Transport system, information processing device, and information processing method

Abstract

The present invention provides a transport system, information processing device, and information processing method capable of setting an appropriate acceptance restriction time for each shipment based on the environment of the destination. The transport system obtains information about the shipment and environmental information obtained by sensing the environment of the destination. Based on this information, the system determines the acceptance restriction time for the shipment in the destination environment.

Description

Technical Field

[0001] The present invention relates to the technical field of a system for transporting goods to a destination. Background Art

[0002] Conventionally, a method for transporting goods, such as items purchased on EC (Electronic Commerce) websites, involves placing the goods in a destination hallway, storage facility, or other location. This method allows the recipient to receive the goods without a face-to-face meeting, eliminating the need for the recipient to be at home and reducing the costs associated with re-delivery. Patent Document 1 discloses a technology for transporting goods by appropriately opening the automatic locks of a condominium equipped with automatic locks during a "drop-off" operation.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-53047

[0004] However, if fresh goods such as fresh food are left at the destination for a long time due to being delivered, they may spoil earlier than usual. Therefore, it is desirable to limit the receiving time for each cargo according to the environment of the destination. Summary of the Invention

[0005] Therefore, one of the objects of the present invention is to provide a transport system, an information processing device, and an information processing method capable of setting an appropriate reception limit time for each cargo in accordance with the environment of the transport destination.

[0006] To solve the above-mentioned problem, the invention according to claim 1 is characterized by comprising: a cargo information acquisition unit for acquiring cargo information of the cargo being transported; an environmental information acquisition unit for acquiring environmental information obtained by sensing the environment of the destination where the cargo is to be transported; and a determination unit for determining a restricted acceptance time for the cargo in the environment of the destination based on the cargo information and the environmental information. Thus, an appropriate restricted acceptance time can be set for each cargo in accordance with the environment of the destination.

[0007] The invention according to claim 2 is characterized in that, in the transport system according to claim 1, the transport system further comprises a movable body having a carry-out section for carrying out the cargo and transporting the cargo.

[0008] The invention according to claim 3 is characterized in that, in the transport system according to claim 1 or claim 2, the transport system further comprises a sensor for sensing an environment of the transport destination.

[0009] The fourth invention is characterized in that, in the transport system according to the third invention, the sensor is mounted on a movable body that transports the cargo, thereby enabling more efficient sensing of the environment at the transport destination.

[0010] The invention according to claim 5 is characterized in that, in the transport system according to claim 2 or claim 4, the movable body is an unmanned movable body capable of moving in an unmanned manner.

[0011] The sixth invention is characterized in that, in the transport system according to any one of the first to fifth aspects, the transport system further comprises a notification unit for notifying a recipient of the goods of a restricted time limit for receiving the goods. This minimizes the risk of the goods being left unattended after the restricted time limit has expired.

[0012] The invention according to claim 7 is characterized in that, in the transport system according to claim 6, the transport system comprises: a receiving unit for receiving a response message from the recipient of the notification of the acceptance limit time; and a control unit for controlling the transport of the goods to a location other than the transport destination when the response message indicates that the goods cannot be received. This reliably prevents the goods from being left unattended even after the acceptance limit time has expired.

[0013] The eighth invention, in the transport system according to the sixth invention, is characterized in that the transport system includes a control unit that controls the transport of the cargo to a location other than the transport destination if no response message is received even after a predetermined time has passed since the notification of the reception limit time. This reliably prevents the cargo from being placed after the reception limit time has passed.

[0014] The invention according to claim 9 is characterized in that, in the transport system according to any one of claims 1 to 8, the transport system includes a control unit that controls the collection of the goods if, after the goods have been placed at the transport destination, the receipt of the goods cannot be confirmed even after the receipt limit time has passed. This reliably prevents the goods from being placed even after the receipt limit time has passed.

[0015] The invention according to claim 10 is characterized in that, in the transport system according to claim 2, claim 4, or claim 5, the transport system further comprises a transmitter that transmits information indicating the limited reception time to a mobile body different from the mobile body transporting the cargo at the transport destination. This reliably prevents cargo from being placed after the limited reception time has expired.

[0016] The invention of aspect 11 is a conveying system according to any one of aspects 1 to 10, characterized in that the determination unit uses data or a function that specifies the relationship between the environment and the acceptance limit time for each type of goods to determine the acceptance limit time of the goods.

[0017] The invention of aspect 12 is a conveying system according to any one of aspects 1 to 10, characterized in that the determination unit uses data or a function that specifies the relationship between the type represented by the cargo information and the combination of the environmental information and the reception limit time to determine the reception limit time of the cargo.

[0018] The invention according to claim 13 is characterized in that, in the transport system according to any one of claims 1 to 12, when a predetermined time has elapsed since the determination of the reception limit time, the environmental information acquisition unit reacquires environmental information of an area including the transport destination, and the transport system further comprises a determination unit that determines whether to update the reception limit time based on changes in the environmental information of the transport destination. Thus, the reception limit time can be appropriately updated based on changes in the environment over time.

[0019] The invention according to claim 14 is characterized in that, in the transport system according to any one of claims 1 to 13, the sensing is performed when it is determined that the recipient at the transport destination cannot directly receive the cargo.

[0020] The invention of aspect 15 is characterized in that it comprises: a cargo information acquisition unit that acquires cargo information of the cargo being transported; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment of the transport destination of the cargo; and a determination unit that determines the reception limit time of the cargo in the environment of the transport destination based on the cargo information and the environmental information.

[0021] The invention of aspect 16 is an information processing method executed by one or more computers, and the information processing method is characterized in that it includes the following steps: obtaining cargo information of the transported cargo; obtaining environmental information obtained by sensing the environment of the transport destination of the cargo; and determining the reception limit time of the cargo in the environment of the transport destination based on the cargo information and the environmental information.

[0022] According to the present invention, it is possible to set an appropriate reception limit time for each cargo in accordance with the environment of the transport destination. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a diagram showing a schematic configuration example of the transport system S according to the present embodiment.

[0024] Figure 2 This is a diagram showing a schematic configuration example of the UGV 1 .

[0025] Figure 3 This is a diagram showing a first example of a schematic configuration of the exterior and interior of a UGV 1 .

[0026] Figure 4 This is a diagram showing a second schematic configuration example of the exterior and interior of the UGV 1 .

[0027] Figure 5 It is a diagram showing a schematic configuration example of the management server 2 .

[0028] Figure 6 1 is a diagram showing an example of functional blocks in the control unit 23 .

[0029] Figure 7 This is a diagram showing an example of a table that specifies the relationship between combinations of types of goods and environmental information and reception limit time periods.

[0030] Figure 8 This is a diagram showing an example of a display screen for returning a response message.

[0031] Figure 9 This is a sequence diagram showing an example of the operation when the UGV 1 transports cargo to a transport destination.

[0032] Description of labels

[0033] 1: UGV; 2: Management server; 11: Driving unit; 12: Positioning unit; 13: Communication unit; 14: Shooting unit; 15: Sensor unit; 16: Storage unit; 17: Control unit; 101: Wheel; 102: Storage unit; 103, 104: Cargo information acquisition unit; 21: Communication unit; 22: Storage unit; 23: Control unit; 231: Cargo information acquisition unit; 232: Environmental information acquisition unit; 233: Receiving limit time determination unit; 234: Receiving limit time notification unit; 235: Response receiving unit; 236: Mobile body control unit; NW: Communication network; S: Transport system.

[0034] Specific real-time method

[0035] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0036] [1. Overview of the Structure and Functions of the Transport System S]

[0037] First, refer to Figure 1 , the structure and function overview of the transport system S according to one embodiment of the present invention will be described. Figure 1 : is a diagram showing an example of the schematic configuration of a transport system S according to this embodiment. Figure 1As shown, the transport system S is configured to include a UGV (Unmanned Ground Vehicle) 1 and a management server 2 (an example of an information processing device). The UGV 1 is an autonomous mobile body that can move autonomously without human intervention. Figure 1 In the example shown, one UGV 1 is shown, but in reality, there are multiple UGVs 1, each of which transports cargo. The management server 2 is a server that manages information related to the transported cargo. The UGV 1 and the management server 2 can be connected to the communication network NW respectively and can communicate with each other via the communication network NW. The communication network NW is composed of, for example, the Internet, a mobile communication network and its wireless base stations. In addition, Figure 1 The illustrated UGV 1 is an unmanned ground vehicle having a plurality of wheels for moving on the ground. However, the UGV 1 may be a mobile body such as a robot having no wheels (eg, a bipedal walking robot).

[0038] In such a transport system S, the UGV 1 transports the loaded goods to the transport destination. Here, the goods can also be referred to as articles or goods. For example, the goods can also be commodities (ordered goods) ordered on an EC website. The transport destination of the goods is, for example, a residence where the recipient of the goods lives, or an office where the recipient works, where the goods are delivered. In this embodiment, when the recipient of the goods is not at the transport destination and cannot directly receive the goods from the UGV 1, it is assumed that the UGV 1 places the goods at a specific place (outdoors) at the transport destination and leaves the place (that is, drops the goods). The place where the goods are placed (hereinafter referred to as the "dropping place") can be, for example, the ground in front of the entrance (hallway) of a residence or office (for example, a concrete, earth, gravel or lawn ground) or a storage room set up near the entrance of a residence or office. Alternatively, in the case where the residence is a collective residence (for example, a single apartment or a high-end apartment), the delivery location can also be a storage room (for example, a delivery box) set up near the public entrance of the collective residence or in a collective residence-specific UGV (that is, a UGV different from the UGV 1 for transporting goods) on standby near the public entrance of the collective residence.

[0039] [1-1. Structure and Function of UGV 1]

[0040] Next, refer to Figure 2 , the structure and function of UGV 1 are explained. Figure 2 This is a diagram showing a schematic configuration example of the UGV 1 . Figure 3 and Figure 4 1 is a diagram showing an example of the schematic structure of the exterior and interior of the UGV 1. Figure 2As shown in FIG. 1 , the UGV 1 includes a driving unit 11, a positioning unit 12, a communication unit 13, a photographing unit 14, a sensor unit 15, a storage unit 16, and a control unit 17. Although not shown, the UGV 1 includes a battery for supplying power to each component of the UGV 1. Figure 3 and Figure 4 As shown, the UGV 1 includes wheels 101 , a cargo storage section 102 , a cargo carrying-in mechanism (not shown), and a cargo carrying-out mechanism (an example of a carrying-out section) 103 (or 104 ).

[0041] The drive unit 11 includes a motor, a rotating shaft, and other components. The drive unit 11 rotates the multiple wheels 101 using the motor and rotating shaft, which are driven by control signals from the control unit 17. The storage unit 102 can accommodate (load) multiple items and provides a cooling function. Although not shown, the storage unit 102 is equipped with a moving mechanism that moves the stored items to a designated position within the storage unit 102 in response to control signals from the control unit 17.

[0042] Figure 3 The carrying mechanism 103 shown has an actuator (not shown) consisting of opening and closing doors 103a, 103b, a slider 103c, and a motor. The opening and closing doors 103a, 103b are moved, for example, by sliding, by means of the actuator that converts the control signal output from the control unit 17 into a mechanical action. Figure 3 In the example, the goods C stored in the storage section 102 are moved to the upper part of the slider 103c by the moving mechanism in the storage section 102, as shown by the arrow in the figure, slide on the slider 103c through the opening of the part with the opening and closing door 103a, and are carried out to the delivery location through the opening of the part with the opening and closing door 103b.

[0043] on the other hand, Figure 4 The transport mechanism 104 shown has an actuator (not shown) consisting of an opening and closing door 104a and a motor. The opening and closing door 104a is constructed by stacking a plurality of thin plates to be able to extend and retract (see FIG. Figure 4 (a)), by means of the control signal output from the control unit 17 is converted into a mechanical action of the actuator to the outside of the UGV1 (refer to Figure 4 (b)) so that the thin plate of the door 104a extends to form a slider. Figure 4 In the example, the goods C stored in the storage section 102 are moved to the portion with the door 104a by means of the moving mechanism in the storage section 102. As shown by the arrow in the figure, the goods C pass through the opening of the portion and slide on the slider formed by the door 104a to be carried out to the delivery location. Figure 3 and Figure 4The carrying-out mechanism 103 (or 104) shown is an example, and other structures may be adopted. In addition, when the delivery location is a UGV dedicated to a collective housing, a delivery mechanism for delivering goods from the UGV 1 to the UGV dedicated to the collective housing is provided in each UGV.

[0044] The positioning unit 12 has a radio wave receiver, etc. The positioning unit 12 receives radio waves transmitted from GNSS (Global Navigation Satellite System) satellites through a radio wave receiver, for example, and detects the current position (latitude and longitude) of the UGV 1 based on the radio waves. In addition, the current position of the UGV 1 can also be determined by SLAM (Simultaneous Localization and Mapping) processing in addition to the radio waves transmitted from the GNSS satellites. In addition, the current position of the UGV 1 can also be corrected based on the image captured by the shooting unit 14. The position information indicating the current position detected by the positioning unit 12 is output to the control unit 17. The communication unit 13 is responsible for controlling the communication via the communication network NW. In addition, the communication unit 13 only needs to have a short-range wireless communication function such as Bluetooth (registered trademark).

[0045] The imaging unit 14 includes, for example, a camera. The imaging unit 14 is used in the movement control of the UGV 1. The imaging unit 14 continuously captures the real space within the range of the camera's field of view. The image information captured by the imaging unit 14 is output to the control unit 17. The sensor unit 15 includes a sensor for sensing the environment of the transport destination. By mounting this sensor on the UGV 1, the environment of the transport destination can be sensed more efficiently. Examples of such sensors include temperature sensors, humidity sensors, air pressure sensors, and rainfall sensors, but the sensor unit 15 only needs to include a temperature sensor and a humidity sensor. The sensor unit 15 outputs the environmental information obtained by sensing the environment of the transport destination to the control unit 17. The environmental information includes, for example, at least one of the temperature, humidity, and rainfall at the delivery site of the transport destination. In addition, the sensor for sensing the environment of the cargo transport destination is sometimes also set at the transport destination (for example, near the entrance of a residence, office, or a public entrance of a residential complex).

[0046] The storage unit 16 is composed of non-volatile memory and other components, and stores various programs and data. The storage unit 16 also stores a mobile ID, which identifies the UGV 1. The control unit 17 includes a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory), and executes various processes according to the programs stored in the ROM (or alternatively, non-volatile memory). For example, the control unit 17 controls the movement of the UGV 1 to the destination of the cargo (e.g., from the cargo delivery point to the destination). This movement control uses position information obtained from the positioning unit 12, image information obtained from the imaging unit 14, and cargo delivery destination information to control the rotation speed of the wheels 101, the position, and the direction of travel of the UGV 1. This allows the UGV 1 to autonomously move to the destination. The cargo delivery destination information can be set in the UGV 1 at the cargo delivery point (in other words, the cargo loading point), or it can be transmitted from the management server 2. The destination information of the cargo includes, for example, a cargo ID for identifying the cargo and location information of the destination of the cargo. The location information of the destination of the cargo may be the address of the destination of the cargo or the location information (latitude and longitude) of the destination of the cargo.

[0047] Furthermore, when the UGV 1 arrives at the transport destination, the control unit 17 acquires (as an environmental information acquisition unit) environmental information obtained by activating the sensor unit 15 to sense the environment at the transport destination. The control unit 17 then causes the communication unit 13 to transmit the acquired environmental information to the management server 2, indicating the mobile ID of the UGV 1. The control unit 17 then performs unloading control to unload the cargo from the drop-off location at the transport destination. For example, after adjusting the position of the UGV 1 based on the image information acquired from the imaging unit 14, the control unit 17 outputs control signals to the moving mechanism within the storage unit 102 and the unloading mechanism 103 (or 104), thereby causing the unloading mechanism 103 (or 104) to unload the cargo to the drop-off location.

[0048] Furthermore, the control unit 17 may cause the communication unit 13 to transmit position information indicating the current position of the UGV 1 and cargo loading availability information to the management server 2 in a time-sequential manner. Here, cargo loading availability information indicates whether cargo can be loaded at the current moment. "Sending in a time-sequential manner" means sending the information multiple times continuously over time. The time interval between sending the position information and the loading availability information (i.e., the sending interval) may be fixed or irregular.

[0049] [1-2. Configuration and Functions of Management Server 2]

[0050] Next, refer to Figure 5 The configuration and functions of the management server 2 will be described. Figure 5 2 is a diagram showing an example of the schematic configuration of the management server 2. Figure 5 As shown, the management server 2 includes a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is responsible for controlling communications via the communication network NW. The storage unit 22, for example, is composed of a hard disk drive and stores various programs and data. For example, a cargo database (DB) 221 is constructed in the storage unit 22. In the cargo database 221, the cargo ID, cargo information, cargo destination information, the mobile ID of the UGV 1 transporting the cargo, and cargo recipient information (e.g., the recipient's name and email address) are stored in correspondence with each cargo.

[0051] Here, the cargo information of the goods includes the type of goods. Examples of the types of goods include food, beverages, clothing, medical products, daily necessities, electrical appliances, books, etc. Food can be divided into foods that need to be frozen (frozen foods) and goods that do not need to be frozen. In addition, food can be divided into foods that need to be refrigerated (for example, fresh foods such as vegetables, fruits, fresh fish, and lean meat) and foods that do not need to be refrigerated (for example, processed foods, etc.). In addition, electrical products can be divided into products that contain precision components such as electronic components and products that do not contain precision components. In addition, in the cargo information of the goods, whether it has resistance to a specified temperature range (for example, above 15°C), whether it has resistance to a specified humidity range (for example, above 60%), and whether it has resistance to water immersion can be included together with the type of goods (or instead of the type).

[0052] Furthermore, the cargo database 221 may store, in association with the mobile ID of the UGV 1 carrying the cargo, location information indicating the current location of the UGV 1, cargo loading availability information, and address information for accessing the UGV 1. The location information and cargo loading availability information are updated each time the communication unit 21 receives them from the UGV 1.

[0053] The control unit 23 includes a CPU, a ROM, a RAM, and the like, and executes various processes according to programs stored in the ROM (or a nonvolatile memory). Figure 6 FIG. 2 is a diagram showing an example of functional blocks in the control unit 23. The control unit 23 executes the above program, as shown in FIG. Figure 6As shown, it functions as a cargo information acquisition unit 231, an environmental information acquisition unit 232, a reception limit time determination unit 233 (an example of a determination unit), a reception limit time notification unit 234 (an example of a notification unit), a response reception unit 235 (an example of a reception unit), and a mobile body control unit (an example of a control unit) 236.

[0054] The cargo information acquisition unit 231 acquires cargo information of cargo being transported by the UGV 1 from, for example, the cargo database 221. The environmental information acquisition unit 232 acquires, for example, environmental information from the UGV 1, obtained by sensing the environment of the destination of the cargo being transported by the UGV 1. Sensor equipment for sensing the environment of the destination may be installed at the destination, and the environmental information obtained by the sensor may be transmitted to the management server 2 via the communication network NW. In this case, the environmental information acquisition unit 232 may also acquire environmental information from sensors installed at the destination.

[0055] The acceptance time limit determination unit 233 determines the acceptance time limit for the goods in the environment of the destination, based on the goods information acquired by the goods information acquisition unit 231 and the environmental information acquired by the environmental information acquisition unit 232. The acceptance time limit determined by the acceptance time limit determination unit 233 is, for example, set as a notification to the recipient of the goods or as a timer. Here, the acceptance time limit for goods refers to the time limit for continuously leaving the goods at the drop-off location. The acceptance time limit can be expressed as a duration (e.g., x hours) from the time the goods are placed, or as a time (e.g., y o'clock z minutes). In other words, placing goods beyond the specified duration or time is restricted.

[0056] The reception restricted time determination unit 233 determines the reception restricted time of the package using, for example, data (eg, a table) or a function that defines the relationship between a combination of the type of package and environmental information and the reception restricted time. Figure 7 1 is a diagram showing an example of a table showing the relationship between the combination of the type of goods and environmental information and the reception limit time. Figure 7 In the example, fresh food is associated with the combination of temperature and humidity and the reception limit time. Figure 7 For example, when the cargo transported by the UGV 1 is fresh food and the temperature at the destination of the cargo transport is 20° C. and the humidity is 50%, the reception limit time is determined to be 1 hour.

[0057] As with Figure 7In a different example, the reception limit time determination unit 233 may also use a function to determine the reception limit time, and the function calculates the reception limit time by substituting the value obtained by digitizing the type of goods shown in the above-mentioned obtained goods information and the above-mentioned obtained environmental information. Alternatively, the reception limit time determination unit 233 uses an estimation model (function group) to determine the reception limit time, and the estimation model uses the value obtained by digitizing the type of goods shown in the above-mentioned obtained goods information and the above-mentioned obtained environmental information as input, and the reception limit time as output. In this case, the correct data related to the reception limit time and the data set of the type of goods and environmental information are used as teacher data to perform machine learning of the above-mentioned estimation model. By inputting the value obtained by digitizing the type of goods shown in the above-mentioned obtained goods information and the above-mentioned obtained environmental information into such a learned estimation model, a more appropriate reception limit time can be obtained from the learned estimation model.

[0058] As yet another example, the reception limit time determination unit 233 may determine the reception limit time using data (e.g., a table) or a function that specifies the relationship between environmental information and the reception limit time for each type of goods. For example, the appropriate reception limit time may be determined by identifying the reception limit time associated with the acquired environmental information from a "table specifying the relationship between environmental information and the reception limit time" corresponding to the type of goods information obtained above. Alternatively, the appropriate reception limit time may be determined by substituting the value obtained by digitizing the acquired environmental information into the "function specifying the relationship between environmental information and the reception limit time" corresponding to the type of goods information obtained above.

[0059] The receiving time limit notification unit 234 notifies the recipient of the goods of the receiving time limit determined by the receiving time limit determination unit 233. This prevents the goods from being placed after the receiving time limit has passed as much as possible. For example, the receiving time limit notification unit 234 sends an email containing a message about the receiving time limit to the email address of the recipient corresponding to the goods information obtained above. Thus, the email is obtained by the recipient's terminal from the mail server, and the message containing the receiving time limit is displayed on the terminal or output by voice from the terminal. As an example of this message, a message such as "Please receive the goods within x hours from now" or a message such as "Please receive the goods before y o'clock and z minutes" is displayed. The message containing the receiving time limit can also be pushed and distributed directly from the management server 2 to the recipient's terminal without going through the mail server.

[0060] Furthermore, the recipient who has been notified of the limited reception time may also receive a response message from the terminal indicating whether or not the cargo can be received at the transport destination within the limited reception time. Figure 8This is a diagram showing an example of a display screen for returning a response message. Figure 8 The display screen shown is displayed on the terminal by specifying the URL (Uniform Resource Locator) set in the message displayed on the recipient's terminal (for example, a message received from the mail server or the management server 2). Figure 8 The display screen shown shows a button 51 indicating that the goods can be received and a button 52 indicating that the goods cannot be received. When the recipient selects the button 51 indicating that the goods can be received on this display screen, a response message indicating that the goods can be received is sent to the management server 2. On the other hand, when the recipient selects the button 52 indicating that the goods cannot be received on this display screen, a response message indicating that the goods cannot be received is sent to the management server 2. This reliably prevents goods from being left unaccepted even after the acceptance limit time has expired.

[0061] The response receiving unit 235 receives a response message via the communication unit 21 from the terminal of the recipient, whose reception time limit was notified by the reception time limit notification unit 234. If the response message received by the response receiving unit 235 indicates that the cargo can be received, the mobile control unit 236 controls the unloading of the cargo at the drop-off location at the transfer destination. For example, the mobile control unit 236 causes the communication unit 21 to send a control command to the UGV 1 to unload the cargo. As a result, the UGV 1 unloads the cargo to the drop-off location. On the other hand, if the response message received by the response receiving unit 235 indicates that the cargo cannot be received, the mobile control unit 236 controls the unloading of the cargo to a location other than the transfer destination. For example, the mobile control unit 236 causes the communication unit 21 to send a control command to the UGV 1 to return to the return location (e.g., the cargo delivery point) or to move to the next transfer destination. Alternatively, the mobile control unit 236 may cause the communication unit 21 to send a control command to the UGV 1 to move to a temporary storage location for the cargo.

[0062] [2. Operation of the transport system S]

[0063] Next, refer to Figure 9 , the operation of the conveying system S of this embodiment will be described. Figure 9 This is a sequence diagram illustrating an example of the operation of UGV 1 transporting cargo to a destination. In this example, the aforementioned destination information is set in UGV 1 at the cargo delivery point. The destination information includes the destination's location information and the cargo ID of the cargo being transported. The destination information may also include the recipient's email address.

[0064] exist Figure 9In the process, after UGV 1 starts transporting the goods from the sending point to the transport destination according to the transport destination information (step S1), it determines whether UGV 1 has arrived at the transport destination of the goods based on the position information of UGV 1 and the location information of the transport destination (step S2). This determination is repeated at a prescribed time interval. In addition, it can also be determined whether UGV 1 is close to the transport destination of the goods (for example, whether the distance to the transport destination is a few meters). Then, when it is determined that UGV 1 has arrived at (or is close to) the transport destination of the goods (step S2: yes), UGV 1 sends the arrival information of the goods to the transport destination and the mobile body ID of UGV 1 to the management server 2 via the communication network NW (step S3).

[0065] Next, upon receiving the arrival information and the mobile ID from the UGV 1, the management server 2 sends an email indicating the arrival of the cargo to the email address of the recipient associated with the mobile ID (step S4). Alternatively, the email can be sent from the UGV 1 to the recipient's email address. Alternatively, if the destination is equipped with a call ringing sound capable of receiving short-range wireless signals, the UGV 1 can send the short-range wireless signal instead of sending the email indicating the arrival of the cargo.

[0066] Then, if the recipient of the goods appears at the entrance of the destination (e.g., the entrance hall of a residence or office) in response to the recipient's terminal receiving the aforementioned email or receiving a call, the UGV 1 detects the recipient (step S5: Yes), moves the goods to the drop-off location (step S6), and returns to the return location or moves to the next destination. On the other hand, if the recipient cannot be detected within a specified time (e.g., several minutes) from the transmission of the arrival information (step S5: No), the UGV 1 determines that the recipient is unable to directly receive the goods, activates the sensor unit 15 to sense the environment at the destination (step S7), and obtains environmental information obtained through this sensing (step S8). Specifically, sensing of the destination environment is performed when it is determined that the recipient is unable to directly receive the goods at the destination. Next, the UGV 1 transmits its mobile ID, along with the environmental information obtained in step S8, to the management server 2 via the communication network NW (step S9).

[0067] Alternatively, if the destination is equipped with a sensor device that senses the destination environment, the management server 2 may, upon receiving arrival information from the UGV 1, send a command to the sensor device to sense the destination environment. The sensor device senses the destination environment in response to the sensing command from the management server 2 and transmits the resulting environmental information to the management server 2. In this case, the UGV 1 may not sense the destination environment (i.e., steps S7-S9 are unnecessary).

[0068] Next, upon receiving the environmental information and mobile ID from the UGV 1, the management server 2 retrieves the cargo information and recipient's email address associated with the mobile ID from the cargo database 221 (step S10). Alternatively, the management server 2 may also obtain environmental information from the sensor device as described above. Next, based on the environmental information and cargo information obtained in step S10, the management server 2 determines a limited time limit for receiving the cargo transported by the UGV 1 in the environment of the destination being transported (step S11). Next, the management server 2 includes a message containing the limited time limit determined in step S11 in an email and sends the email containing the limited time limit to the email address of the recipient of the cargo (step S12).

[0069] Next, the management server 2 determines whether a response message has been received from the terminal of the recipient of the goods based on the email sent in step S12 (step S13). If the management server 2 determines that a response message has been received (step S13: Yes), the process proceeds to step S14. On the other hand, if the management server 2 determines that no response message has been received (step S13: No), the management server 2 determines whether a specified time (e.g., several minutes) has passed since the email was sent in step S12 (step S15). If the management server 2 determines that the specified time has passed since the email was sent (step S15: Yes), that is, if no response message has been returned even after the specified time has passed since the notification of the time limit, the email is deemed unreceivable and the process proceeds to step S17. On the other hand, if the management server 2 determines that the specified time has not passed since the email was sent (step S15: No), the process returns to step S13.

[0070] In step S14, the management server 2 determines whether the response message received in step S13 indicates that the goods can be received. If the management server 2 determines that the response message indicates that the goods can be received (step S14: Yes), the process proceeds to step S16. On the other hand, if the management server 2 determines that the response message does not indicate that the goods can be received (that is, indicates that the goods cannot be received) (step S14: No), the process proceeds to step S17.

[0071] In step S16, the management server 2 transmits a control command to the UGV 1 via the communication network NW to unload the cargo from the drop-off location at the transfer destination. In response to this control command, the UGV 1 unloads the cargo to the drop-off location (step S18), returns to the return location, or moves to the next transfer destination. Meanwhile, in step S17, the management server 2 transmits a control command to the UGV 1 via the communication network NW to unload the cargo to a location other than the transfer destination. In response to this control command, the UGV 1 unloads the cargo to a location other than the transfer destination (step S19).

[0072] As described above, according to the above embodiment, the configuration is such that cargo information of the transported cargo and environmental information obtained by sensing the environment of the transport destination of the cargo are obtained, and based on the obtained cargo information and environmental information, the acceptance limit time of the cargo in the environment of the transport destination is determined. Therefore, an appropriate acceptance limit time can be set for each cargo in combination with the environment of the transport destination, and cargo can be prevented from being left at the transport destination for a long time due to being dropped.

[0073] (Variation 1)

[0074] In the above embodiment, the management server 2 may also set a reception limit timer in the reception confirmation timer and start counting when it sends a control command to the UGV 1 to remove the goods from the drop-off location at the transport destination. In this case, if the management server 2 cannot confirm the receipt of the goods placed at the transport destination before the reception confirmation timer counts up (that is, before the reception limit time has expired), the management server 2 refers to the location information and loading availability information of the UGV 1 in the cargo database 221 and searches for, for example, the UGV 1 that can load the goods and is closest to the transport destination as the cargo recovery UGV. The management server 2 then sends a cargo recovery command to the searched cargo recovery UGV. In other words, if the management server 2 cannot confirm the receipt of the goods after placing them at the transport destination, even if the reception limit time has expired, it controls the recovery of the goods. The cargo recovery UGV moves to the transport destination in accordance with the recovery command and recovers the goods, for example, returning to the shipping point or moving to the next transport destination. Thus, even in a case where the goods cannot be received until the reception limit time has passed due to reasons on the part of the recipient, it is possible to reliably prevent the goods from being left for a long time even after the reception limit time has passed. In addition, the confirmation of the receipt of the goods placed at the transport destination can be carried out, for example, by the management server 2 receiving a reception message sent from the terminal of the recipient who received the goods. In this case, for example, it is configured so that a button indicating the confirmation of the receipt of the goods is displayed on the display screen of the recipient's terminal, and when the recipient selects the button, a reception message indicating the receipt of the goods is sent to the management server 2. However, the management server 2 can also confirm the receipt of the goods by other methods. For example, in a case where a monitoring device including a camera is provided at the transport destination, the monitoring device can also send a reception message indicating the receipt of the goods to the management server 2 when the reception of the goods is detected based on the image captured by the camera.

[0075] (Variation 2)

[0076] In the above embodiment, in the case where the delivery location of the goods is a collective residence dedicated UGV that is waiting near the public entrance of the collective residence, the management server 2 may also send a control instruction to move the goods out at the delivery location of the transportation destination, as well as information indicating the reception limit time, to the UGV 1. In this case, when the UGV 1 hands over the goods to the collective residence dedicated UGV according to the control instruction from the management server 2, the information indicating the reception limit time received from the management server 2 is sent to the collective residence dedicated UGV through, for example, short-range wireless communication. In addition, the information indicating the reception limit time may also be sent from the management server 2 to the collective residence dedicated UGV. Then, the collective residence dedicated UGV that receives the goods and receives the information indicating the reception limit time sets the reception limit time in the reception confirmation timer and starts counting, and moves to, for example, a waiting location in the collective residence (which may also be in front of the room of the recipient of the goods), and waits there. Then, if the dedicated housing UGV cannot detect the recipient of the goods (that is, if the recipient does not appear) until the receipt confirmation timer counts up, it moves to, for example, the delivery point for the goods and collects the goods (on the other hand, if the recipient is detected, the goods are removed). This ensures that even if the goods cannot be received until the receipt limit time has passed due to the recipient's reasons, the goods can be reliably prevented from being left for a long time even after the receipt limit time has passed. In addition, if the dedicated housing UGV is equipped with a cooling function, the dedicated housing UGV can also store the goods even after the receipt limit time has passed. Therefore, the dedicated housing UGV can move to the delivery point and collect the goods without transmitting information indicating the receipt limit time from UGV 1 (or management server 2) to the dedicated housing UGV.

[0077] (Variation 3)

[0078] In the above embodiment, the management server 2 (environmental information acquisition unit 232) may also reacquire environmental information for the area including the transport destination when a specified time period (e.g., several tens of minutes) has passed since the reception limit time was determined. In this case, the management server 2 (determination unit) determines whether to update the reception limit time based on changes in the environmental information at the transport destination. This allows the reception limit time to be appropriately updated based on environmental changes over time. The reacquired environmental information may be obtained through sensing by sensors installed at the transport destination of the goods, or through sensing by the UGV 1 that transports the goods to the transport destination, or by a UGV different from UGV 1. For example, if the change between the environmental information acquired before the reception limit time was determined and the environmental information acquired after the reception limit time was determined is greater than a threshold (i.e., if the change in the environment is significant), it is determined that the reception limit time should be updated. Alternatively, the reacquired environmental information may be environmental information about the area surrounding the transport destination where the goods are placed (e.g., the temperature in the city of the transport destination), provided by a specified server. For example, by comparing the environmental information obtained before the reception limit time is determined with the environmental information obtained from the server, the environmental information of the destination after a predetermined time is estimated. Then, when the difference between the environmental information obtained before the reception limit time is determined and the estimated environmental information is greater than a threshold value (that is, when the environmental change is large), it is determined that the reception limit time should be updated. When the management server 2 determines that the reception limit time should be updated, it updates the reception limit time that has been determined (for example, Figure 9 The receiving time limit is updated based on the time limit determined in step S11. The management server 2 then sets a message containing the updated receiving time limit in an email and resends the email containing the message containing the receiving time limit to the email address of the recipient of the goods. Furthermore, in the above-mentioned modification 1, the updated receiving time limit can also be set again in the receiving confirmation timer and the counting can be restarted.

[0079] The above embodiment is merely one embodiment of the present invention, and the present invention is not limited to the above embodiment. Various configurations may be modified from the above embodiment without departing from the spirit of the present invention, and such modifications are also within the technical scope of the present invention. For example, while the present invention illustrates an example in which the determining unit for determining the reception time limit, the notifying unit for notifying the reception time limit, and the receiving unit for receiving the response message are located in the management server 2, some of these components may also be located in a device other than the management server 2 (e.g., the UGV 1). Furthermore, while the above embodiment illustrates an example of an unmanned autonomous UGV, the present embodiment is also applicable to mobile objects such as human-driven vehicles.

Claims

1. A transport system, characterized in that: have: A first mobile body including a carrying-out portion for carrying out cargo and transporting the cargo; a cargo information acquiring unit for acquiring cargo information of the cargo being transported; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment of a destination for transporting the cargo; a determination unit that determines a restricted time period for receiving the cargo in the environment of the transport destination based on the cargo information and the environment information; a confirmation unit that confirms receipt of the goods until the receipt limit time elapses; as well as The recovery unit, when the result of the confirmation is that the receipt of the goods cannot be confirmed, searches for a second mobile body that can load the goods and is closest to the transportation destination based on the position information indicating the current position of the first mobile body and the loading availability information indicating whether the goods can be loaded at the current moment, and recovers the goods through the second mobile body.

2. The transport system according to claim 1, wherein: The transport system further includes a sensor for sensing the environment of the transport destination.

3. The transport system according to claim 2, wherein: The sensor is mounted on the first moving object.

4. The transport system according to claim 1 or 3, characterized in that: The first moving object and the second moving object are unmanned moving objects capable of moving in an unmanned manner.

5. The transport system according to claim 1, wherein: The transport system further includes a notification unit configured to notify a recipient of the cargo of a limited time period for receiving the cargo.

6. The transport system according to claim 5, wherein: have: a receiving unit that receives a response message from the recipient who has been notified of the reception limit time; and The control unit performs control for transporting the cargo to a location other than the transport destination when the response message indicates that the cargo cannot be received.

7. The transport system according to claim 5, characterized in that The transport system includes a control unit configured to perform control for transporting the cargo to a location other than a transport destination when no response message is returned even after a predetermined time has elapsed since the notification of the reception time limit.

8. The transport system according to claim 1, wherein: The determination unit determines the restricted reception time of the cargo using data or a function that defines a relationship between an environment and a restricted reception time for each type of cargo.

9. The transport system according to claim 1, wherein: The determination unit determines the restricted reception time of the cargo using data or a function that defines a relationship between a combination of a type indicated by the cargo information and the environmental information and the restricted reception time.

10. The transport system according to claim 1, wherein: When a predetermined time has elapsed since the reception limit time was determined, the environmental information acquisition unit acquires environmental information of the area including the transport destination again. The transport system further includes a determination unit configured to determine whether to update the reception limit time based on a change in the environmental information of the transport destination.

11. The transport system according to claim 1, wherein: The sensing is performed when it is determined that the recipient of the cargo at the transport destination is unable to directly receive the cargo.

12. An information processing device, characterized in that: have: a cargo information acquiring unit configured to acquire cargo information of the cargo transported by the first movable body; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment of a destination for transporting the cargo; a determination unit that determines a restricted time period for receiving the cargo in the environment of the transport destination based on the cargo information and the environment information; a confirmation unit that confirms receipt of the goods until the receipt limit time elapses; as well as The recovery unit, when the result of the confirmation is that the receipt of the goods cannot be confirmed, searches for a second mobile body that can load the goods and is closest to the transportation destination based on the position information indicating the current position of the first mobile body and the loading availability information indicating whether the goods can be loaded at the current moment, and recovers the goods through the second mobile body.

13. An information processing method, executed by one or more computers, comprising the following steps: obtaining cargo information of the cargo transported by the first mobile body transporting the cargo; Acquiring environmental information obtained by sensing the environment of the destination where the cargo is to be transported; determining a limited time for receiving the cargo in the environment of the transport destination based on the cargo information and the environment information; confirming receipt of the goods until the receipt limit time has passed; and If the result of the confirmation is that the receipt of the goods cannot be confirmed, based on the position information indicating the current position of the first mobile body and the loading availability information indicating whether the goods can be loaded at the current moment, a second mobile body that can load the goods and is closest to the transportation destination is retrieved, and the goods are recovered by the second mobile body.

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