delivery of the goods 74 to the storage section 106 cannot be completed before the person arrives at the storage section 106 (No in step S25), the process proceeds to step S26.

[0119] In step S26, the determination unit 88 of the mobile body 14 determines whether a predetermined time has passed since the start of the surrounding condition detection control. If the predetermined time has passed since the start of the surrounding condition detection control (Yes in step S26), the process moves to step S27. If the predetermined time has not passed since the start of the surrounding condition detection control (No in step S26), the process after step S21 is repeated.

[0120] In step S27, the control unit 89 of the mobile body 14 issues a notification to the vehicle 16 that the delivery of the goods 74 to the storage unit 106 cannot be executed. In this case, the control unit 137 of the vehicle 16 may issue a notification to the user terminal 18 that the delivery of the goods 74 to the storage unit 106 cannot be executed. In addition, here, the case where the notification is issued from the mobile body 14 to the vehicle 16 is described as an example, but the present invention is not limited to this. The notification may also be issued from the mobile body 14 to the user terminal 18. After this, the process moves to step S28.

[0121] In step S28, the control unit 89 of the mobile body 14 determines whether a request to deliver the goods 74 to the storage unit 106 is received. For example, the user can make such a request by operating the user terminal 18. When a request to deliver the goods 74 to the storage unit 106 is received (Yes in step S28), the process proceeds to step S29. When a request to deliver the goods 74 to the storage unit 106 is not received (No in step S28), the process proceeds to step S6.

[0122] In step S29, the control unit 89 of the mobile body 14 determines that the delivery of the goods 74 to the storage unit 106 can be performed. When step S29 is completed, Figure 4 The indicated processing is completed.

[0123] In this way, the surrounding situation detection control is performed.

[0124] Figure 5 This is a flowchart showing an example of the operation of the delivery system according to the present embodiment.

[0125] Figure 5 An example of delivery control is shown.

[0126] In step S31, the storage space information acquisition unit 84 of the mobile body 14 requests the vehicle 16 to provide information constituting a part of the storage space information. Specifically, the storage space information acquisition unit 84 requests the vehicle 16 to provide information indicating the shape of the storage unit 106, the storage size of the storage unit 106, and the like. In addition, the storage space information acquisition unit 84 requests the vehicle 16 to provide information indicating whether there are any stored items in the storage unit 106. In addition, the storage space information acquisition unit 84 requests the vehicle 16 to provide information related to whether the storage unit 106 has anti-immersion measures. In addition, the storage space information acquisition unit 84 requests the vehicle 16 to provide, for example, information indicating the humidity in the storage unit 106. In addition, the storage space information acquisition unit 84 requests the vehicle 16 to provide information indicating the position of the storage unit 106 in the vehicle 16. Thereafter, the process moves to step S32.

[0127] In step S32, the control unit 137 included in the vehicle 16 transmits the above-mentioned storage space information to the moving body 14. Thereafter, the process proceeds to step S33.

[0128] In step S33, the determination unit 88 of the mobile body 14 determines whether the place where the vehicle 16 is located is rainy based on the weather information acquired by the weather information acquisition unit 80. The weather information acquisition unit 80 can acquire weather information through the raindrop sensor 118 of the vehicle 16, for example, but is not limited to this. The weather information acquisition unit 80 can also acquire weather information through the raindrop sensor 70 of the mobile body 14. When the place where the vehicle 16 is located is not rainy (yes in step S33), the process moves to step S36. When the place where the vehicle 16 is located is rainy (no in step S33), the process moves to step S34.

[0129] In step S34, the determination unit 88 of the mobile body 14 determines whether to continue the delivery of the goods 74. For example, if the package of the goods 74 is waterproof, the delivery of the goods 74 can be continued even in rainy days. If the delivery of the goods 74 is continued (yes in step S34), the process proceeds to step S35. If the delivery of the goods 74 is not continued (no in step S34), the process proceeds to step S6 (see step S7). Figure 2 ).

[0130] In step S35, the determination unit 88 included in the mobile body 14 determines whether anti-flooding measures have been implemented for the storage unit 106. As described above, the storage space information supplied from the vehicle 16 includes information on whether anti-flooding measures have been implemented for the storage unit 106. Therefore, the determination unit 88 can determine whether anti-flooding measures have been implemented for the storage unit 106 based on the information. If anti-flooding measures have been implemented for the storage unit 106 (yes in step S35), the process proceeds to step S36. If anti-flooding measures have not been implemented for the storage unit 106 (no in step S35), the process proceeds to step S6 (see Figure 2 ).

[0131] In step S36, the control unit 89 included in the moving body 14 requests the vehicle 16 to open the door of the storage unit 106. The control unit 137 included in the vehicle 16 controls the opening and closing mechanism 104 to open the door of the storage unit 106.

[0132] In step S37, the control unit 89 of the mobile body 14 performs control so that the mobile body 14 observes the inside of the storage unit 106. Specifically, the controller 89 places the mobile body 14 in a position where the inside of the storage unit 106 can be observed. Then, the control unit 89 causes the external sensor 67 to obtain an image of the inside of the storage unit 106. Such information obtained by the external sensor 67 constitutes a part of the storage space information. In this way, information representing the state of the inside of the storage unit 106 is obtained by the storage space information acquisition unit 84. In addition, here, the case where the state of the inside of the storage unit 106 is observed by the external sensor 67 of the mobile body 14 is described as an example, but it is not limited to this. For example, the state of the inside of the mobile body 14 can also be observed by the storage unit sensor 124 of the vehicle 16. After this, transfer to step S38.

[0133] In step S38, the determination unit 88 included in the mobile body 14 determines whether the storage size of the storage unit 106 is larger than the size of the cargo 74. When the storage size of the storage unit 106 is larger than the size of the cargo 74 (Yes in step S38), the process proceeds to step S39. When the storage size of the storage unit 106 is smaller than the size of the cargo 74 (No in step S38), the process proceeds to step S43. As described above, the information on the storage size of the storage unit 106 can be supplied from the vehicle 16 to the mobile body 14.

[0134] In step S39, the determination unit 88 of the mobile body 14 determines whether the size of the bottom surface of the storage space (empty space) is greater than or equal to the size of the bottom surface of the cargo 74. If the size of the bottom surface of the storage space is greater than or equal to the size of the bottom surface of the cargo 74 (yes in step S39), the process proceeds to step S41. If the size of the bottom surface of the storage space is less than the size of the bottom surface of the cargo 74 (no in step S39), the process proceeds to step S40.

[0135] In step S40, the determination unit 88 of the mobile body 14 determines whether there is a flat space in the storage unit 106 and whether the size of the bottom surface of the space is greater than the size of the bottom surface of the goods 74. When the storage unit 106 has already stored storage objects with a flat upper surface, the space above the storage objects can be equivalent to the flat space. When there is a flat space in the storage unit 106 and the size of the bottom surface of the space is greater than the size of the bottom surface of the goods 74 (Yes in step S40), the process moves to step S41. When there is no flat space in the storage unit 106 (No in step S40), the process moves to step S44. When there is a flat space in the storage unit 106 but the size of the bottom surface of the space is smaller than the size of the bottom surface of the goods 74 (No in step S40), the process moves to step S44.

[0136] In step S41, the determination unit 88 included in the mobile body 14 determines whether the height of the cargo 74 is lower than the height of the storage unit 106. That is, the determination unit 88 included in the mobile body 14 determines whether the position of the upper end (upper surface) of the cargo 74 is lower than the position of the upper end of the storage unit 106. When the height of the cargo 74 is lower than the height of the storage unit 106 (Yes in step S41), the process moves to step S42. When the height of the cargo 74 is higher than the height of the storage unit 106 (No in step S41), the process moves to step S44.

[0137] In step S42, the determination unit 88 included in the mobile body 14 determines that the delivery of the goods 74 to the storage unit 106 can be performed. Thereafter, the process moves to step S43.

[0138] In step S43, the control unit 89 of the mobile body 14 executes the delivery of the goods 74 to the storage unit 106. When step S43 is completed, Figure 5 The indicated processing is completed.

[0139] In step S44, the determination unit 88 of the mobile body 14 determines that the delivery of the goods 74 to the storage unit 106 cannot be executed. The control unit 89 of the mobile body 14 issues a notification to the vehicle 16 that the delivery of the goods 74 to the storage unit 106 cannot be executed. In this case, a notification to the effect that the delivery of the goods 74 to the storage unit 106 cannot be executed may be issued from the control unit 137 of the vehicle 16 to the user terminal 18. In addition, here, the case where the notification is issued from the mobile body 14 to the vehicle 16 is described as an example, but it is not limited to this. The notification may also be issued from the mobile body 14 to the user terminal 18. In addition, the control unit 89 of the mobile body 14 may issue the above-mentioned notification and issue a notification indicating the reason why the delivery of the goods 74 to the storage unit 106 cannot be executed.

[0140] In step S45, the determination unit 88 included in the mobile body 14 determines whether a response indicating that the storage unit 106 can be arranged has been received from the notification receiving party. If a response indicating that the storage unit 106 can be arranged has been received from the notification receiving party (Yes in step S45), the process proceeds to step S46. If a response indicating that the storage unit 106 can be arranged has not been received from the notification receiving party (No in step S45), the process proceeds to step S48.

[0141] In step S46, the determination unit 88 of the mobile body 14 determines whether a notification indicating that the arrangement of the storage unit 106 has been completed has been received from the notification receiving party. For example, the arrangement of the storage unit 106 can be performed by a passenger of the vehicle 16 or the like. If a notification indicating that the arrangement of the storage unit 106 has been completed has been received from the notification receiving party (Yes in step S46), the process after step S37 is repeated. If a notification indicating that the arrangement of the storage unit 106 has been completed has not been received from the notification receiving party (No in step S46), the process moves to step S47.

[0142] In step S47, the determination unit 88 included in the mobile body 14 determines whether a predetermined time has passed since the notification that the delivery of the goods 74 to the storage unit 106 cannot be performed was issued. If the predetermined time has passed since the notification that the delivery of the goods 74 to the storage unit 106 cannot be performed was issued (Yes in step S47), the process moves to step S48. If the predetermined time has not passed since the notification that the delivery of the goods 74 to the storage unit 106 cannot be performed was issued (No in step S47), the process of step S46 is executed again.

[0143] In step S48, the control unit 89 of the mobile body 14 requests the vehicle 16 to close the door of the storage unit 106. The control unit 137 of the vehicle 16 controls the opening and closing mechanism 104 to close the door of the storage unit 106. Thereafter, the process moves to step S6.

[0144] In this way, delivery control is performed.

[0145] As described above, according to the present embodiment, weather information including information on the weather at the delivery destination is acquired, and it is determined whether the mobile body 14 can deliver the goods 74 to the delivery destination based on the weather information. When it is raining at the delivery destination, the delivery is stopped, thereby preventing the goods 74 from being soaked by rainwater. Therefore, according to the present embodiment, it is possible to provide a delivery system 10 that can deliver the goods 74 to the delivery destination in a good manner.

[0146] [Modified embodiment]

[0147] As mentioned above, although the preferred embodiment of the present invention was described, the present invention is not limited to the above-mentioned embodiment, and various changes can be made without departing from the scope of the present invention.

[0148] For example, in the above embodiment, the determination unit 88 of the mobile body 14 determines whether the delivery of the goods 74 to the delivery destination can be performed, but the present invention is not limited to this. For example, the server 12, the vehicle 16, or the user terminal 18 may determine whether the delivery of the goods 74 to the delivery destination can be performed.

[0149] In the above embodiment, the determination unit 88 of the mobile body 14 determines whether the goods 74 can be delivered to the storage unit 106, but the present invention is not limited thereto. For example, the determination unit 88 of the mobile body 14 determines whether the goods 74 can be delivered to the storage unit 106, but the present invention is not limited thereto.

[0150] The above-mentioned embodiments can be summarized as follows.

[0151] A delivery system (10) for delivering goods (74) to a delivery destination (16) using a mobile body (14), the delivery system comprising: a human information acquisition unit (86) for acquiring information related to a person located in a space surrounding a storage unit (106) of the delivery destination, i.e., human information; and a determination unit (88) for limiting the delivery of the goods by the mobile body to the storage unit based on the human information acquired by the human information acquisition unit. According to such a structure, information related to a person located in a space surrounding a storage unit of the delivery destination, i.e., human information, is acquired, and a determination is made based on the human information whether to limit the delivery of the goods by the mobile body to the storage unit. Therefore, according to such a structure, the risk of the goods being stolen by a person located in the vicinity of the storage unit can be reduced, and a delivery system capable of delivering goods well to the delivery destination can be provided.

[0152] Alternatively, the human information may be acquired by an external sensor (114) provided in the vehicle (16) having the storage unit.

[0153] Alternatively, the human information may be acquired by an external sensor (67) possessed by the moving object.

[0154] Alternatively, the person information may include information related to the person's orientation, and the determination unit may limit the delivery of the goods by the mobile body to the storage unit based on the person's orientation. According to such a structure, the risk of the goods being stolen by people located near the storage unit can be more reliably reduced, and the delivery can be performed appropriately.

[0155] Alternatively, when the direction of the person is from the person to the storage unit, the determination unit interrupts or stops the delivery of the goods to the storage unit by the moving body. According to such a structure, the risk of the goods being stolen by people located near the storage unit can be more reliably reduced, and the delivery can be performed appropriately.

[0156] Alternatively, the person information may include information related to the distance between the storage section and the person, and the determination unit may limit the delivery of the goods to the storage section by the moving body based on the distance between the storage section and the person. According to such a structure, the risk of the goods being stolen by people located near the storage section can be more reliably reduced, and the delivery can be performed appropriately.

[0157] Alternatively, when the distance between the storage section and the person is less than a distance threshold, the delivery of the goods to the storage section by the mobile body may be interrupted or stopped. According to such a structure, the risk of the goods being stolen by people located near the storage section can be more reliably reduced, and the delivery can be performed appropriately.

[0158] Alternatively, the person information may include information related to the person's moving speed, and the determination unit may limit the delivery of the goods by the moving body to the storage unit based on the person's moving speed. According to such a structure, the risk of the goods being stolen by people located near the storage unit can be more reliably reduced, and the delivery can be performed appropriately.

[0159] Alternatively, when the moving speed of the person is greater than a moving speed threshold, the delivery of the goods to the storage unit by the moving body may be interrupted or stopped. According to such a structure, the risk of the goods being stolen by people around the storage unit can be more reliably reduced, and the delivery can be performed appropriately.

[0160] Alternatively, the person information may include information about the distance between the storage section and the person, information about the person's moving speed, and information about the person's direction, and the determination unit may determine the time required for the person to reach the storage section based on the information about the distance between the storage section and the person and the information about the person's moving speed, and when the person's direction is from the person toward the storage section, and the time required for the person to reach the storage section is shorter than the time required for the mobile body to complete the delivery of the goods to the storage section, the determination unit may interrupt or stop the delivery of the goods to the storage section by the mobile body. According to such a structure, the risk of theft of goods by people located around the storage section can be more reliably reduced, and the delivery can be appropriately performed.

[0161] Alternatively, the person information may include information about the distance between the storage unit and the person, information about the moving speed of the person, and information about the direction of the person, and when any one of the distance between the storage unit and the person, the moving speed of the person, and the direction of the person changes while the goods are being delivered by the mobile body, the determination unit determines whether to continue to deliver the goods by the mobile body. According to such a configuration, the risk of theft of goods by people located near the storage unit can be more reliably reduced, and delivery can be performed appropriately.

[0162] Alternatively, the mobile object may be an autonomous flying mobile object.

[0163] The storage portion may be provided on a vehicle.

[0164] A delivery method comprises: steps of obtaining information related to people located in a peripheral space of a storage section at a delivery destination, i.e., human information (S21, S22); and steps of limiting the delivery of goods by a mobile body to the storage section based on the human information (S23-S25, S29).

[0165] A non-temporary computer-readable recording medium storing a program, the program storing the program for causing a computer to execute the following steps: a step of obtaining information related to a person located in a peripheral space of a storage section at a delivery destination, i.e., human information; and a step of restricting the delivery of goods by a mobile body to the storage section based on the human information.

Claims

1. A delivery system (10) for delivering goods (74) to a delivery destination (16) using a mobile body (14), characterized in that: have: a human information acquisition unit (86) for acquiring information related to a person located in a peripheral space of a storage unit (106) provided in the delivery destination, namely, human information; and a determination unit (88) for determining whether to restrict the delivery of the goods from the moving body to the storage unit based on the personal information acquired by the personal information acquisition unit, The person information includes information about the distance between the storage unit and the person, information about the moving speed of the person, and information about the direction of the person. The determination unit determines the time required for the person to reach the storage unit based on information about the distance between the storage unit and the person and information about the moving speed of the person. The determination unit determines the time required for the moving body to complete delivery of the goods to the storage unit based on the time required for the moving body to reach the storage unit, the time required to determine whether the goods can be delivered to the storage unit, and the time required to deliver the goods to the storage unit. When the direction of the person is from the person to the storage section, and the time required for the person to reach the storage section is shorter than the time required for the moving body to complete the delivery of the goods to the storage section, the determination unit interrupts or stops the delivery of the goods to the storage section by the moving body, The determination unit determines that the delivery of the item to the storage unit is executable when the person is walking in a direction away from the storage unit.

2. The distribution system according to claim 1, characterized in that: The human information is acquired by an external sensor (114) of the vehicle having the storage unit.

3. The distribution system according to claim 1, characterized in that: The human information is acquired by an external sensor possessed by the moving object.

4. The distribution system according to claim 1, characterized in that: The determination unit restricts delivery of the goods to the storage unit by the moving object based on the moving speed of the person.

5. The distribution system according to claim 4, characterized in that: When the moving speed of the person is equal to or greater than a moving speed threshold, delivery of the goods to the storage section by the moving body is interrupted or stopped.

6. The distribution system according to claim 1, characterized in that: The determination unit determines whether to continue to deliver the cargo by the moving body when any one of the distance between the storage unit and the person, the moving speed of the person, and the direction of the person changes while the cargo is being delivered by the moving body.

7. The distribution system according to claim 1, characterized in that: The mobile object is an autonomous flying mobile object.

8. The delivery system according to any one of claims 1 to 7, characterized in that: The storage portion is provided on a vehicle.

9. A distribution method, characterized in that: have: A step of acquiring information related to a person located in a peripheral space of a storage unit provided at a delivery destination, namely, human information (S21, S22); A determination step (S23 to S25, S29) of whether to restrict the delivery of goods from the mobile body to the storage unit is performed based on the personal information. The person information includes information about the distance between the storage unit and the person, information about the moving speed of the person, and information about the direction of the person. In the determining step, the time required for the person to reach the storage section is determined based on information about the distance between the storage section and the person and information about the moving speed of the person. In the determination step, the time required for the moving body to complete delivery of the goods to the storage section is determined based on the time required for the moving body to reach the storage section, the time required to determine whether the goods can be delivered to the storage section, and the time required to deliver the goods to the storage section. When the direction of the person is from the person to the storage section, and the time required for the person to reach the storage section is shorter than the time required for the moving body to complete the delivery of the goods to the storage section, in the determination step, the delivery of the goods to the storage section by the moving body is interrupted or stopped, In the case where the person is walking in a direction away from the storage section, it is determined in the determination step that the delivery of the goods to the storage section can be performed.

10. A non-transitory computer-readable recording medium storing a program, characterized in that: A program for causing a computer to execute the following steps is stored: A step of acquiring information related to a person located in a surrounding space of a storage unit provided at a delivery destination, that is, human information; a step of determining whether to restrict the delivery of goods from the mobile body to the storage unit based on the personal information, The person information includes information about the distance between the storage unit and the person, information about the moving speed of the person, and information about the direction of the person. In the determining step, the time required for the person to reach the storage section is determined based on information about the distance between the storage section and the person and information about the moving speed of the person. In the determination step, the time required for the moving body to complete delivery of the goods to the storage section is determined based on the time required for the moving body to reach the storage section, the time required to determine whether the goods can be delivered to the storage section, and the time required to deliver the goods to the storage section. When the direction of the person is from the person to the storage section, and the time required for the person to reach the storage section is shorter than the time required for the moving body to complete the delivery of the goods to the storage section, in the determination step, the delivery of the goods to the storage section by the moving body is interrupted or stopped, In the case where the person is walking in a direction away from the storage section, it is determined in the determination step that the delivery of the goods to the storage section can be performed.

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