Information processing device, information processing method and unmanned mobile object

Abstract

Obtain cargo information of the cargo transported by the UGV (1), and obtain environmental information obtained by sensing the environment around the UGV (2) at the cargo transport destination using a sensor mounted on the UGV (1), and determine a drop-off location at the cargo transport destination where the UGV (1) places the cargo.

Description

Technical Field

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

[0002] Conventionally, as a method of transporting goods such as goods purchased on EC (Electronic commerce) websites, a so-called "dropping" method is implemented, in which the goods are placed in a hallway, storage room, etc. of the transport destination. According to this dropping, the recipient can receive the goods in a non-face-to-face manner, so the recipient does not need to be at home, and the operation cost associated with the re-delivery of the goods can be reduced. Patent document 1 discloses a technology for appropriately opening an automatic lock and transporting goods when "dropping" is performed in a residential building with an automatic lock device.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-53047 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, if fresh food and other goods with limited freshness are placed in an inappropriate place such as a place with a high temperature, they may be spoiled earlier than usual. Therefore, it is desirable to place each of the goods in an appropriate place according to the environment of the transport destination.

[0008] Therefore, one of the objects of the present invention is to provide an information processing device, an information processing method, and an unmanned mobile body that can place each cargo at an appropriate location in accordance with the environment of the transport destination.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems, the invention of aspect 1 is characterized in that it comprises: a cargo information acquisition unit that acquires cargo information of cargo that is transported by an unmanned mobile body that can move in an unmanned manner; an environmental information acquisition unit that acquires environmental information obtained by a sensor mounted on the unmanned mobile body sensing the environment around the unmanned mobile body at the transport destination of the cargo; and a place determination unit that determines the place where the unmanned mobile body places the cargo at the transport destination based on the cargo information and the environmental information. Thus, it is possible to determine an appropriate place as a place to place the cargo for each cargo in combination with the environment of the transport destination, and place the cargo at the place.

[0011] The invention of claim 2 is characterized in that, in the information processing device of claim 1, the environmental information acquisition unit acquires environmental information representing an environment corresponding to the location information of the destination of the cargo in addition to the environmental information acquired by sensing the environment around the unmanned mobile body, thereby enabling a more appropriate place to be determined as the place to place the cargo.

[0012] The invention of claim 3 is characterized in that, in the information processing device of claim 1 or claim 2, the environment information acquisition unit acquires environment information obtained by the sensor sensing the environment of multiple areas around the unmanned mobile body, and the place determination unit determines the place to place the goods from any one of the multiple areas. Thus, the place to place the goods can be determined from a more appropriate area among the multiple areas around the unmanned mobile body.

[0013] The invention of claim 4 is characterized in that, in the information processing device of any one of claims 1 to 3, the place determination unit determines a place with shade at the transport destination as the place to place the goods. Thus, even if the temperature is not measured at the transport destination, it is possible to minimize the deterioration of the contents of the goods due to the influence of temperature.

[0014] The invention of claim 5 is characterized in that in the information processing device of any one of claims 1 to 4, the place determination unit further determines the place where the goods are placed based on the scheduled time of receiving the goods. This makes it possible to achieve flexible response in combination with the scheduled time of receiving the goods.

[0015] The invention of claim 6 is characterized in that, in the information processing device of any one of claims 1 to 5, the information processing device further comprises a prediction unit, which predicts the time-series environmental changes around the unmanned mobile body based on the environmental information, and the place determination unit determines the place to place the goods based on the goods information and the time-series environmental changes predicted by the prediction unit. Thus, it is possible to determine an appropriate place as a place to place the goods for each of the goods in consideration of the future environment of the transport destination, and place the goods at the place.

[0016] The invention of claim 7 is characterized in that, in the information processing device of claim 6, the prediction unit predicts the time series change of the shaded area as the time series environmental change, thereby reducing the impact of the temperature on the cargo even when the temperature is not measured and predicted at the destination.

[0017] The invention of claim 8 is characterized in that, in the information processing device of claim 6 or claim 7, the information processing device further comprises a structural information acquisition unit, the structural information acquisition unit acquires structural information of a building at the transport destination, and the prediction unit predicts a time-series environmental change around the unmanned mobile body based on the environmental information and the structural information. Thus, the environmental change at the transport destination can be predicted with high accuracy.

[0018] The invention of claim 9 is characterized in that in the information processing device of any one of claims 6 to 8, the information processing device further comprises: a time determination unit that determines a predetermined time for placing the goods at the place determined by the place determination unit based on the time series environmental changes predicted by the prediction unit; and a control unit that causes the unmanned mobile body to carry out the goods when the predetermined time determined by the time determination unit is reached. In this way, the influence of the environment on the goods can be reduced as much as possible.

[0019] The invention of aspect 10 is characterized in that in the information processing device of aspect 9, the information processing device also has a determination unit, which determines whether to allow the unloading of the goods based on environmental information obtained by sensing the environment around the unmanned mobile body when a predetermined time determined by the time determination unit is reached, and when the determination unit determines that the unmanned mobile body is allowed to move out the goods, the control unit causes the unmanned mobile body to move out the goods.

[0020] The invention of claim 11 is characterized in that, in the information processing device of any one of claims 1 to 10, the information processing device further comprises a notification unit for notifying a recipient of the goods of the place determined by the place determination unit, thereby enabling the recipient to be promptly notified of the place where the goods are placed.

[0021] The invention of claim 12 is characterized in that, in the information processing device of claim 11, the transport system includes a control unit, which controls the collection of the goods when the receiving of the goods cannot be confirmed after the notification unit notifies the recipient of the place. This can reliably prevent the goods from being left.

[0022] The invention according to claim 13 is an information processing device according to any one of claims 1 to 12, wherein when it is determined that the recipient at the transport destination cannot directly receive the goods, the place determination unit determines a place to place the goods.

[0023] The invention according to claim 14 is characterized in that, in the information processing device 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.

[0024] The invention according to claim 15 is the information processing device according to any one of claims 1 to 14, wherein the place where the goods are placed is outdoors.

[0025] 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 cargo, which is transported by an unmanned mobile body that can move in an unmanned manner; and obtaining environmental information obtained by a sensor mounted on the unmanned mobile body sensing the environment around the unmanned mobile body at the transport destination of the cargo; and determining the place where the unmanned mobile body places the cargo at the transport destination based on the cargo information and the environmental information.

[0026] The invention of aspect 17 is an unmanned mobile body that can move in an unmanned manner and transport goods to a transport destination. The unmanned mobile body is characterized in that it has: a sensor that senses the environment around the unmanned mobile body at the transport destination of the goods; and a control unit that causes the goods to be transported to a location determined based on the goods information of the goods and the environmental information obtained by the sensor.

[0027] Effects of the Invention

[0028] According to the present invention, an appropriate place can be determined as a place to place the cargo for each cargo in accordance with the environment of the transport destination, and the cargo can be placed at the place. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a diagram showing a schematic configuration example of a conveying system S according to the present embodiment.

[0030] Figure 2 It is a diagram showing a schematic configuration example of the UGV 1 .

[0031] Figure 3 It is a diagram showing an example of a schematic structure of the appearance and the interior of the UGV 1.

[0032] Figure 4 It is a diagram showing an example of a schematic structure of the appearance and the interior of the UGV 1.

[0033] Figure 5 It is a diagram showing a schematic configuration example of the management server 2 .

[0034] Figure 6It is a diagram showing an example of functional blocks in the control unit 23.

[0035] Figure 7 This is a diagram showing an example of a drop-off location determined at a destination of cargo transportation.

[0036] Figure 8 It is a diagram showing the relationship between the starting point of the prescribed time T and the scheduled delivery time.

[0037] Fig. 9 This is a sequence diagram showing an example of the operation when the UGV 1 carries out cargo to the transport destination in the first embodiment.

[0038] Fig.10 It is shown Fig. 9 Flowchart showing details of the reception confirmation process in step S20.

[0039] Fig.11 This is a sequence diagram showing an example of the operation when the UGV 1 carries out cargo to the transport destination in the second embodiment.

[0040] Fig.12 This is a sequence diagram showing an example of the operation when the UGV 1 carries out cargo to the transport destination in the third embodiment. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0042] [1. Overview of the structure and functions of the transport system S]

[0043] First, refer to Figure 1 , the structure and function overview of the transport system S according to one embodiment of the present invention are described. Figure 1 1 is a diagram showing a schematic configuration example of a transport system S according to the present embodiment. Figure 1 As 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, one UGV 1 is shown, but in reality, there are multiple UGVs 1, each of which transports goods. The management server 2 is a server that manages information related to the transported goods. 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 1The illustrated UGV 1 shows an unmanned ground vehicle having a plurality of wheels for moving on the ground, but the UGV 1 may also be a mobile body such as a robot (eg, a bipedal walking robot) having no wheels.

[0044] In such a transport system S, 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 goods (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, in the case where the recipient of the goods is not at the transport destination and cannot directly receive the goods from UGV 1, it is assumed that UGV 1 places the goods at a specific place (outdoors) at the transport destination and leaves the place (that is, drops it). 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, soil, gravel or lawn ground). Alternatively, in the case where the residence is a collective residence (for example, a single apartment or a high-end apartment), the placement place can also be near the public entrance of the collective residence.

[0045] [1-1. Structure and function of UGV 1]

[0046] Next, refer to Figure 2 to Figure 4 , the structure and function of UGV 1 are explained. Figure 2 It 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 appearance and the interior of the UGV 1. Figure 2 As 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. In addition, although not shown in the figure, 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), a cargo carrying-out mechanism 103 (or 104 ), and the like.

[0047] The driving unit 11 has a motor and a rotating shaft, etc. The driving unit 11 rotates the plurality of wheels 101 by the motor and the rotating shaft, etc. driven by the control signal output from the control unit 17. The storage unit 102 can store (load) a plurality of goods and has a cold-keeping function. In addition, although not shown in the figure, a moving mechanism is provided in the storage unit 102, and the moving mechanism moves the stored goods to a specified position in the storage unit 102 according to the control signal from the control unit 17.

[0048] Figure 3 The carrying mechanism 103 shown has an actuator (not shown) composed 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 means of 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.

[0049] on the other hand, Figure 4 The carrying mechanism 104 shown in the figure has an actuator (not shown) composed of an opening and closing door 104a and a motor. The opening and closing door 104a is composed of a plurality of overlapping thin plates so as to be retractable (see Figure 4 (a)), by means of an actuator that converts a control signal output from the control unit 17 into a mechanical action to be lowered to the outside of the UGV 1 (refer to Figure 4 (b)) so that the thin plate of the opening and closing 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 opening and closing door 104a by means of the moving mechanism in the storage section 102, and as shown by the arrow in the figure, they slide on the slider formed by the opening and closing door 104a through the opening of the portion and are carried out to the delivery location. Figure 3 and Figure 4 The carrying-out mechanism 103 (or 104) shown is an example, and other structures may also be adopted.

[0050] The positioning unit 12 has a radio wave receiver, etc. The positioning unit 12 receives radio waves sent from satellites of GNSS (Global Navigation Satellite System) through a radio wave receiver, and detects the current position (latitude and longitude) of UGV 1 based on the radio waves. In addition, the current position of UGV 1 can also be determined by SLAM (Simultaneous Localization and Mapping) processing in addition to the radio waves sent from satellites of GNSS. In addition, the current position of 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). The shooting unit 14, for example, has a camera. The shooting unit 14 is used in the movement control of UGV 1. The shooting unit 14, for example, continuously captures the actual space within the range of the field of view of the camera. Image information captured by the imaging unit 14 is output to the control unit 17 .

[0051] The sensor unit 15 has a sensor for sensing the environment around the UGV 1 at the destination of transportation. By mounting the sensor on the UGV 1, the environment at the destination of transportation can be sensed more efficiently. As examples of the sensor, optical sensors, temperature sensors, humidity sensors, and meteorological sensors can be cited, but at least an optical sensor or a temperature sensor can be provided in the sensor unit 15. The optical sensor is a sensor (for example, a camera) for optically sensing the environment around the UGV 1, and is mainly used to detect the shade at the destination of transportation. In addition, the camera provided by the shooting unit 14 can also be used in the optical sensor. In addition, the meteorological sensor is a sensor for measuring the weather such as the wind around the UGV 1. The environmental information obtained by sensing the environment around the UGV 1 by the sensor unit 15 at the destination of transportation is output to the control unit 17. In the environmental information, for example, at least one of the brightness distribution and temperature distribution around the UGV 1 is included. In the environmental information, at least one of the humidity distribution and wind distribution (wind direction and wind speed) around the UGV 1 can also be included. In addition, the environmental information may be obtained by sensing the environments of a plurality of regions around the UGV 1 at the transport destination. In this case, the environmental information of each of the plurality of regions is output to the control unit 17.

[0052] The storage unit 16 is composed of a non-volatile memory and stores various programs and data. In addition, the storage unit 16 stores a mobile body ID, which identifies the UGV 1. The control unit 17 has a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and executes various processes according to the programs stored in the ROM (or, it can also be a non-volatile memory). For example, the control unit 17 performs movement control to move the UGV 1 to the destination of the goods (for example, from the delivery point of the goods to the destination of the goods). In this movement control, the position information obtained from the positioning unit 12, the image information obtained from the imaging unit 14, and the destination information of the goods are used to control the rotation speed of the wheel 101, the position and the forward direction of the UGV 1. As a result, the UGV 1 can move to the destination of the goods autonomously. Here, the cargo transportation destination information may be set in the UGV 1 at the cargo delivery point (in other words, the cargo loading point), or may be sent from the management server 2. The cargo transportation destination information includes, for example, a cargo ID for identifying the cargo and location information of the cargo transportation destination. The location information of the transportation destination may be the address of the transportation destination or the location information (latitude and longitude) of the transportation destination.

[0053] In addition, the control unit 17 acquires (acquires as an environmental information acquisition unit) environmental information obtained by activating the sensor unit 15 to sense the environment around the UGV 1 when the UGV 1 arrives at the transport destination. Then, the control unit 17 causes the communication unit 13 to send the mobile body ID of the UGV 1 to the management server 2 together with the acquired environmental information. Then, when the control unit 17 receives control information including the drop-off location information indicating the drop-off location determined by the management server 2, for example, via the communication unit 13, it performs a carry-out control for carrying out the goods at the drop-off location. 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 a control signal to the moving mechanism and the carry-out mechanism 103 (or 104) in the storage unit 102, and uses the carry-out mechanism 103 (or 104) to carry out the goods to the drop-off location.

[0054] In addition, the control unit 17 may also obtain the structural information of the building (for example, the building where the goods are placed) at the transport destination from the image information captured by the camera unit 14 when the UGV 1 arrives at the transport destination. The structural information of the building is the building information that can affect the sunlight. For example, the structural information of the building includes the height of the building. In addition, the structural information of the building may also include three-dimensional position information of the walls, floors, eaves, etc. near the entrance and exit of the building (for example, the coordinates x, y, z in the three-dimensional real space). In addition, the control unit 17 may also cause the communication unit 13 to send the position information indicating the current position of the UGV 1 and the information on whether the goods can be loaded to the management server 2 in a time series. Here, the information on whether the goods can be loaded indicates whether the goods can be loaded at the current moment. "Sending in a time series" means sending multiple times continuously as time passes. The time interval for sending the position information and the information on whether the goods can be loaded (that is, the sending interval) may be a fixed interval or a non-fixed interval.

[0055] [1-2. Configuration and Function of Management Server 2]

[0056] Next, refer to Figure 5 The structure and function of the management server 2 are described below. Figure 5 2 is a diagram showing an example of a schematic configuration of the management server 2. Figure 5 As shown, the management server 2 has a communication unit 21, a storage unit 22, a control unit 23, etc. The communication unit 21 is responsible for controlling the communication via the communication network NW. The storage unit 22 is composed of, for example, a hard disk drive, etc., and stores various programs and data. For example, in the storage unit 22, a cargo database (DB) 221 is constructed. In the cargo database 221, the cargo ID of the cargo, the cargo information of the cargo, the cargo transportation destination information, the mobile body ID of the UGV 1 that transports the cargo, the cargo delivery schedule (for example, the scheduled delivery time), and the cargo recipient information (for example, the recipient's name and email address), etc. are correspondingly stored according to each cargo.

[0057] Here, the cargo information of the cargo includes the types of cargo. Examples of the types of cargo 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 fine meat) and foods that do not need to be refrigerated (for example, processed foods, etc.). In addition, electrical appliances can be divided into products that contain precision components such as electronic components and products that do not contain precision components.

[0058] Then, each type can be associated with information indicating whether it can be placed in a sunlight-exposed location. Alternatively, each type can also be associated with at least one of information indicating whether it is affected by temperature (for example, whether it is likely to degrade due to temperatures above X°C), information indicating whether it is affected by humidity (for example, whether it is likely to degrade due to humidity above Y%), and information indicating whether it is affected by wind (for example, whether it is likely to be blown away due to a wind speed of m / s). Here, the information indicating whether it is affected can also be information indicating a range that is not affected. For example, as examples of temperature ranges that are not affected, less than 17°C, less than 25°C, or less than 30°C can be cited.

[0059] In addition, the cargo database 221 may store position information indicating the current position of the UGV 1, cargo loading availability information, and address information for accessing the UGV 1 via wireless communication, etc., in correspondence with the mobile body ID of the UGV 1 that transports the cargo. Here, the position information and cargo loading availability information are updated each time they are received from the UGV 1 by the communication unit 21.

[0060] In addition, the scheduled time for the recipient to receive the goods may be stored in the goods database 221 in correspondence with the goods ID. For example, when the goods are ordered on an EC website, the orderer specifies the time available for delivery and the scheduled time for receiving the goods on the goods ordering screen displayed from the EC website to the terminal of the orderer (for example, the recipient himself), and saves it in the goods database 221. In addition, a three-dimensional map of a specific area including the transport destination may be stored in the storage unit 22. The three-dimensional map is data showing the position and height of buildings and the like existing in the specific area, for example.

[0061] The control unit 23 includes a CPU, a ROM, a RAM, and the like, and executes various processes according to a program 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, such as Figure 6 As shown, the cargo information acquisition unit 231, the environment information acquisition unit 232, the structure information acquisition unit 233, the delivery location determination unit 234 (an example of a location determination unit), the environment change prediction unit 235 (an example of a prediction unit), the delivery time determination unit 236 (an example of a time determination unit), the delivery control unit (an example of a determination unit and a control unit) 237, and the delivery location notification unit 238 (an example of a notification unit) function. In addition, the environment change prediction unit 235 only needs to operate as a function of the delivery location determination unit 234. The function of the environment change prediction unit 235 can be set to on / off.

[0062] The cargo information acquisition unit 231 acquires cargo information of cargo transported by the UGV 1 from the cargo database 221, for example. The environmental information acquisition unit 232 acquires environmental information obtained by sensing the environment around the UGV 1 at the transport destination of the cargo transported by the UGV 1 from the UGV 1 via the communication unit 21. Here, the environmental information acquisition unit 232 may also acquire environmental information obtained by sensing the environments of multiple areas around the UGV 1.

[0063] In addition, the environmental information acquisition unit 232 may also acquire environmental information representing the environment corresponding to the location information (e.g., latitude and longitude) of the transport destination from the weather forecast server via the communication unit 21, in addition to the environmental information acquired by sensing the environment around the UGV 1 at the transport destination of the goods. The environmental information includes, for example, the weather (forecast), temperature (forecast), humidity (forecast), wind speed (forecast), wind direction (forecast), solar altitude, and solar azimuth of the day (e.g., from the current time to sunset) of the transport destination. In addition, the environmental information may also include the sunshine time period of the day at the transport destination. The structural information acquisition unit 233 acquires the structural information of the building at the transport destination of the goods from the UGV 1 via the communication unit 21. In addition, the structural information acquisition unit 233 may also acquire the structural information (e.g., the height of the building) of the transport destination of the goods from the three-dimensional map stored in the storage unit 22.

[0064] The placement location determination unit 234 determines the placement location of the cargo at the destination of the cargo based on the cargo information obtained by the cargo information acquisition unit 231 and the environmental information obtained by the environmental information acquisition unit 232. Thus, an appropriate location can be determined as the placement location for each cargo in combination with the environment of the destination. Here, the placement location needs to have at least a fixed area (that is, an area larger than the plane size of the cargo) where the cargo can be placed, preferably a plane area with a slope less than a threshold.

[0065] When the information indicating "cannot be placed in a sunlight location" corresponds to the type of cargo information obtained by the cargo information obtaining unit 231, the delivery location determining unit 234 determines a location that satisfies the delivery condition (e.g., a shaded location) as the delivery location based on the brightness distribution around the UGV 1 at the destination of the cargo. For example, an area (shaded area) with a brightness below the first threshold value becomes a location that satisfies the delivery condition. Figure 7 FIG. 1 is a diagram showing an example of a drop-off location determined at a destination of cargo transportation. Figure 7In the example of FIG. 5 , a drop-off location 53 is determined in a shaded area 52 in front of a door 51 at the entrance of a residence. Thus, even when the temperature is not measured at the destination of transportation, the deterioration of the contents of the cargo due to the influence of temperature can be minimized.

[0066] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by temperature" corresponds to the type included in the cargo information, the delivery location determination unit 234 determines an area where the brightness is below the first threshold and the temperature is below the second threshold (that is, a place that satisfies the delivery conditions) as the delivery location based on the brightness distribution and temperature distribution around the UGV 1 which is the destination of the cargo transportation.

[0067] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by humidity" corresponds to the type included in the cargo information, the delivery location determination unit 234 determines an area where the brightness is below the first threshold and the humidity is below the third threshold (that is, a place that satisfies the delivery conditions) as the delivery location based on the brightness distribution and humidity distribution around the UGV 1 which is the destination of the cargo transportation.

[0068] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by wind" corresponds to the type included in the cargo information, the delivery location determination unit 234 determines an area where the brightness is below the first threshold and the wind speed is below the fourth threshold (that is, a place that satisfies the delivery conditions) as the delivery location based on the brightness distribution and wind distribution around the UGV 1 which is the destination of the cargo transportation.

[0069] In addition, when only the information indicating "affected by temperature" is associated with the category included in the cargo information, the delivery location determination unit 234 determines the area with a temperature below the second threshold value (that is, a place that satisfies the delivery conditions) as the delivery location based on the temperature distribution around the UGV 1 at the destination of the cargo transportation. Alternatively, when the information indicating "temperature range not affected" is associated with the category included in the cargo information, the delivery location determination unit 234 determines the area within the temperature range (that is, a place that satisfies the delivery conditions) as the delivery location based on the temperature distribution around the UGV 1 at the destination of the cargo transportation.

[0070] In addition, when only the information indicating "affected by humidity" is associated with the category included in the cargo information, the drop-off location determination unit 234 determines the area with humidity below the third threshold value (that is, the place that satisfies the drop-off condition) as the drop-off location based on the humidity distribution around the UGV 1 at the cargo transportation destination. Alternatively, when the information indicating "humidity range not affected" is associated with the category included in the cargo information, the drop-off location determination unit 234 determines the area within the humidity range (that is, the place that satisfies the drop-off condition) as the drop-off location based on the humidity distribution around the UGV 1 at the cargo transportation destination.

[0071] In addition, when only the information indicating "affected by wind" is associated with the category included in the cargo information, the drop-off location determination unit 234 determines the area with a wind speed below the fourth threshold value (that is, a location that satisfies the drop-off conditions) as the drop-off location based on the wind distribution around the UGV 1 at the cargo transport destination. Alternatively, when the information indicating "wind speed range not affected" is associated with the category included in the cargo information, the drop-off location determination unit 234 determines the area within the wind speed range (that is, a location that satisfies the drop-off conditions) as the drop-off location based on the wind distribution around the UGV 1 at the cargo transport destination.

[0072] In addition, the delivery location may be determined based on a combination of at least any two of the temperature, humidity, and wind speed. For example, in a case where the information indicating “affected by temperature and humidity” corresponds to the type included in the cargo information, the delivery location determination unit 234 may also determine, based on the temperature distribution and humidity distribution around the UGV 1 at the cargo transportation destination, an area where the temperature is below the second threshold and the humidity is below the third threshold (that is, a place that satisfies the delivery conditions) as the delivery location. In addition, in a case where the information indicating “affected by temperature and wind” corresponds to the type included in the cargo information, the delivery location determination unit 234 may also determine, based on the temperature distribution and wind distribution around the UGV 1 at the cargo transportation destination, an area where the temperature is below the second threshold and the wind speed is below the fourth threshold (that is, a place that satisfies the delivery conditions) as the delivery location.

[0073] Furthermore, when the information indicating "affected by humidity and wind" corresponds to the category included in the cargo information, the delivery location determination unit 234 may also determine, as a delivery location, an area where the humidity is below the third threshold and the wind speed is below the fourth threshold (that is, a location that satisfies the delivery conditions), based on the humidity distribution and wind distribution around the UGV 1 at the destination of the cargo transportation. Furthermore, when the information indicating "affected by temperature, humidity, and wind" corresponds to the category included in the cargo information, the delivery location determination unit 234 may also determine, as a delivery location, an area where the temperature is below the second threshold, the humidity is below the third threshold, and the wind speed is below the fourth threshold (that is, a location that satisfies the delivery conditions), based on the temperature distribution, humidity distribution, and wind distribution around the UGV 1 at the destination of the cargo transportation.

[0074] In addition, in the above-mentioned example, an example of determining the place to place the goods based on the environmental information obtained by sensing the environment of the destination of the goods is shown, but in addition to the environmental information, the place that meets the placement conditions can be determined as the place to place the goods based on the environmental information representing the environment corresponding to the location information of the destination of the goods. In this way, a more appropriate place can be determined as the place to place the goods. That is to say, for example, the environment of the destination of the transport may change all the time, so the place to place the goods can be determined not only based on the environmental information at the sensing moment of the destination of the transport, but also based on the future environmental information (predicted environmental information) from the sensing moment. In this case, the environmental change prediction unit 235 is set to be turned on.

[0075] The environmental change prediction unit 235 predicts the time-series environmental changes around the UGV 1 based on the environmental information representing the environment corresponding to the location information of the destination of the cargo, in addition to the cargo information acquired by the cargo information acquisition unit 231 and the environmental information acquired by sensing the environment of the destination of the cargo. That is, the environmental change prediction unit 235 predicts the future environmental changes based on the environment actually sensed at the destination of the cargo by analyzing with reference to the environment (forecast) corresponding to the location information of the destination of the cargo. Then, the delivery location determination unit 234 determines the location that meets the delivery conditions as the delivery location of the cargo based on the time-series environmental changes predicted by the environmental change prediction unit 235. In this way, it is possible to determine the appropriate location as the delivery location for each cargo by also considering the future environment of the destination of the cargo (that is, the environment that may change from the moment of sensing).

[0076] For example, when the information indicating "cannot be placed in sunlight" corresponds to the type included in the cargo information, the environmental change prediction unit 235 predicts the time series changes in the shaded area (for example, an area with a brightness below the first threshold value) by predicting the time series changes in the brightness around the UGV 1 based on the brightness distribution around the UGV 1 at the cargo transport destination and the weather (or sunshine time period) of the day. In this way, even if the temperature is not measured and predicted at the transport destination, the impact of the temperature on the cargo can be reduced. Alternatively, the environmental change prediction unit 235 can also predict the time series changes in the shaded area by predicting the time series changes in the brightness around the UGV 1 based on the brightness distribution around the UGV 1 at the cargo transport destination, the solar altitude and the solar azimuth of the day.

[0077] Here, the environmental change prediction unit 235 can predict the time series brightness change around the UGV 1 based on the brightness distribution around the UGV 1 at the destination of the cargo transportation, the solar altitude and solar azimuth of the day, and the structural information of the building at the destination of the transportation. In this way, the time series change of the shaded area can be predicted with high accuracy. The structural information used here can be the height of the building, or it can be replaced by (or in addition to) the height of the building and be the three-dimensional position information of the wall, floor, eaves, etc. near the entrance and exit of the building.

[0078] Then, the placement location determination unit 234 determines the shaded area that lasts for more than the specified time T as the placement location based on the time series change of the shaded area predicted by the environmental change prediction unit 235. That is, in this case, the area where the shade lasts for more than the specified time T becomes a place that meets the placement conditions. Here, the starting point of the specified time T can be the current moment (in other words, the sensing moment), or it can be when α minutes (for example, 5 minutes) have passed from the current moment. In addition, when the placement location is determined based on the following temperature changes, humidity changes, or wind speed changes, the method of considering the specified time T is the same.

[0079] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by temperature" is associated with the types included in the cargo information, the environmental change prediction unit 235 predicts the time series brightness change and temperature change around the UGV 1 based on the time series brightness distribution and temperature distribution around the UGV 1 at the cargo transport destination, the weather (or sunshine time period) of the day, and the temperature (forecast). Alternatively, the environmental change prediction unit 235 may also predict the time series brightness change and temperature change around the UGV 1 based on the time series brightness distribution and temperature distribution around the UGV 1 at the cargo transport destination, the solar altitude and solar azimuth of the day, and the temperature (forecast). In this case, the environmental change prediction unit 235 may further predict the time series brightness change around the UGV 1 based on the structural information of the building. Then, the placement location determination unit 234 determines an area where the brightness remains below the first threshold for a period of time longer than a specified time T and the temperature remains below the second threshold for a period of time longer than a specified time T (that is, a place that meets the placement conditions) as a placement location based on the changes in brightness and temperature in the time series predicted by the environmental change prediction unit 235.

[0080] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by humidity" is associated with the types included in the cargo information, the environmental change prediction unit 235 predicts the time series brightness change and humidity change around the UGV 1 based on the time series brightness distribution and humidity distribution around the UGV 1 at the cargo transport destination, the weather (or sunshine time period) and humidity (forecast) of the day. Alternatively, the environmental change prediction unit 235 may also predict the time series brightness change and humidity change around the UGV 1 based on the time series brightness distribution and humidity distribution around the UGV 1 at the cargo transport destination, the solar altitude and solar azimuth of the day, and humidity (forecast). In this case, the environmental change prediction unit 235 may further predict the time series brightness change around the UGV 1 based on the structural information of the building. Then, the placement location determination unit 234 determines an area where the brightness remains below the first threshold for a period of time longer than the specified time T and the humidity remains below the third threshold for a period of time longer than the specified time T (that is, a place that meets the placement conditions) as a placement location based on the changes in brightness and humidity in the time series predicted by the environmental change prediction unit 235.

[0081] Furthermore, when the information indicating "cannot be placed in sunlight" and "affected by wind" is connected to the category included in the cargo information, the environmental change prediction unit 235 predicts the time series brightness change and wind speed change around the UGV 1 based on the time series brightness distribution and wind distribution around the UGV 1 at the cargo transport destination, the weather (or sunshine time period) of the day, and the wind speed (forecast). Alternatively, the environmental change prediction unit 235 may also predict the time series brightness change and wind speed change around the UGV 1 based on the time series brightness distribution and wind distribution around the UGV 1 at the cargo transport destination, the solar altitude and solar azimuth of the day, and the wind speed (forecast). In this case, the environmental change prediction unit 235 may further predict the time series brightness change around the UGV 1 based on the structural information of the building. Then, the delivery location determination unit 234 determines an area where the brightness remains below the first threshold for a period of time longer than a specified time T and the wind speed remains below the fourth threshold for a period of time longer than a specified time T (that is, a place that meets the delivery conditions) as a delivery location based on the changes in brightness and wind speed in the time series predicted by the environmental change prediction unit 235.

[0082] In addition, when only the information indicating "affected by temperature" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series temperature change around the UGV 1 based on the time-series temperature distribution around the UGV 1 at the cargo transportation destination and the temperature (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the temperature is continuously above the predetermined time T and below the second threshold value (that is, the location that satisfies the delivery condition) as the delivery location based on the time-series temperature change predicted by the environmental change prediction unit 235.

[0083] In addition, when only the information indicating "affected by humidity" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series humidity change around the UGV 1 based on the time-series humidity distribution around the UGV 1 at the cargo transportation destination and the humidity (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the humidity continues to be below the third threshold value for more than the specified time T (that is, the place that meets the delivery condition) as the delivery location based on the time-series humidity change predicted by the environmental change prediction unit 235.

[0084] In addition, when only the information indicating "affected by wind" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series wind speed change around the UGV 1 based on the time-series wind distribution around the UGV 1 at the cargo transport destination and the wind speed (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the wind speed is continuously above the prescribed time T and below the fourth threshold value (that is, the location that satisfies the delivery condition) as the delivery location based on the time-series wind speed change predicted by the environmental change prediction unit 235.

[0085] In addition, the time series environmental change can also be predicted based on a combination of at least any two of the temperature, humidity, and wind speed. For example, when the information indicating "affected by temperature and humidity" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time series temperature change and humidity change around the UGV 1 based on the time series temperature distribution and humidity distribution around the UGV 1 at the cargo transportation destination, and the temperature (forecast) and humidity (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the temperature is continuously below the second threshold value for more than the specified time T and the humidity is continuously below the third threshold value for more than the specified time T (that is, a place that meets the delivery conditions) as the delivery location based on the time series temperature change and humidity change predicted by the environmental change prediction unit 235.

[0086] Furthermore, when the information indicating "affected by temperature and wind" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series temperature change and wind speed change around the UGV 1 based on the time-series temperature distribution and wind distribution around the UGV 1 at the cargo transport destination, and the temperature (forecast) and wind speed (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the temperature is continuously below the second threshold value for a predetermined time T or more and the wind speed is continuously below the fourth threshold value for a predetermined time T or more (that is, a location that satisfies the delivery conditions) as the delivery location based on the time-series temperature change and wind speed change predicted by the environmental change prediction unit 235.

[0087] Furthermore, when the information indicating "affected by humidity and wind" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series humidity change and wind speed change around the UGV 1 based on the time-series humidity distribution and wind distribution around the UGV 1 at the cargo transport destination, and the humidity (forecast) and wind speed (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the humidity is continuously below the third threshold value for more than a specified time T and the wind speed is continuously below the fourth threshold value for more than a specified time T (that is, a place that satisfies the delivery conditions) as the delivery location based on the time-series humidity change and wind speed change predicted by the environmental change prediction unit 235.

[0088] Furthermore, when the information indicating "affected by temperature, humidity and wind" is associated with the type included in the cargo information, the environmental change prediction unit 235 predicts the time-series temperature change, humidity change and wind speed change around the UGV 1 based on the time-series temperature distribution, humidity distribution and wind distribution around the UGV 1 at the cargo transport destination, and the temperature (forecast), humidity (forecast) and wind speed (forecast) of the day. Then, the delivery location determination unit 234 determines the area where the temperature is continuously above the second threshold value for a predetermined time T, the humidity is continuously below the third threshold value for a predetermined time T, and the wind speed is continuously below the fourth threshold value for a predetermined time T as the delivery location (that is, a location that satisfies the delivery conditions).

[0089] The delivery time determination unit 236 determines the scheduled delivery time for placing the goods at the delivery location determined by the delivery location determination unit 234, based on the environmental changes in the time series predicted by the environmental change prediction unit 235. Here, in other words, the scheduled delivery time refers to the waiting time for the UGV 1 to place the goods at the transport destination. The scheduled delivery time can be set according to the delivery schedule of the goods. In other words, the waiting time at the transport destination can be set to a time that does not interfere with the delivery of another goods to the next delivery destination. In this way, the impact of the environment on the goods can be minimized. In addition, the scheduled delivery time can be determined, for example, when there is a margin in the delivery schedule, when the starting point of the above-mentioned prescribed time T is α minutes from the current time (in this case, it is expected that there is no place that meets the delivery conditions before α minutes).

[0090] Figure 8 It is a diagram showing the relationship between the starting point of the prescribed time T and the scheduled delivery time. Figure 8 The example is an example in which a shaded area that lasts for a predetermined time T or more at the transport destination is determined as the delivery location. Figure 8As shown, the starting point SP of the prescribed time T (e.g., 90 minutes) is preferably consistent with the ending point EP1 of the scheduled delivery time. However, the delivery schedule of the goods can also be taken into account, such as Figure 8 As shown, the end point EP2 of the scheduled time of delivery is determined to be before the start point SP of the specified time T (that is, before the delivery place becomes the shaded area). In addition, the scheduled time of delivery can be represented by the duration from the current moment, and can also be represented by time (for example, y point z minute).

[0091] The delivery control unit 237 causes the communication unit 21 to send control information including delivery location information indicating the delivery location determined by the delivery location determination unit 234 to the UGV 1. Based on the control information including the delivery location information, the delivery control unit 237 causes the UGV 1 to move the goods to the delivery location. Here, the delivery location information is represented by, for example, the latitude and longitude of the center of the determined delivery location. In addition, when the scheduled delivery time is determined by the delivery time determination unit 236, the delivery control unit 237 causes the communication unit 21 to send control information including the above-mentioned delivery location information and delivery time information indicating the scheduled delivery time to the UGV 1. Based on the control information including the delivery location information and the delivery time information, when the scheduled delivery time (for example, Figure 8 As shown, the UGV 1 is made to wait at the transport destination before the end point EP1 of the scheduled delivery time, and when the scheduled delivery time is reached, the UGV 1 is made to carry the cargo to the delivery location.

[0092] In addition, the delivery control unit 237 may also obtain environmental information obtained by sensing the environment around the UGV 1 when the scheduled delivery time determined by the delivery time determination unit 236 is reached from the environmental information acquisition unit 232, and determine whether to permit the removal of the goods based on the obtained environmental information. In this way, after confirming that the decided delivery location meets the delivery conditions, the goods can be moved to the delivery location. For example, based on the environmental information obtained by sensing the environment around the UGV 1 when the scheduled delivery time is reached, the delivery control unit 237 confirms whether the decided delivery location is a location that meets the delivery conditions at the sensing time (for example, an area with a brightness below the first threshold value (shaded area)).

[0093] Then, if the determined delivery location is a location that satisfies the delivery conditions at the sensing time, the delivery control unit 237 determines that the goods are allowed to be carried out, and causes the communication unit 21 to send control information including the delivery location information and delivery time information indicating the scheduled delivery time to the UGV 1. That is, when it is determined that the goods are allowed to be carried out, the delivery control unit 237 causes the UGV 1 to carry out the goods to the delivery location.

[0094] The delivery location notification unit 238 notifies the recipient of the goods of the delivery location determined by the delivery location determination unit 234. In this way, the delivery location of the goods can be quickly notified to the recipient. For example, the delivery location notification unit 238 sends an email indicating a message containing the above-mentioned delivery location to the email address of the recipient corresponding to the above-mentioned acquired goods information. Thus, the email is obtained from the mail server by the recipient's terminal, and the message containing the above-mentioned delivery location is displayed on the terminal or voice-outputted from the terminal. As an example of the message, a message such as "The goods have been placed in front of the lobby of Room 100 of Building A (building name), please receive it" is displayed. The message containing the delivery location can also be pushed and distributed directly from the management server 2 to the recipient's terminal without going through the mail server.

[0095] In addition, the delivery location notification unit 238 may also notify the recipient of the cargo receiving restriction time together with the cargo delivery location. Here, the cargo receiving restriction time refers to the time during which the cargo can be continuously placed at the delivery location. The receiving restriction time may be expressed as a duration (e.g., x hours) from the time the cargo is placed, or may be expressed as a time (e.g., y o'clock z minutes). That is, placing the cargo beyond the duration or time is restricted.

[0096] [2. Operation of the transport system S]

[0097] Next, the operation of the transport system S of this embodiment will be described in Examples 1 to 3. In this operation example, after the cargo is transported to the delivery point in the UGV 1 and the UGV 1 is selected, the transport destination information of the cargo is set in the UGV 1. The transport destination information may also be forwarded from the management server 2 to the UGV 1. The transport destination information includes the location information of the transport destination and the cargo ID of the transported cargo. In addition, the transport destination information may also include the email address of the recipient of the cargo.

[0098] (Example 1)

[0099] First, refer to Fig. 9 Next, the operation of the transport system S in Embodiment 1 will be described. Embodiment 1 is an embodiment in which the environmental change prediction unit 235 is set to OFF. Fig. 9 This is a sequence diagram showing an example of the operation when the UGV 1 carries out cargo to the transport destination in the first embodiment.

[0100] exist Fig. 9In the process, after UGV 1 starts to transport the goods from the sending point to the transport destination of the goods according to the transport destination information of the goods (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 fixed intervals or irregular intervals. 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).

[0101] Next, when the management server 2 obtains the arrival information and the mobile ID from the UGV 1, it sends an email indicating that the goods have arrived to the email address of the recipient corresponding to the mobile ID (step S4). Alternatively, the email may be sent from the UGV 1 to the email address of the recipient. Alternatively, if a call ringing sound capable of receiving a short-range wireless signal is provided at the transport destination, the UGV 1 may send the short-range wireless signal instead of sending the email indicating that the goods have arrived.

[0102] Then, when the recipient of the goods receives the above-mentioned email at the terminal of the recipient of the goods, or a call ringing sound is heard and appears from the entrance of the transport destination (for example, the foyer of a residence or office), UGV 1 detects the recipient (step S5: yes), transports the goods to the delivery location (step S6), returns to the return location, or moves to the next transport destination.

[0103] On the other hand, if the recipient cannot be detected within a few minutes after the transmission of the arrival information (step S5: No), the UGV 1 determines that the recipient cannot directly receive the goods, activates the sensor unit 15 to sense the environment around the UGV 1 (step S7), and obtains environmental information obtained by the sensing (step S8). In other words, the sensing of the environment of the transport destination is performed when it is determined that the recipient cannot directly receive the goods at the transport destination. In addition, environmental information obtained by sensing the environment of multiple areas around the UGV 1 can also be obtained.

[0104] Next, the UGV 1 sends the mobile body ID of the UGV 1 and the environmental information obtained in step S8 to the management server 2 via the communication network NW (step S9). Next, when the management server 2 obtains the environmental information and mobile body ID from the UGV 1, it obtains the cargo information and the recipient's email address associated with the mobile body ID from the cargo database 221 (step S10).

[0105] Next, the management server 2 determines whether there is a place that satisfies the delivery conditions based on the environmental information and cargo information obtained in step S10 (step S11). For example, as described above, when the information indicating "cannot be placed in sunlight" corresponds to the type included in the cargo information, the management server 2 determines that there is a place that satisfies the delivery conditions when it detects an area (shaded area) with a brightness below the first threshold based on the brightness distribution around the UGV 1 at the destination of the cargo transportation. When the management server 2 determines that there is a place that satisfies the delivery conditions (step S11: Yes), the process proceeds to step S12. On the other hand, when the management server 2 determines that there is no place that satisfies the delivery conditions (step S11: No), the process proceeds to step S18.

[0106] In step S12, the management server 2 determines a place that satisfies the delivery condition (for example, a part of the shaded area detected above) as the delivery place. In addition, when the environmental information obtained by sensing the environment of multiple areas around the UGV 1 is obtained, the management server 2 determines the delivery place of the goods from any one of the multiple areas. Thus, the delivery place of the goods can be determined from a more appropriate area among the multiple areas around the UGV 1. In this case, when it is determined that there is a place that satisfies the delivery condition in each of the multiple areas, the delivery place can be determined from the darkest area or the area with the lowest temperature among these areas.

[0107] Next, the management server 2 calculates the cargo receiving restriction time based on the environmental information and cargo information acquired in step S10 (step S13). For example, the cargo receiving restriction time is calculated using data (e.g., a table) or a function that specifies the relationship between the type of cargo and the combination of environmental information and the receiving restriction time. For example, the time corresponding to the combination of the cargo transported by the UGV 1 being fresh food and the temperature of the cargo transport destination being 20° C. is calculated.

[0108] Alternatively, the reception limit time may be calculated using an estimation model that takes as input a value obtained by digitizing the type and environmental information shown in the cargo information and takes as output the reception limit time. In this case, the machine learning of the estimation model may be performed using the correct data related to the reception limit time and a data set of the type and environmental information of the cargo as teacher data. By inputting the value obtained by digitizing the type and environmental information of the cargo into such a learned estimation model, a more appropriate reception limit time can be obtained from the learned estimation model.

[0109] Next, the management server 2 sets the reception restriction time calculated in step S13 in the timer and starts counting (step S14). Next, the management server 2 notifies the recipient of the delivery location determined in step S12 (step S15). For example, the message including the delivery location is set in an email, and an email indicating the message including the delivery location is sent to the email address of the recipient of the goods. In addition, the management server 2 may also notify the recipient of the reception restriction time calculated in step S13 together with the delivery location determined in step S12.

[0110] Next, the management server 2 sends control information including the delivery location information indicating the delivery location determined in step S12 to the UGV 1 via the communication network NW (step S16), and the process proceeds to step S20. The control information indicates a control instruction to carry out the goods. According to the control instruction, the UGV 1 carries out the goods to the delivery location (step S17), returns to the return location, or moves to the next transport destination.

[0111] In step S18, the management server 2 transmits control information indicating a control command to return to the return location or move to the next transfer destination to the UGV 1 via the communication network NW. The UGV 1 returns to the return location or moves to the next transfer destination according to the control command (step S19).

[0112] In addition, for example, when the scheduled time for receiving the goods can be obtained from the goods database 221, even if it is determined in step S11 that there is no place that satisfies the delivery conditions, the management server 2 can determine the place (the place that does not satisfy the delivery conditions) as the delivery place for the goods according to the scheduled time for receiving the goods. For example, when the time from the current moment to the scheduled time for receiving the goods is short (for example, about 5 minutes), the place that does not satisfy the delivery conditions can also be determined as the delivery place for the goods. In this way, it is possible to achieve a flexible response in combination with the reservation of the recipient of the goods.

[0113] Fig.10 It is shown Fig. 9The detailed flow chart of the reception confirmation process in step S20 is shown in FIG. Fig.10 As shown, the management server 2 determines whether the goods placed at the delivery site are received (step S201). For example, when the management server 2 receives a reception message sent from the terminal of the recipient who has received the goods, it is determined that the goods are received. In this case, for example, it is configured as follows: a button indicating the receipt confirmation 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 may also confirm the receipt of the goods by other methods. For example, when a monitoring device including a camera is provided at the transport destination, the monitoring device may also send a reception message indicating the receipt of the goods to the management server 2 when the monitoring device detects that the goods have been received based on the image captured by the camera.

[0114] Then, when the management server 2 determines that the goods placed at the delivery location have been received (step S201: Yes), the reception confirmation process ends. On the other hand, when the management server 2 determines that the goods placed at the delivery location have not been received (step S201: No), it determines whether the timer set with the reception limit time has counted up (that is, whether the reception limit time has passed) (step S202). When the management server 2 determines that the timer has not counted up (step S202: No), it returns to step S201. On the other hand, when the management server 2 determines that the timer has counted up (step S202: Yes), it proceeds to step S203.

[0115] In step S203, the management server 2 refers to the location information and loading information of the UGV 1 in the cargo database 221, and searches for the UGV 1 that can load the cargo and is closest to the transport destination in position as the cargo recovery UGV. The UGV 1 found by the search may be the UGV 1 that places the cargo at the delivery site, or may be a UGV 1 different from the UGV 1 that places the cargo at the delivery site. Then, the management server 2 sends control information (step S204) indicating a control instruction to recover the cargo to the cargo recovery UGV found by the above search, and ends the reception confirmation process. That is, after the management server 2 places the cargo at the transport destination, even if the reception limit time has passed, the control for recovering the cargo is not confirmed. The cargo recovery UGV moves to the transport destination and recovers the cargo according to the control instruction, and returns to the return site or moves to the next transport destination. Thus, even if the cargo cannot be received until the reception limit time has passed due to the reasons of the recipient, it is possible to reliably prevent the cargo from being placed for a long time after the reception limit time has passed.

[0116] (Example 2)

[0117] Next, refer to Fig.11 Next, the operation of the transport system S in Embodiment 2 will be described. Embodiment 2 is an embodiment in which the environmental change prediction unit 235 is set to be on. Fig.11 1 is a timing diagram showing an example of the operation when the UGV 1 carries out the cargo to the destination in the second embodiment. Fig.11 Steps S31 to S39 shown in FIG. Fig. 9 The steps S1 to S9 shown are the same. In addition, Fig.11 Steps S47 to S52 shown in FIG. Fig. 9 The steps S15 to S20 shown are the same.

[0118] When the management server 2 obtains the environmental information and the mobile body ID from the UGV 1, it obtains the cargo information and the recipient's email address corresponding to the mobile body ID from the cargo database 221 (step S40). Next, the management server 2 obtains environmental information indicating the environment corresponding to the location information of the cargo transportation destination (step S41). In addition, the management server 2 may also obtain the structural information of the building at the cargo transportation destination.

[0119] Next, the management server 2 predicts the time-series environmental changes around the UGV 1 based on the environmental information and cargo information obtained in steps S40 and S41 (step S42). For example, as described above, when the information indicating "cannot be placed in sunlight" is associated with the type included in the cargo information, the time-series brightness changes around the UGV 1 are predicted based on the brightness distribution around the UGV 1 at the destination of the cargo transportation and the weather (or sunshine time period) of the day. In addition, the management server 2 can also predict the time-series environmental changes around the UGV 1 based on the environmental information, cargo information, and structure information obtained in steps S40 and S41.

[0120] Next, the management server 2 determines whether there is a place that meets the delivery conditions for a period of time T or more based on the environmental changes in the time series predicted in step S42 (step S43). For example, when the management server 2 detects an area (shaded area) where the brightness is continuously below the first threshold for a period of time T or more, it determines that there is a place that meets the delivery conditions. Then, when the management server 2 determines that there is a place that meets the delivery conditions for a period of time T or more (step S43: Yes), the management server 2 proceeds to step S44. On the other hand, when the management server 2 determines that there is no place that meets the delivery conditions for a period of time T or more (step S43: No), the management server 2 proceeds to step S50.

[0121] In step S44, the management server 2 determines the place that satisfies the delivery condition for a predetermined time period T or longer as the delivery place. Next, the management server 2 calculates the duration (e.g., shade duration) that satisfies the delivery condition (step S45). Next, the management server 2 sets the duration (e.g., 60 minutes) calculated in step S45 as the reception restriction time in the timer and starts counting (step S46). Here, the reception restriction time obtained by subtracting α minutes (e.g., 5 minutes) from the duration may also be set in the timer.

[0122] (Example 3)

[0123] Next, refer to Fig.12 The operation of the transport system S in Embodiment 3 will be described. Embodiment 3 is an embodiment in which the environmental change prediction unit 235 is set to be on and the UGV 1 stands by for a predetermined time to place the cargo. Fig.12 1 is a timing chart showing an example of the operation when the UGV 1 transports the cargo to the transport destination in the third embodiment. Fig.12 Steps S61 to S77 shown in FIG. Fig.11 The steps S31 to S47 shown are the same. Fig.12Steps S85 to S87 shown in FIG. Fig.11 The steps S50 to S52 shown are the same.

[0124] In step S78, the management server 2 determines whether the delivery location determined in step S74 satisfies the delivery condition from the sensing time to the start point of the duration calculated in step S75. When the management server 2 determines that the delivery condition is satisfied from the sensing time to the start point of the above-mentioned duration (for example, there is a shaded area at the sensing time) (step S78: Yes), the management server 2 sends control information including delivery location information indicating the delivery location determined in step S74 to the UGV 1 via the communication network NW (step S79), and proceeds to step S87. The control information indicates a control instruction to move the goods out. According to the control instruction, the UGV 1 moves the goods out to the delivery location (step S80), returns to the return location, or moves to the next transport destination.

[0125] On the other hand, when the management server 2 determines that the delivery conditions are not met from the sensing moment to the starting point of the above-mentioned duration (for example, there is still no shaded area at the sensing moment) (step S78: No), it determines the scheduled delivery time (standby time) for placing the goods at the delivery location determined in step S74 (step S81).

[0126] Next, the management server 2 sends control information including the delivery location information indicating the delivery location determined in step S74 and the delivery time information indicating the delivery scheduled time calculated in step S81 to the UGV 1 via the communication network NW (step S82), and proceeds to step S87. The control information indicates a control instruction to move the goods out after the UGV 1 is put on standby. According to the control instruction, the UGV 1 stands by at the destination of the goods in a state loaded with goods (step S83). Then, when the UGV 1 detects that the delivery scheduled time has been reached, it moves the goods to the delivery location (step S84), returns to the return location, or moves to the next delivery destination.

[0127] In addition, the control information sent in step S82 may also represent the control instruction sensed after the UGV 1 is put on standby. In this case, when the UGV 1 detects that the scheduled delivery time has been reached, it does not move the goods to the delivery site but senses the environment around the UGV 1, obtains the environmental information obtained by the sensing, and sends the environmental information to the management server 2. Then, when the management server 2 obtains the environmental information from the UGV 1, it determines whether to allow the goods to be moved out based on the environmental information. For example, if the delivery site determined in step S74 is a site that meets the delivery conditions at the sensing moment, it is determined that the goods are allowed to be moved out, and control information representing the control instruction to move the goods out is sent to the UGV 1. According to the control instruction, the UGV 1 moves the goods to the delivery site.

[0128] As described above, according to the above embodiment, the configuration is to obtain cargo information of the cargo transported by UGV 1, and obtain environmental information obtained by sensing the environment around UGV 2 at the cargo transport destination by a sensor mounted on UGV 1, and determine the drop-off location at the cargo transport destination where the cargo is placed by UGV 1, based on the acquired cargo information and environmental information. Therefore, the cargo can be placed at an appropriate drop-off location according to each cargo in combination with the environment of the transport destination.

[0129] In addition, the above embodiment is one embodiment of the present invention, and the present invention is not limited to the above embodiment, and can be changed from the above embodiment to various structures within the scope of the main purpose of the present invention, and this situation is also included in the technical scope of the present invention. For example, UGV 1 can also have a place determination unit (the same function as the placement place determination unit 234 of the management server 2), and the place determination unit determines the placement place of the goods at the transportation destination based on the above-mentioned goods information and environmental information. In addition, UGV 1 can also have a prediction unit (the same function as the environmental change prediction unit 235 of the management server 2), which obtains environmental information representing the environment corresponding to the location information of the transportation destination of the goods from the management server 3, and predicts the time series environmental changes around UGV 1 based on the obtained environmental information and the environmental information obtained by sensing the environment around UGV 1. In this case, UGV 1 determines the placement place of the goods at the transportation destination based on the predicted time series environmental changes. In addition, UGV 1 may also have a time determination unit (with the same function as the delivery time determination unit 236 of the management server 2), which determines the scheduled time for placing the goods at the determined delivery location based on the predicted environmental changes in the time series. In this case, UGV 1 moves the goods to the delivery location when the determined scheduled time is reached. In addition, UGV 1 may also have a determination unit (with the same function as the delivery control unit 237 of the management server 2), which determines whether to allow the goods to be moved out based on the environmental information obtained by sensing the environment around UGV 1 when the determined scheduled time is reached. In this case, UGV 1 moves the goods to the delivery location when it is determined that the goods are allowed to be moved out.

[0130] Description of symbols

[0131] 1: UGV;

[0132] 2: Management server;

[0133] 11: driving unit;

[0134] 12: Positioning unit;

[0135] 13: Ministry of Communications;

[0136] 14: Photography Department;

[0137] 15: sensor unit;

[0138] 16: Storage unit;

[0139] 17: Control department;

[0140] 101: wheel;

[0141] 102: Storage department;

[0142] 103, 104: Move out of the institution;

[0143] 21: Ministry of Communications;

[0144] 22: storage unit;

[0145] 23: Control Department;

[0146] 231: Cargo information acquisition department;

[0147] 232: Environmental Information Acquisition Department;

[0148] 233: structure information acquisition unit;

[0149] 234: Placement determination department;

[0150] 235: Environmental Change Prediction Department;

[0151] 236: Release time decision department;

[0152] 237: Delivery control department;

[0153] 238: Placement notification department;

[0154] NW: Communication network;

[0155] S: Handling system.

Claims

1. An information processing device, characterized in that: have: a cargo information acquisition unit that acquires cargo information of cargo that is transported by an unmanned moving body capable of moving in an unmanned manner; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment around the unmanned mobile body at the destination of transporting the cargo by a sensor mounted on the unmanned mobile body; a prediction unit that predicts a time-series environmental change around the unmanned mobile object based on the environmental information; and a place determination unit that determines a place at which the unmanned mobile body places the cargo at the transport destination based on the cargo information and the time-series environmental changes predicted by the prediction unit, The prediction unit predicts a time-series change in a shaded area as the time-series environmental change.

2. The information processing device according to claim 1, characterized in that The environmental information acquisition unit acquires environmental information indicating an environment corresponding to position information of a transport destination of the cargo, in addition to environmental information obtained by sensing the environment around the unmanned mobile body.

3. The information processing device according to claim 1, characterized in that The environmental information acquisition unit acquires environmental information obtained by sensing the environments of a plurality of areas around the unmanned mobile body by the sensor. The location determination unit determines a location at which the item is to be placed from any one of the plurality of areas.

4. The information processing device according to claim 1, characterized in that The place determination unit determines a place with shade at the conveyance destination as a place to place the package.

5. The information processing device according to claim 1, characterized in that The location determination unit further determines a location for placing the cargo based on a scheduled time of receiving the cargo.

6. The information processing device according to claim 1, characterized in that The information processing device further includes a notification unit that notifies a recipient of the goods of the place determined by the place determination unit.

7. The information processing device according to claim 6, characterized in that: The information processing device includes a control unit configured to perform control for collecting the goods when the receipt of the goods cannot be confirmed after the notification unit notifies the recipient of the location.

8. The information processing device according to claim 1, characterized in that: The place determination unit determines a place to place the bag when it is determined that the recipient of the bag at the transport destination cannot directly receive the bag.

9. The information processing device according to claim 1, characterized in that: 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.

10. The information processing device according to claim 1, characterized in that The place where the goods are placed is outdoors.

11. An information processing device, characterized in that: have: a cargo information acquisition unit that acquires cargo information of cargo that is transported by an unmanned moving body capable of moving in an unmanned manner; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment around the unmanned mobile body at the destination of transporting the cargo by a sensor mounted on the unmanned mobile body; a prediction unit configured to predict a time-series environmental change around the unmanned mobile object based on the environmental information; a place determination unit that determines a place at the transport destination where the unmanned mobile body places the cargo based on the cargo information and the time-series environmental changes predicted by the prediction unit; as well as a structural information acquisition unit for acquiring structural information of a building at the transport destination; The prediction unit predicts a time-series environmental change around the unmanned mobile object based on the environmental information and the structural information.

12. An information processing device, characterized in that: have: a cargo information acquisition unit that acquires cargo information of cargo that is transported by an unmanned moving body capable of moving in an unmanned manner; an environmental information acquisition unit that acquires environmental information obtained by sensing the environment around the unmanned mobile body at the destination of transporting the cargo by a sensor mounted on the unmanned mobile body; a prediction unit configured to predict a time-series environmental change around the unmanned mobile object based on the environmental information; a place determination unit that determines a place at the transport destination where the unmanned mobile body places the cargo based on the cargo information and the time-series environmental changes predicted by the prediction unit; a time determination unit that determines a scheduled time for placing the cargo at the location determined by the location determination unit based on the time-series environmental change predicted by the prediction unit; and The control unit causes the unmanned mobile object to carry out the cargo when a predetermined time determined by the time determination unit has arrived.

13. The information processing device according to claim 12, characterized in that: The information processing device further includes a determination unit for determining whether to permit the removal of the cargo based on environmental information obtained by sensing the environment around the unmanned mobile body when a predetermined time determined by the time determination unit is reached. When the determination unit determines that the unmanned mobile object is permitted to carry out the cargo, the control unit causes the unmanned mobile object to carry out the cargo.

14. An information processing method, executed by one or more computers, the information processing method comprising the following steps: Obtaining cargo information of cargo that is carried by an unmanned moving body capable of moving in an unmanned manner; Acquiring environmental information obtained by sensing the environment around the unmanned mobile body at the destination of the cargo transport by a sensor mounted on the unmanned mobile body; predicting time-series environmental changes around the unmanned mobile object based on the environmental information; and determining a location at the transport destination where the unmanned mobile object places the cargo based on the cargo information and the predicted time-series environmental changes, In the prediction step, as the time-series environmental change, a time-series change in a shaded area is predicted.

15. An information processing method, executed by one or more computers, the information processing method comprising the following steps: Obtaining cargo information of cargo that is carried by an unmanned moving body capable of moving in an unmanned manner; Acquiring environmental information obtained by sensing the environment around the unmanned mobile body at the destination of the cargo transport by a sensor mounted on the unmanned mobile body; Predicting time-series environmental changes around the unmanned mobile object based on the environmental information; determining a location at the transport destination where the unmanned mobile object places the cargo based on the cargo information and the predicted time-series environmental changes; and Obtaining structural information of the building at the transport destination, In the prediction step, a time-series environmental change around the unmanned mobile object is predicted based on the environmental information and the structural information.

16. An information processing method, executed by one or more computers, the information processing method comprising the following steps: Obtaining cargo information of cargo that is carried by an unmanned moving body capable of moving in an unmanned manner; Acquiring environmental information obtained by sensing the environment around the unmanned mobile body at the destination of the cargo transport by a sensor mounted on the unmanned mobile body; Predicting time-series environmental changes around the unmanned mobile object based on the environmental information; determining a location at the transport destination where the unmanned mobile object places the cargo based on the cargo information and the predicted time-series environmental changes; determining a scheduled time for placing the cargo at the location determined by the location determination unit based on the predicted time-series environmental change; and When a predetermined time determined by a time determination unit is reached, the unmanned mobile body is caused to carry out the cargo.

17. An unmanned mobile body capable of moving unmanned to transport goods to a destination, the unmanned mobile body being characterized by: A sensor for sensing the environment around the unmanned mobile body at the destination of the cargo; a prediction unit that predicts a time-series environmental change around the unmanned mobile object based on the environmental information obtained by the sensor; and a control unit configured to carry out the cargo to a location determined based on cargo information of the cargo and the time-series environmental change predicted by the prediction unit, The prediction unit predicts a time-series change in a shaded area as the time-series environmental change.

18. An unmanned mobile body capable of moving unmanned to transport goods to a destination, the unmanned mobile body being characterized by: A sensor for sensing the environment around the unmanned mobile body at the destination of the cargo; a prediction unit that predicts a time-series environmental change around the unmanned mobile object based on the environmental information obtained by the sensor; and a control unit configured to carry out the cargo to a location determined based on cargo information of the cargo and the time-series environmental change predicted by the prediction unit; and a structural information acquisition unit for acquiring structural information of a building at the transport destination; The prediction unit predicts a time-series environmental change around the unmanned mobile object based on the environmental information and the structural information.

19. An unmanned mobile body capable of moving unmanned to transport goods to a destination, the unmanned mobile body being characterized by: A sensor for sensing the environment around the unmanned mobile body at the destination of the cargo; a prediction unit that predicts a time-series environmental change around the unmanned mobile object based on the environmental information obtained by the sensor; a time determination unit that determines, based on the time-series environmental changes predicted by the prediction unit, a scheduled time for placing the cargo at a location determined based on cargo information of the cargo and the time-series environmental changes predicted by the prediction unit; and The control unit causes the unmanned mobile object to carry out the cargo when a predetermined time determined by the time determination unit has arrived.

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