Article delivery system and unmanned mobile body

Abstract

The present application provides an article delivery system and an unmanned mobile body that can efficiently deliver a substitute for an article even in a case where it is determined that the article cannot be delivered after the article is designated as a delivery destination. The delivery system S of the present application, after an unmanned mobile body that loads an article that is a delivery object designated as a delivery destination and one or more substitutes for an article that is determined to be unable to be delivered after the designation starts to move toward the delivery destination, acquires substitute selection information indicating a substitute selected by a user related to the delivery destination from among the one or more substitutes, and performs control to hand over the substitute indicated by the substitute selection information at the delivery destination.

Description

Technical Field

[0001] This invention relates to the technical field of a system for delivering goods to their destination using unmanned mobile vehicles. Background Technology

[0002] Previously, the use of unmanned mobile vehicles to deliver goods and other items to delivery destinations such as homes has been discussed. Patent document 1 describes a delivery system in which an unmanned mobile vehicle picks up ordered goods at a collection point, moves to the delivery destination, and directly delivers the ordered goods to the user at the delivery destination. Furthermore, in online supermarkets that deliver goods ordered via the internet, the use of unmanned mobile vehicles for delivery is anticipated.

[0003] [Background Technical Documents]

[0004] [Patent Literature]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2020-7148 Summary of the Invention

[0006] [The problem the invention aims to solve]

[0007] However, since online supermarkets and physical stores often share inventory, situations arise where items appear to be in stock on the online supermarket's website and can be ordered by the user, even if the item is already in the customer's shopping cart in a physical store. In other words, there are cases where an item is specified for delivery but is determined to be undeliverable. In such situations, if the user selects a substitute for the out-of-stock item and loads the substitute into an unmanned mobile device, time and effort are spent until the substitute is delivered.

[0008] Therefore, one of the objectives of this invention is to provide an item delivery system and unmanned mobile vehicle that can efficiently deliver a substitute for an item even when the item is determined to be undeliverable after it has been designated as a delivery destination.

[0009] [Technical means to solve the problem]

[0010] To address the aforementioned problem, the invention described in technical solution 1 is characterized by comprising: an unmanned mobile unit carrying an item designated as a delivery destination, and one or more substitutes for the item that are determined to be undeliverable after being designated; an acquisition unit that, after the unmanned mobile unit begins moving towards the delivery destination, acquires substitute selection information indicating the substitute selected by a user related to the delivery destination from among the one or more substitutes; and a handover control unit that controls the handover of the substitute indicated by the substitute selection information at the delivery destination. Thus, even when an item is designated as a delivery destination but is determined to be undeliverable, substitutes for the item can be delivered efficiently and effectively.

[0011] The invention described in technical solution 2 is characterized in that, in the item delivery system described in technical solution 1, the acquiring unit acquires substitute selection information indicating the user's choice of a substitute from a plurality of pre-set substitutes for the item.

[0012] The invention described in technical solution 3 is characterized in that, in the goods delivery system described in technical solution 1 or 2, it further includes a prompting unit that can selectively prompt the user for the substitute loaded on the unmanned mobile body, and the obtaining unit obtains substitute selection information indicating the substitute selected by the user from the substitutes prompted by the prompting unit.

[0013] The invention described in technical solution 4 is characterized in that, in the delivery system described in technical solution 3, it further includes a movement control unit. If the user does not select a substitute from the suggested substitutes, the prompting unit prompts the user for other substitutes not loaded on the unmanned mobile vehicle. If the user selects one of the other substitutes, the unmanned mobile vehicle loaded with the other substitute, or other unmanned mobile vehicles, moves towards the delivery destination. This expands the range of substitutes that the user can choose.

[0014] The invention described in technical solution 5 is characterized in that, in the goods delivery system described in technical solution 4, the prompting unit displays the time required for the unmanned mobile vehicle or other unmanned mobile vehicle carrying the other substitutes to reach the delivery destination, along with the other substitutes, to the user. This makes it easier for the user to select other substitutes.

[0015] The invention described in technical solution 6 is characterized in that, in the item delivery system described in any of technical solutions 1 to 3, it further comprises: a notification unit that notifies the user of the substitute item before or after the unmanned mobile body begins to move towards the delivery destination; and a processing unit that accepts the cancellation of the designated item. Thus, the convenience for the user is improved when canceling an item.

[0016] The invention described in technical solution 7 is characterized in that, in the goods delivery system described in technical solution 6, it further includes a movement control unit that, after the unmanned mobile body begins to move towards the delivery destination, stops the movement upon receiving a cancellation request, and causes the unmanned mobile body to move towards a specific location or other delivery destination. Thus, upon receiving a cancellation request for the designated item, the unmanned mobile body can be moved rapidly towards a specific location or other delivery destination.

[0017] The invention described in technical solution 8 is characterized in that, in the item delivery system described in any of technical solutions 1 to 7, a setting unit is further included, which, based on correlation information representing the correlation between the item and the substitute for each of the plurality of substitutes, prioritizes the substitute with a relatively high correlation among the plurality of substitutes as the substitute to be loaded onto the unmanned mobile body. Thus, substitutes that are more likely to be selected by the user can be prioritized for loading onto the unmanned mobile body.

[0018] The invention described in technical solution 9 is characterized in that, in the item delivery system described in any of the technical solutions 1 and 8, it further includes a setting unit that, based on historical information regarding the number or frequency of times each of the plurality of substitutes has been selected as a substitute for the item in the past, prioritizes the substitutes with relatively high numbers or frequencies among the plurality of substitutes as substitutes to be loaded onto the unmanned mobile vehicle. Thus, substitutes that are more likely to be selected by the user can be prioritized for loading onto the unmanned mobile vehicle.

[0019] The invention described in technical solution 10 is characterized in that, in the goods delivery system described in any of technical solutions 1 to 9, a processing unit is further included. When the item is a pre-paid item and there is a price difference between the pre-paid item and a substitute selected by the user, the processing unit eliminates the price difference before controlling the transfer of the substitute. Thus, even if there is a price difference between the pre-paid item and a substitute, the user can still choose it.

[0020] The invention described in technical solution 11 is an unmanned mobile vehicle, characterized in that it carries goods designated as delivery objects to a delivery destination, and one or more substitutes for the goods that are determined to be undeliverable after being designated, and comprises: a movement control unit for moving the unmanned mobile vehicle toward the delivery destination; an acquisition unit for acquiring substitute selection information indicating the substitute selected by a user related to the delivery destination from among the one or more substitutes after the unmanned mobile vehicle begins to move toward the delivery destination; and a control unit for controlling the handover of the substitute indicated by the substitute selection information at the delivery destination.

[0021] [Invention Effects]

[0022] According to the present invention, even if it is determined that an item cannot be delivered after it has been designated as a delivery object for the delivery destination, a substitute for the item can be delivered efficiently and effectively. Attached Figure Description

[0023] Figure 1 This is a diagram illustrating a general structure of an goods delivery system S.

[0024] Figure 2 This is a diagram illustrating a general structural example of UGV1.

[0025] Figure 3 This is a diagram illustrating a general structural example of UAV2.

[0026] Figure 4 This is a diagram illustrating a summary configuration example of management server 3.

[0027] Figure 5 This is a diagram showing an example of the function blocks of the control unit 33.

[0028] Figure 6 This is a flowchart illustrating an example of the processing by management server 3 in the delivery of goods.

[0029] Figure 7 This is a flowchart illustrating an example of the processing by management server 3 in the delivery of goods.

[0030] Figure 8 This is a flowchart illustrating an example of handling unmanned mobile entities during goods delivery.

[0031] Figure 9 This is a flowchart illustrating an example of handling unmanned mobile entities during goods delivery.

[0032] Figure 10 This diagram illustrates an example of alternatives that users can optionally suggest related to the delivery destination.

[0033] Figure 11This is a graph showing a comparison between the period during which alternatives could be selected in the past and the period during which alternatives could be selected in this embodiment.

[0034] Figure 12 This diagram illustrates an example of alternatives that users can optionally suggest related to the delivery destination. Detailed Implementation

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

[0036] [1. The composition of the goods delivery system S]

[0037] First, refer to Figure 1 The configuration of an item delivery system S according to one embodiment of the present invention will be described. Figure 1 This is a diagram illustrating a general structural example of a goods delivery system S. For example... Figure 1 As shown, the goods delivery system S comprises an unmanned ground vehicle (hereinafter referred to as UGV (Unmanned Ground Vehicle)) 1, an unmanned aerial vehicle (hereinafter referred to as "UAV (Unmanned Aerial Vehicle)") 2, and a management server 3. Here, the management server 3 can communicate, for example, between a physical store's POS (Point of Sale) system (not shown) and an EC (Electronic Commerce) website (not shown) that manages online supermarkets, etc. Furthermore, the management server 3 can communicate between UGV1 and UAV2 via a communication network NW. The communication network NW is, for example, composed of the Internet, a mobile communication network, and its wireless base stations.

[0038] UGV1 and UAV2 are examples of unmanned mobile bodies. In the following description, either or both UGV1 and UAV2 are referred to as unmanned mobile bodies. UGV1 can walk autonomously on the ground without human intervention. UGV1 can be a vehicle with multiple wheels or a robot without wheels (e.g., a bipedal robot). UAV2, also known as a drone or multi-rotor aircraft, can fly autonomously in the air without human intervention. The unmanned mobile body loads goods designated as delivery objects (hereinafter referred to as "designated items") and delivers them to the delivery destination. However, if it is determined that a designated item cannot be delivered after being designated as a delivery object, the unmanned mobile body loads one or more substitutes for the designated item and delivers them to the delivery destination. The substitutes for the designated items are those that replace the designated item as the delivery object, and one or more of the designated items (i.e., the items corresponding to the substitutes) are pre-selected. Furthermore, it is desirable that the substitutes for the designated items are items of the same type as the designated items. In this embodiment, the example described is a product ordered on an EC website, but the product may also be a catalog gift or other free gift.

[0039] When a substitute for a designated item is delivered to the delivery destination, after the unmanned mobile vehicle carrying the substitute begins moving towards the delivery destination, the user associated with the delivery destination may select one or more substitutes from a pool of options. However, there are also cases where the user associated with the delivery destination does not wish for a substitute for the designated item. Here, the user associated with the delivery destination is either the delivery consignor or the recipient. The delivery destination may be, for example, a handover location for the items (designated item or substitute) such as the entrance (lobby) of the recipient's residence or the entrance (or office) of the recipient's workplace. At this handover location, the items are transferred from the unmanned mobile vehicle to the recipient.

[0040] Additionally, if the residence is a multi-unit housing complex (e.g., an apartment building or condominium), the handover location can be near the common entrance of the complex. For example, when goods are delivered by a UAV2, the handover location can be a takeoff and landing area located near a residence or office. In such cases, the goods are handed over at the takeoff and landing area. Preferably, an operation panel operable by the receiver is provided at the takeoff and landing area. This operation panel communicates wirelessly with the UAV2 over short range.

[0041] [1-1. Composition and Function of UGV1]

[0042] Next, refer to Figure 2 The composition and function of UGV1 will be explained. Figure 2 This is a diagram illustrating a general structural example of UGV1. For example... Figure 2As shown, the UGV1 includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 13, an operation / display unit 15, a storage unit 16, and a control unit 17. Furthermore, the UGV1 includes a battery (not shown) that supplies power to each part of the UGV1, wheels W, and a storage bin B for storing loaded items (designated items or substitutes). Figure 1 In this example, there are multiple storage compartments B, with the door Do of the central, bottommost storage compartment B opening to retrieve a storage box C containing items. Additionally, the UGV1 may also have a speaker for outputting sound.

[0043] The drive unit 11 includes a motor and a rotating shaft. The drive unit 11 drives the motor and rotating shaft according to control signals output from the control unit 17, causing multiple wheels W to rotate. The positioning unit 12 includes a radio wave receiver. For example, the positioning unit 12 receives radio waves transmitted from GNSS (Global Navigation Satellite System) satellites via the radio wave receiver, and detects the current position (latitude and longitude) of the UGV1 based on these radio waves. Alternatively, the current position of the UGV1 can be determined by SLAM (Simultaneous Localization and Mapping) processing, in addition to radio waves transmitted from GNSS satellites. The current position of the UGV1 can also be corrected based on images captured by the camera of the sensor unit 14. Position information indicating the current position detected by the positioning unit 12 is output to the control unit 17.

[0044] The communication unit 13 is responsible for controlling communication via the communication network NW. Furthermore, the communication unit 13 may also have short-range wireless communication capabilities such as Bluetooth (registered trademark) to conduct short-range wireless communication with the recipient's terminal (e.g., a smartphone). The sensor unit 14 includes an optical sensor such as a camera. For example, the optical sensor continuously senses (e.g., takes pictures) the actual space within the camera's field of view. The sensing information obtained by the sensor unit 14 is output to the control unit 17. The operation / display unit 15 includes a display (touch panel) Di that has input functions for accepting the recipient's operations and display functions for displaying information. The storage unit 16 is composed of non-volatile memory and stores various programs and data. In addition, the storage unit 16 stores the UGV1's body ID.

[0045] The control unit 17 includes a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory), and executes various controls according to the program stored in the ROM (or storage unit 16). For example, the control unit 17 performs walking control to make the UGV1 move towards the delivery destination. In this walking control, the rotational speed of the wheels W, the position of the UGV1, and the direction of travel can be controlled using position information obtained from the positioning unit 12, sensing information obtained from the sensor unit 14, and delivery destination information. As a result, the UGV1 can move autonomously to the delivery destination. In addition, during the movement of the UGV1, the position information of the UGV1 and the body ID of the UGV1 are sequentially sent to the management server 3 by the communication unit 13.

[0046] Here, the delivery destination information can be set to UGV1 at the loading point along with the item ID (i.e., the item ID of the item being delivered along with the delivery destination information), or it can be sent and set from the management server 3 along with the item ID. The item ID is identification information used to identify the item. The delivery destination information includes, for example, the delivery destination ID and the location information of the delivery destination. The delivery destination ID is identification information used to identify the delivery destination. The location information of the delivery destination can be the address of the delivery destination or the location information (latitude and longitude) of the delivery destination. Furthermore, in the case of each delivery item in multiple different delivery destinations, the delivery destination information is set for each delivery destination.

[0047] Furthermore, the control unit 17 (an example of a handover control unit) controls the handover of items at the delivery destination. For example, when a designated item is delivered to the delivery destination, the control unit 17 acquires the input data when the recipient inputs data from the display Di to unlock door Do of storage warehouse B (i.e., to unlock door Do). The input data may be password data containing numbers or symbols, or biometric data such as the recipient's fingerprint.

[0048] Furthermore, if the input data is authenticated, the control unit 17 unlocks door Do of the storage unit B containing the designated items for delivery, opens door Do, and allows the storage box C to be retrieved. Authentication of the input data occurs, for example, when the input data matches pre-set authentication data. Additionally, the authentication data that corresponds to the input data (i.e., the authentication data required for item handover) and the delivery destination information can be set to UGV1 along with the loading location and item ID (e.g., item ID, name, price, manufacturer, and appearance image), or they can be sent to UGV1 from the management server 3 along with the item ID and set there. However, in situations where there is no risk of theft during handover (e.g., when the delivery destination is within a specific company), authentication data may not be required since no authentication input data is needed.

[0049] On the other hand, when a substitute is delivered to the delivery destination, the control unit 17 (an example of a prompting unit) displays the substitute on the display Di before and after inputting the input data for unlocking, thereby selectively prompting the recipient. Preferably, the content of the substitute displayed here includes, for example, the name, price, manufacturer, and appearance image of the substitute. Similar to the delivery destination information, the substitute content information can be set to UGV1 at the loading point along with the item ID, or it can be sent and set to UGV1 from the management server 3 along with the item ID, etc.

[0050] Furthermore, when the recipient selects a substitute from the display Di and the input data is authenticated (for example, after selecting a substitute, input data is entered and authenticated), the control unit 17 obtains substitute selection information (for example, the item ID containing the substitute) indicating the selected substitute, unlocks the door Do of the storage unit B where the substitute indicated by the substitute selection information is stored, opens the door Do (that is, executes the control for handing over the substitute), and can take out the storage box C.

[0051] Furthermore, when short-range wireless communication is established between the recipient's terminal and the UGV1, the control unit 17 can also send substitute content information, indicating the contents of the substitute loaded in the UGV1, to the terminal, thereby selectively prompting the recipient with the substitute. In this case, when the recipient selects the substitute displayed on the terminal's screen and the input data is authenticated, the control unit 17 obtains substitute selection information indicating the selected substitute from the terminal via short-range wireless communication, unlocks door Do of the storage unit B storing the substitute indicated by the substitute selection information, opens door Do, and allows the storage box C to be retrieved. Additionally, the substitute selection information, for example, along with the delivery destination ID and the UGV1's body ID, is sent by the communication unit 13 to the management server 3. The UGV1's body ID is identification information used to identify the UGV1.

[0052] [1-1. Composition and Function of UAV2]

[0053] Next, refer to Figure 3 The structure and function of UAV2 will be explained. Figure 3 This is a diagram illustrating a general structural example of a UAV2. (See diagram below.) Figure 3 As shown, the UAV2 includes a drive unit 21, a positioning unit 22, a communication unit 23, a sensor unit 24, a storage unit 25, and a control unit 26. Furthermore, the UAV2 includes a battery (not shown) that supplies power to each part of the UAV2, a horizontally rotating blade, also known as a rotor R (rotor), and a holding mechanism H for holding items (designated items or substitutes). Figure 1 In the example, the storage box C in the holding mechanism H holds multiple items.

[0054] Furthermore, the holding mechanism H is equipped with multiple separation inhibition sections L to prevent the storage box C from detaching from the UAV2. Each separation inhibition section L includes an actuator (not shown) containing a motor, and a pin P that slides horizontally via the actuator. The pin P can be in an open or closed state by sliding. For example, a ring (hook) F is fixed to the upper part of the storage box C; in the closed state, the ring F cannot be removed from the pin P. On the other hand, when the pin P is in the open state, the ring can be removed from the pin P, thus detaching the storage box C from the UAV2. Additionally, the holding mechanism H may be equipped with a wire connected to the separation inhibition section L, and a reel (winch) for feeding or winding the wire.

[0055] The drive unit 21 includes a motor and a rotating shaft. The drive unit 21 drives the motor and rotating shaft according to control signals output from the control unit 26, causing multiple rotors to rotate. The positioning unit 22 includes a radio wave receiver and an altitude sensor. For example, the positioning unit 22 receives radio waves transmitted from a GNSS satellite using the radio wave receiver, and detects the current horizontal position (latitude and longitude) of the UAV2 based on these radio waves. Alternatively, the current horizontal position of the UAV2 can be corrected based on images captured by the camera of the sensor unit 24. Position information indicating the current position detected by the positioning unit 22 is output to the control unit 26. Furthermore, the positioning unit 22 can also detect the current vertical position (altitude) of the UAV2 using an altitude sensor such as a barometric pressure sensor. In this case, the position information includes altitude information indicating the altitude of the UAV2.

[0056] The communication unit 23 is responsible for controlling communications via the communication network NW. Furthermore, the communication unit 23 may also possess short-range wireless communication capabilities such as Bluetooth (registered trademark) to conduct short-range wireless communication with the recipient's terminal (e.g., a smartphone). The sensor unit 24 possesses various sensors required for flight control of the UAV2. These sensors include, for example, optical sensors, 3-axis angular velocity sensors, 3-axis accelerometers, and geomagnetic sensors. Optical sensors may be, for example, cameras. For instance, the optical sensor continuously senses (e.g., captures) the actual space within the camera's field of view. The sensing information obtained by the sensor unit 24 is output to the control unit 26. The storage unit 25 is composed of non-volatile memory and stores various programs and data. Furthermore, the storage unit 25 stores the UAV2's identification ID.

[0057] The control unit 26 includes a CPU, ROM, and RAM, and executes various controls according to the program stored in the ROM (or storage unit 25). For example, the control unit 26 performs flight control to make the UAV2 fly towards the delivery destination. In the flight control, the rotational speed of the rotor R, the position, attitude, and direction of travel of the UAV2 can be controlled using position information obtained from the positioning unit 22, sensing information obtained from the sensor unit 24, and delivery destination information. As a result, the UAV2 can autonomously move to the delivery destination. In addition, during the flight of the UAV2, the position information and the UAV2's body ID are sequentially sent to the management server 3 by the communication unit 23. Furthermore, the delivery destination information is the same as that of the UGV1; for example, it can be set to the UAV2 along with the loading point and item ID, or it can be sent and set from the management server 3 along with the item ID.

[0058] Furthermore, the control unit 26 (an example of a handover control unit) controls the handover of items at the delivery destination. This control can be performed when the UAV2 is landed or hovering. For example, when delivering a designated item to the delivery destination, and the handover is performed while the UAV2 is landing at a takeoff and landing area with an operation panel at the delivery destination, when the recipient inputs input data from the operation panel to unlock (i.e., release the lock of pin P) disengaging from the restraint unit L, this data is transmitted to the UAV2 via short-range wireless communication and thus received by the control unit 26.

[0059] Furthermore, when the input data is authenticated, the control unit 26 can unlock the pin P of the release restraint unit L holding the designated item for delivery, remove it from the ring of the storage box C, and detach the storage box C. Additionally, the authentication data (i.e., the authentication data required for item handover) that corresponds to the input data, along with the delivery destination information, can be set to the UAV2 along with the loading location and item ID, or it can be sent to the UAV2 from the management server 3 along with the item ID and set there. However, in situations where there is no risk of theft during handover (e.g., when the delivery destination is within a specific company), since authentication input data is not required, it is not necessary to set the authentication data.

[0060] On the other hand, when a substitute is delivered to the delivery destination, the control unit 26 (an example of a prompting unit) displays the substitute on the operation panel via short-range wireless communication before and after inputting the input data for unlocking, thereby selectively prompting the recipient. Preferably, the content of the substitute displayed here includes, for example, the name, price, manufacturer, and appearance image of the substitute. Similar to the delivery destination information, the substitute content information can be set to the UAV2 at the loading point along with the item ID, or it can be sent and set to the UAV2 from the management server 3 along with the item ID.

[0061] Furthermore, when the recipient selects a substitute from the operation panel and the input data is authenticated (e.g., after selecting a substitute, input data has been entered and authenticated), the control unit 26 can obtain substitute selection information (e.g., including the item ID of the substitute) indicating the selected substitute, unlock the pin P of the detachment suppression part L of the substitute indicated by the substitute selection information, remove it from the ring of the storage box C (that is, perform control for handing over the substitute), and detach the storage box C. Alternatively, when performing control for handover while the UAV2 is hovering, the control unit 26 can send out the wire connected to the detachment suppression part L via a reel, and when the storage box C is grounded, unlock the pin P of the detachment suppression part L, remove it from the ring of the storage box C, and detach the storage box C.

[0062] Furthermore, when short-range wireless communication is established between the receiver's terminal and the UAV2, the control unit 26 can also send substitute content information, indicating the substitute loaded on the UAV2 in a landing or hovering state, to the terminal, thereby selectively prompting the receiver with the substitute. In this case, when the receiver selects a substitute displayed on the terminal's screen and the input data is authenticated, the control unit 26 can obtain substitute selection information indicating the selected substitute from the terminal via short-range wireless communication, unlock the pin P of the detachment restraint part L holding the substitute indicated by the substitute selection information, remove it from the ring of the storage box C, and detach the storage box C. In addition, the substitute selection information, for example, along with the delivery destination ID and the UAV2's body ID, is sent by the communication unit 23 to the management server 3. The UAV2's body ID is identification information used to identify the UAV2.

[0063] [1-3. Composition and Functions of Management Server 3]

[0064] Next, refer to Figure 4 and Figure 5 The composition and functions of management server 3 will be explained. Figure 4 This is a diagram illustrating a summary configuration example of management server 3. (See diagram below.) Figure 4 As shown, the management server 3 includes a communication unit 31, a storage unit 32, and a control unit 33. The communication unit 31 is responsible for controlling communication via the communication network NW. The communication unit 31 receives location information and machine ID sent from UGV1. The management server 3 can identify the current location of UGV1 based on the location information of UGV1. Furthermore, the communication unit 31 receives location information and machine ID sent from UAV2. The management server 3 can identify the current location of UAV2 based on the location information of UAV2. The storage unit 32 is composed of, for example, a hard disk drive, and stores various programs and data. In addition, the storage unit 32 contains a sales management database (DB) 321, a distribution management database (DB) 322, a substitute product selection history database (DB) 323, and a mobile unit management database 324.

[0065] Sales Management Database 321 is a database used to store information related to items processed in physical stores such as supermarkets and online shopping websites such as e-commerce platforms. In Sales Management Database 321, a corresponding database is established for each item, storing information such as item ID, name, characteristics, inventory quantity, type, manufacturer, specifications, price, appearance image, and substitute information. Here, the inventory quantity of an item is a shared inventory quantity in both physical stores and e-commerce websites. When an item is checked out in a physical store or e-commerce website, the inventory quantity decreases the order (purchase) quantity of that item. Preferably, item types are represented hierarchically from top to bottom. For example, as top-level categories, beverages, food, daily necessities, and medicine are listed. As lower-level categories of beverages, Japanese tea, black tea, coffee, and orange juice are listed. Item specifications vary depending on the item type; for example, in the case of beverages, they include raw materials, ingredients, and net content.

[0066] The information for setting up substitutes includes, for example, the item ID of the substitute and correlation information indicating the correlation between the item and the substitute (representing the correlation between each of multiple substitutes). Here, more than one item substitute is set for the item. Furthermore, if the items are of the same type, the price of the substitute may not be the same as the item, and the specifications may also be different. For example, for one 1-liter bottle of tea (135 yen / bottle), two 500ml bottles of tea (70 yen / bottle) can be used as substitutes. Additionally, the closer the substitute is to the item in terms of type, specifications, and price, the higher the correlation is set.

[0067] The delivery management database 322 is used to store information related to the delivery of designated items. Designated items, as described above, refer to goods designated as delivery objects for a specific delivery destination. More specifically, they can refer to goods on the EC website that have been ordered by users related to the delivery destination and for which delivery procedures have been initiated. During the delivery procedures, delivery destination information, delivery consignor information, and recipient information can be obtained. Additionally, checkout procedures can be performed along with the delivery procedures to complete the payment for the designated items. The delivery management database 322 will establish corresponding storage for each delivery destination, including, for example, the item ID of the designated item, delivery destination information, delivery schedule, loading information, delivery consignor information, recipient information, and vehicle information.

[0068] Here, the loading information for the designated item includes a shortage flag (True or False) for the designated item. If the designated item is loaded onto an unmanned mobile vehicle, the shortage flag is "False". If the shortage flag is "False", the loading information further includes authentication data required for handing over the designated item. Conversely, if the designated item is not loaded onto the unmanned mobile vehicle, but a substitute is loaded instead, the shortage flag is "True". If the shortage flag is "True", the loading information further includes the item ID of the substitute and authentication data required for handing over the substitute. The delivery consignor information includes the delivery consignor's user ID and email address, etc. The recipient information includes the recipient's user ID and email address, etc. The user ID is identification information used to identify users in a commercial transaction system. The mobile vehicle information includes the machine ID of the unmanned mobile vehicle loading the item (designated item or substitute).

[0069] The substitute selection history database 323 is a database used to store historical information (aggregated results) on each specified item, where each substitute represents the number or frequency (number of times or frequency) by which one or more users have previously selected a substitute for a specified item. The substitute selection history database 323 stores, for example, the item ID of the specified item and the number or frequency of times a substitute has been selected as a specified item, corresponding to each specified item.

[0070] The mobile vehicle management database 324 is a database used to store information related to unmanned mobile vehicles. In the mobile vehicle management database 324, a corresponding database is established for each unmanned mobile vehicle, storing its body ID, type (UGV or UAV), location information indicating its current location, delivery route (e.g., delivery route and schedule), loading status, and address information for accessing the unmanned mobile vehicle. Here, the loading status includes the item ID of the item (designated item or substitute item) loaded by the unmanned mobile vehicle, and information such as the size and quantity of items that can be loaded later. Furthermore, the location information of the unmanned mobile vehicle is updated each time it is received from the unmanned mobile vehicle via the communication unit 31.

[0071] The control unit 33 may include, for example, a CPU, ROM, and RAM, and performs various processes according to the program stored in the ROM or the storage unit 32. Figure 5 This is a diagram illustrating a functional block example of the control unit 33. The control unit 33 executes the program, such as... Figure 5The aforementioned components function as an item specifying unit 331, a delivery determination unit 332, a substitute setting unit 333 (an example of a setting unit), a substitute notification unit 334 (an example of a notification unit), a cancellation acceptance unit 335 (an example of an acceptance unit), a substitute prompt unit 336 (an example of a prompt unit), a substitute selection information acquisition unit 337 (an example of an acquisition unit), a difference processing unit 338 (an example of a processing unit), and a movement control unit 339 (an example of a handover control unit and a movement control unit).

[0072] The Item Specification Unit 331 designates items intended for delivery as designated items. For example, the Item Specification Unit 331 retrieves the item ID, delivery destination information, delivery consignor information, and recipient information of designated items that have been ordered by users related to the delivery destination and whose delivery procedures have been completed from the commercial transaction system on the EC website, thereby designating the designated items. At this time, the delivery schedule for the designated items is determined, and an unmanned mobile vehicle (UGV1 or UGV2) is selected to deliver the designated items.

[0073] The delivery availability determination unit 332 determines whether the designated item specified by the item designation unit 331 can be delivered. For example, the delivery availability determination unit 332 notifies the staff of an inventory confirmation request for the designated item specified by the item designation unit 331. Preferably, information indicating the item ID, name, and required quantity specified by a user related to the delivery destination is sent to the staff's terminal. The staff then checks the inventory of the designated item from the shelf, for example, and sends the inventory confirmation result back to the management server 3 from the terminal. If the inventory availability result from the terminal indicates that the item is in stock, the delivery availability determination unit 332 determines that the designated item can be delivered. In this case, the designated item specified by the item designation unit 331 is loaded into the unmanned mobile vehicle as the delivery object for the delivery destination.

[0074] On the other hand, if the delivery availability determination unit 332 determines that the designated item cannot be delivered if the inventory status feedback from the terminal indicates no inventory (that is, the inventory quantity of the designated item does not meet the required quantity specified by the user related to the delivery destination). Here, the designated item determined to be undeliverable is the designated item that was determined to be undeliverable after being designated as a delivery object. For example, in a physical store, if a customer removes an item from the shelf and places it in their shopping basket, and the user places an order for the designated item on the EC website (that is, the order can be placed because it is managed as having inventory in the sales management database 321), but the designated item is not on the shelf, it is determined at the inventory confirmation point that the designated item cannot be delivered. In this case, a substitute for the designated item specified by the item designation unit 331 is loaded into the unmanned mobile vehicle as the delivery object for the delivery destination. In addition, there are cases where customers check out the designated items placed in their shopping baskets, and cases where the designated items are returned to the shelf without checking out. Furthermore, the determination of whether the designated item can be delivered can also be performed manually.

[0075] The substitute setting unit 333 sets one or more substitutes for items managed by the sales management database 321. For example, the substitute set for an item is preferably selected from items managed by the sales management database 321 that have an inventory of the specified required quantity based on the item's type, specifications, and price. Therefore, it is preferable to retrieve from the sales management database 321 and set a substitute for the specified item that has been determined to be undeliverable according to the determination of the delivery determination unit 332. However, the substitute setting unit 333 may also pre-set multiple substitutes for each item managed by the sales management database 321 before the determination of the delivery determination unit 332, and set (re-set) one or more substitutes with an inventory of the specified required quantity from the multiple substitutes pre-set for the specified item that has been determined to be undeliverable as a substitute for loading onto the unmanned mobile vehicle. This allows for rapid setting of substitutes. Furthermore, when setting substitutes, similar to the specified item, it is preferable to set the item that has been determined to be deliverable as a substitute after the delivery determination unit 332 determines whether delivery is possible.

[0076] Furthermore, the substitute selection unit 333 can also obtain correlation information from the sales management data volume 321 regarding the correlation between each of the multiple substitutes and the designated item determined to be undeliverable. Based on the correlation information, among the multiple substitutes pre-selected for the designated item determined to be undeliverable and the substitutes with the required quantity, the substitute with the relatively high correlation is prioritized for loading onto the unmanned mobile vehicle. Thus, substitutes that are more likely to be selected by users related to the delivery destination can be prioritized for loading onto the unmanned mobile vehicle.

[0077] Alternatively, the substitute setting unit 333 preferably obtains historical information from the substitute selection history database 323 regarding the number or frequency of times each of the multiple substitutes represents a substitute for a specified item that has been determined to be undeliverable by one or more users in the past. Based on the historical information, the substitute with the relatively higher selection frequency among the multiple substitutes pre-set for the specified item determined to be undeliverable is prioritized for loading onto the unmanned mobile vehicle. This allows substitutes that are more likely to be selected by users related to the delivery destination to be prioritized for loading onto the unmanned mobile vehicle.

[0078] Before and after an unmanned mobile vehicle carrying a substitute set by the substitute setting unit 333 begins moving towards the delivery destination, the substitute notification unit 334 notifies the user associated with the delivery destination of the substitute. For example, the substitute notification unit 334 notifies the substitute by sending an email containing a URL (Uniform Resource Locator) or similar information for accessing the substitute's content to the email address of the user associated with the delivery destination.

[0079] Cancellation processing unit 335 can process cancellations of designated items. For example, a user who receives a notification of a substitute for a designated item cancels the order for that item on the EC website. This results in a cancellation message indicating the cancellation of the designated item (order cancellation) being sent from the commercial transaction system to the management server 3. Upon receiving this cancellation message, cancellation processing unit 335 processes the cancellation of the designated item.

[0080] Before and after an unmanned mobile vehicle carrying a substitute set by the substitute setting unit 333 begins moving towards its delivery destination, the substitute notification unit 336 can selectively prompt users related to the delivery destination about the loaded substitute. For example, the substitute prompting unit 336 can send the substitute content information to the user terminal accessed via a URL, thereby selectively prompting the user about the substitute, where the URL is used to access substitute content information representing one or more substitutes. Alternatively, the substitute prompting unit 336 can also send (push) the substitute content information to an application resident on the user terminal, thereby selectively prompting the user about the substitute.

[0081] After the unmanned mobile vehicle carrying the substitute begins to move towards the delivery destination, the substitution selection information acquisition unit 337, together with the delivery destination ID of the delivery destination of the substitute, acquires substitution selection information indicating the substitute selected by the user from among the substitutes suggested by the unmanned mobile vehicle or the substitution prompting unit 336. However, even if a certain period of time has passed since the unmanned mobile vehicle arrived at the delivery destination and the substitution selection information acquisition unit 337 has not acquired substitution selection information (that is, if the user has not selected a substitute from the suggested substitutes), the substitution prompting unit 336 may, for example, suggest to the user other substitutes not loaded on the unmanned mobile vehicle parked at the delivery destination. This expands the range of substitutes that the user can choose from related to the delivery destination.

[0082] For example, the substitute setting unit 333 sets other substitutes among the multiple substitutes set for the designated item that has been determined to be undeliverable, but which have not yet been suggested to the user. Furthermore, the substitute suggestion unit 336 sends information about the other substitutes, indicating the content of the re-set substitutes, to the user's terminal via the communication network NW, thereby allowing the user to selectively suggest the other substitutes. The substitute selection information acquisition unit 337 acquires other substitute selection information indicating the other substitute selected by the user among the suggested other substitutes. Additionally, the other substitutes can be redelivered by an unmanned mobile vehicle (UMO) stationed at the delivery destination, or they can be delivered by other UMOs besides the aforementioned UMO. Furthermore, it is preferable that the substitute suggestion unit 336 suggests to the user the time required for the UMO carrying the other substitutes to reach the delivery destination along with the other substitutes themselves.

[0083] When the checkout for the designated item corresponding to the substitute item shown in the substitute item selection information obtained by the substitute selection information acquisition unit 337 is completed, and there is a price difference between the designated item and the substitute item, the difference processing unit 338 performs a process to eliminate the price difference (difference) before performing control for handing over the substitute item. Therefore, even if there is a price difference between the substitute item and the designated item that has already been checked out, users related to the delivery destination can quickly select a substitute item. For example, if the price of the substitute item is lower than the price of the designated item, the difference processing unit 338 performs a process to refund the difference to the user. In this process, a refund request containing the user's user ID and the difference is sent to the business transaction system. On the other hand, if the price of the substitute item is higher than the price of the designated item, the difference processing unit 338 performs a process to request an additional refund of the difference from the user. In this process, an additional request containing the user's user ID and the difference is sent to the business transaction system. Additionally, the difference processing unit 338 can also request cancellation procedures related to the designated item and checkout procedures for the substitute item from the business transaction system.

[0084] The mobile unit control unit 339 sends control commands to the unmanned mobile unit via the communication network NW, thereby controlling the actions of the unmanned mobile unit. For example, after the unmanned mobile unit begins to move towards the delivery destination, if the cancellation acceptance unit 335 accepts a cancellation of a designated item, the mobile unit control unit 339 sends a delivery stop control command to the unmanned mobile unit via the communication network NW, thereby stopping the movement of the unmanned mobile unit and causing it to move towards a specific location (e.g., a loading location or a transit point) or other delivery destinations.

[0085] Furthermore, as described above, when the alternative selection information unit 337 obtains alternative selection information indicating that the user has selected an alternative related to the delivery destination, the mobile unit control unit 339 can also send a delivery control command via the communication network NW to the unmanned mobile unit parked at the delivery destination or to other unmanned mobile units besides the unmanned mobile unit mentioned above, thereby causing the unmanned mobile unit to deliver the alternative. For example, the mobile unit control unit 339 causes the unmanned mobile unit parked at the delivery destination to move to a loading point with alternatives (e.g., return), loads the alternative at the loading point, and moves to the delivery destination (i.e., re-delivery). Alternatively, the mobile unit control unit 339 can also cause other unmanned mobile units waiting at a loading point with alternatives to load the alternatives and move to the delivery destination. Alternatively, the mobile unit control unit 339 can also cause other unmanned mobile units loaded with alternatives and in motion to move to the delivery destination.

[0086] [2. Actions of the Goods Delivery System S]

[0087] Next, refer to Figures 6 to 9 The following describes the actions of the goods delivery system S. Figure 6 and Figure 7 This is a flowchart illustrating an example of the processing by management server 3 in the delivery of goods. Figure 6 and Figure 7 The processing shown is executed by the control unit 33 of the management server 3. Additionally, Figure 6 and Figure 7 The process shown is performed when management server 3 starts up, except for maintenance. Figure 8 and Figure 9 This is a flowchart illustrating an example of handling unmanned mobile entities during goods delivery. Figure 8 and Figure 9 The processing shown is performed by the control unit 17 of UGV1 or the control unit 26 of UAV2.

[0088] [2.1. Management Server 3 Processing]

[0089] First, the processing of management server 3 in the item delivery process will be explained.Figure 6 In the process shown, the management server 3 determines whether it has received delivery designation information from the commercial transaction system for items designated as ordered by users related to the delivery destination and for which delivery procedures have been completed from the EC website (step S1). If it is determined that no delivery designation information for the items has been received (step S1: No), the process proceeds to... Figure 7 The process is described in step S13. On the other hand, if the determination bit receives the item's delivery designation information (step S1: YES), the delivery designation information of the item is obtained, and the process proceeds to step S2. Furthermore, the item's delivery designation information includes, for example, the item's ID, delivery destination information, delivery schedule, delivery consignor information, and recipient information.

[0090] In step S2, the management server 3, based on the item ID obtained in step S1, designates the item to be delivered as a designated item by the item designation unit 331. Next, the management server 3 determines whether the designated item designated in step S2 can be delivered by the delivery determination unit 332 (step S3). If it is determined that the designated item can be delivered (step S3: Yes), the process proceeds to step S4. Conversely, if it is determined that the designated item cannot be delivered (step S3: No), the process proceeds to step S8.

[0091] In step S4, the management server 3, based on the delivery schedule obtained in step S1 and the delivery schedule and loading status of unmanned mobile vehicles managed by the mobile vehicle management database 324, selects an unmanned mobile vehicle to deliver the designated item specified in step S2. Next, the management server 3 notifies the staff at the loading point of the loading request for the designated item specified in step S2 (step S5). For example, preferably, the information indicating the loading request for the designated item is sent to the staff's terminal. Thereby, the staff picks the designated item, packs it, and loads it onto the unmanned mobile vehicle selected in step S4.

[0092] Additionally, upon completion of loading the designated item onto the unmanned mobile vehicle, the delivery-related information of the designated item specified in step S2 is registered in the delivery management database 322. This delivery-related information includes the delivery designation information obtained in step S1, the loading information of the designated item, and the mobile vehicle information of the unmanned mobile vehicle selected in step S4. Here, the loading information of the designated item includes a "false" mark indicating out-of-stock status and authentication data required for handing over the designated item. This authentication data can also be issued by the management server 3 during registration.

[0093] Next, the management server 3 notifies the user of the designated item specified in step S2 (step S6) related to the delivery destination. For example, an email describing the contents of the designated item (e.g., name and price) and the authentication data required for handing over the designated item is sent to the user's email address.

[0094] Next, the management server 3 sends the item ID, delivery destination information, delivery schedule, loading information, and authentication data required for handing over the designated item, as specified in step S2, to the unmanned mobile body selected in step S4 (step S7) for processing. Figure 7 Step S14 is shown. Here, the item ID, delivery destination information, delivery schedule, loading information, and authentication data for the designated item are set for the unmanned mobile vehicle. Furthermore, the unmanned mobile vehicle begins moving towards the delivery destination based on the delivery destination information and delivery schedule. Additionally, the notification for the designated item specified in step S2 (the notification in step S6) can also be sent after the unmanned mobile vehicle begins moving towards the delivery destination.

[0095] On the other hand, in step S8, the management server 3, through the substitute setting unit 333, sets items in stock from the items managed by the sales management database 321 (i.e., items other than the designated items specified in step S2) as substitutes for the designated items specified in step S2. For example, as described above, it is preferable to set the substitutes for the designated items based on at least one of the following: correlation information indicating the correlation between the designated item and the substitute for each of the plurality of substitutes, and historical information indicating the number and frequency of times a user has previously selected a substitute for the designated item. Here, in the case of the number or frequency of times a user has previously selected a substitute for the designated item, it is preferable that the user is the user who specified the designated item this time (the user related to the delivery destination).

[0096] Next, based on the delivery schedule obtained in step S1 and the delivery schedule and loading status of unmanned mobile vehicles managed by the mobile vehicle management database 324, the management server 3 selects an unmanned mobile vehicle to deliver the substitute item set in step S8 (step S9). Then, the management server 3 notifies the staff at the loading point of the loading request for the substitute item set in step S8 (step S10). For example, it is preferable to send the information indicating the loading request for the substitute item to the staff's terminal. Thereby, the staff picks the substitute item, packs it, and loads it onto the unmanned mobile vehicle.

[0097] Additionally, when the loading of a substitute into the unmanned mobile vehicle is completed, the delivery-related information of the designated item specified in step S2 is registered in the delivery management database 322. The delivery-related information of the designated item includes the delivery designation information obtained in step S1, the loading information of the designated item, and the mobile vehicle information of the unmanned mobile vehicle selected in step S9. Here, the loading information of the designated item includes a shortage marker of "true," the item ID of the substitute set in step S8, and authentication data required for handing over the substitute. The authentication data can also be issued by the management server 3 during registration.

[0098] Next, the management server 3 notifies the user related to the delivery destination of the substitute product set in step S8 (step S11) via the substitute product notification unit 334. For example, it is preferable to send an email containing a URL or similar information describing the substitute product content to access the content of the substitute product to the email address of the user related to the delivery destination. The substitute product prompting unit 336 then selectively prompts the user with a substitute product via the URL.

[0099] Figure 10 This diagram illustrates an example of alternatives that users can optionally suggest related to the delivery destination. Figure 10 In this example, the product name, price, manufacturer, and appearance image of the designated item (I0) and its substitutes (I1-I3) are displayed on the screen. Users with a specific delivery destination can select one or more substitutes from the provided list (e.g., by selecting from the boxes displaying product names, etc., and pressing the "Select and Execute" button). However, if the user does not wish to use a substitute, as described above, the user can cancel the order for the designated item on the EC website.

[0100] Next, the management server 3 sends the item ID, delivery destination information, delivery schedule, loading information, and authentication data required for handing over the substitute item, as specified in step S2, to the unmanned mobile body selected in step S9 (step S12) for processing. Figure 7 Step S13 is shown. Here, the item ID, delivery destination information, delivery schedule, loading information, and authentication data for the designated item are set for the unmanned mobile vehicle. Furthermore, the unmanned mobile vehicle begins to move towards the delivery destination based on the delivery destination information and delivery schedule.

[0101] Figure 7In step S13, the management server 3 determines whether it has received cancellation information (including the item ID) from the commercial transaction system indicating the cancellation of a designated item. This cancellation information is sent from the commercial transaction system by processing the cancellation of a designated item specified by a user related to the delivery destination. If it is determined that cancellation information has been received (step S13: Yes), meaning the cancellation processing unit 335 has processed the cancellation of the designated item, the cancellation information is obtained, and the process proceeds to step S14. Conversely, if it is determined that no cancellation information has been received (step S13: No), the process proceeds to step S17.

[0102] In step S14, the management server 3 determines whether the unmanned mobile vehicle carrying the substitute for the designated item specified by the item ID contained in the cancellation information obtained in step S13 has started moving towards the delivery destination. If it is determined that the unmanned mobile vehicle has not yet started moving towards the delivery destination (step S14: No), the process proceeds to step S15. On the other hand, if it is determined that the unmanned mobile vehicle has started moving towards the delivery destination (step S14: Yes), the process proceeds to step S16.

[0103] In step S15, the management server 3 notifies the staff at the loading point of a delivery cancellation request for a substitute for the designated item specified based on the item ID contained in the cancellation information (step S10). For example, it is preferable to send the information indicating the delivery cancellation request to the staff's terminal. The staff then removes the substitute from the unmanned mobile unit. Furthermore, if only the substitute for the designated item specified based on the item ID contained in the cancellation information is loaded into the unmanned mobile unit, the departure of the unmanned mobile unit can be stopped.

[0104] In step S16, the management server 3 stops the movement of the unmanned mobile body carrying the substitute for the designated item specified according to the item ID contained in the cancellation information, and causes the unmanned mobile body to move to a specific location (e.g., a loading location or a transit location) or other delivery destination. For example, the mobile body control unit 339 sends a delivery stop control command to the unmanned mobile body via the communication network NW, thereby stopping the movement of the unmanned mobile body, and the unmanned mobile body moves to the specific location or other delivery destination.

[0105] In step S17, the management server 3 determines whether it has received alternative selection information and the delivery destination ID from the terminal of the user related to the delivery destination or from an unmanned mobile device at the delivery destination. If it is determined that the alternative selection information and the delivery destination ID have been received (step S17: Yes), that is, if the user related to the delivery destination has selected an alternative, the server obtains the alternative selection information and the delivery destination ID, and proceeds to step S18. On the other hand, if it is determined that the alternative selection information and the delivery destination ID have not been received (step S17: No), the server proceeds to step S20.

[0106] In step S18, the management server 3 stores the alternative selection information and delivery destination ID obtained in step S17. Next, the management server 3 notifies the user associated with the delivery destination (i.e., the user who selected the alternative) identified based on the delivery destination ID stored in step S18 of confirmation of the alternative selection shown in the alternative selection information stored in step S18 (step S19). For example, it is preferable to send an email describing the contents of the alternative (e.g., name and price) and authentication data required for handing over the alternative to the user's email address. Alternatively, if the user who selected the alternative is a delivery consignor, the email may also be sent to the email address of the recipient of the alternative.

[0107] Alternatively, before notifying the user to confirm in step S19, the management server 3 can pre-complete the checkout for the designated item corresponding to the substitute item shown in the substitute item selection information, and determine whether there is a price difference between the designated item and the substitute item. Furthermore, if the checkout for the designated item corresponding to the substitute item is completed, and it is determined that there is no price difference between the designated item and the substitute item (or, if the checkout for the designated item corresponding to the substitute item is not completed), the management server 3 will notify the user to confirm in step S19. On the other hand, if the checkout for the designated item corresponding to the substitute item is completed, and it is determined that there is a price difference between the designated item and the substitute item, the management server 3 will perform the price difference elimination process as described above, and then notify the user to confirm in step S19. Thus, after eliminating the price difference, the user who selected the substitute item is notified of the authentication data required for handing over the substitute item, and control is performed for handing over the substitute item.

[0108] In step S20, the management server 3 determines whether it has received information from the unmanned mobile vehicle at the delivery destination indicating that the user has not selected a substitute and the delivery destination ID. If it is determined that the information and the delivery destination ID have been received (step S20: Yes), the server obtains the information and the delivery destination ID and proceeds to step S21. On the other hand, if it is determined that the information and the delivery destination ID have not been received (step S20: No), the server proceeds to step S23.

[0109] In step S21, the management server 3, through the substitute setting unit 333, sets other substitutes for the designated items specified based on the item ID corresponding to the delivery destination ID obtained in step S20. Here, the other substitutes are substitutes not loaded onto the unmanned mobile vehicle at the delivery destination specified based on the delivery destination ID obtained in step S20. If there are multiple different other substitutes, it is preferable to set various other substitutes. In addition, if there are no other substitutes (no inventory), no other substitutes are set.

[0110] Next, the management server 3 sends the alternative content information, representing the alternatives set in step S21, to the unmanned mobile body that has already received the alternative not selected information (step S22). Here, it is preferable that the management server 3 calculates the time required for the unmanned mobile body carrying the alternatives to return to the delivery terminal, and sends the calculated time along with the alternative content information to the unmanned mobile body. If there are multiple different alternatives, and various alternatives are delivered to different unmanned mobile bodies, it is preferable to calculate the required time for each of the various alternatives and send it to the unmanned mobile body. Furthermore, if no alternatives are set, it is preferable to send alternative content information indicating null to the unmanned mobile body.

[0111] In step S23, the management server 3 determines whether it has received alternative selection information and a delivery ID from the unmanned mobile body that received the alternative content information sent in step S22, indicating that the recipient has selected another alternative. If it is determined that the alternative selection information and delivery destination ID have been received (step S23: Yes), that is, if the user has selected another alternative related to the delivery destination, the alternative selection information and delivery destination ID are obtained, and the process proceeds to step S24. On the other hand, if it is determined that the alternative selection information and delivery destination ID have not been received (step S23: No), the process proceeds to step S27.

[0112] In step S24, the management server 3, based on the delivery schedule and loading status of the unmanned mobile vehicles managed by the mobile vehicle pipeline database 324, selects an unmanned mobile vehicle to deliver the alternatives shown in the alternative selection information obtained in step S23. The selected unmanned mobile vehicle can be another unmanned mobile vehicle waiting at a loading point with the alternatives, or another unmanned mobile vehicle loaded with the alternatives and in motion. In the former case, similar to step S10, the loading request for the alternatives is communicated to the staff at the loading point. Alternatively, it can be an unmanned mobile vehicle that sent the alternative selection information obtained in step S23. In the latter case, if the mobile vehicle is a UAV2, it can quickly return to the loading point, load the alternatives, and then proceed to the re-delivery destination.

[0113] Next, the management server 3 notifies the user (i.e., the user who selected the other alternative) of the selection confirmation of the other alternative based on the delivery destination ID specified in step S23 (step S25). For example, preferably, an email describing the contents of the other alternative (e.g., name and price) and the authentication data required for handing over the other alternative is sent to the user's email address. Next, the management server 3 sends a delivery control command to the unmanned mobile vehicle selected in step S24, thereby causing the unmanned mobile vehicle to deliver the other alternative (step S26). Here, the item ID of the designated item corresponding to the other alternative, the delivery destination information, the delivery schedule, loading information, and authentication data are sent to the unmanned mobile vehicle along with the delivery control command.

[0114] In step S27, the management server 3 determines whether it has received cancellation request information and a delivery destination ID from an unmanned mobile device at the delivery destination, indicating a cancellation request for a specified item designated by a user related to the delivery destination. If it is determined that the cancellation request information and delivery destination ID have been received (step S27: Yes), the server obtains the cancellation request information and delivery destination ID and proceeds to step S28. On the other hand, if it is determined that the cancellation request information and delivery destination ID have not been received (step S27: No), the process returns to... Figure 6 Step S1 is shown.

[0115] In step S28, the management server 3, based on the delivery destination ID obtained in step S27, sends a cancellation request to the commercial transaction system, containing the item ID of the specified item to be cancelled and the user ID of the user who specified the specified item. Thus, the order for the specified item is cancelled.

[0116] [2.2. Handling of Unmanned Moving Bodies]

[0117] Next, we will explain how to handle unmanned moving objects during the delivery of goods. Figure 8 The process shown begins, for example, when the unmanned mobile vehicle starts moving towards its delivery destination. When it begins... Figure 8 During the processing shown, the unmanned mobile unit determines whether it has received a delivery stop control command from the management server 3 (step S31). If it is determined that a delivery stop control command has been received (step S31: Yes), the unmanned mobile unit stops its movement towards the delivery destination, for example, returning to the loading point (step S32). Alternatively, the unmanned mobile unit may begin moving towards other delivery destinations. In this case, the process continues... Figure 8 The process is as shown. On the other hand, if it is determined that no delivery stop control instruction has been received (step S31: No), the process proceeds to step S33.

[0118] In step S33, the unmanned mobile vehicle determines whether it has received a delivery control command from the management server 3. If it is determined that a delivery control command has been received (step S33: Yes), the unmanned mobile vehicle sets the delivery destination information received along with the delivery control command and continues moving (step S34). Here, the unmanned mobile vehicle may also move to the delivery destination shown in the delivery destination information received along with the delivery control command, before reaching the delivery destination it was going to before receiving the delivery control command, based on factors such as the time required to reach the delivery destination. On the other hand, if it is determined that no delivery control command has been received (step S33: No), the process proceeds to step S35.

[0119] In step S35, it is determined whether the unmanned mobile unit has reached the delivery destination. If it is determined that the delivery destination has not been reached (step S35: No), the process returns to step S31. On the other hand, if it is determined that the delivery destination has been reached (step S35: Yes), the process proceeds to step S36. In step S36, the unmanned mobile unit determines whether the out-of-stock flag contained in the loading information corresponding to the delivery destination ID of the delivery destination is "true". If it is determined that the out-of-stock flag is not "true" (i.e., "false") (step S36: No), the process proceeds to step S37. On the other hand, if it is determined that the out-of-stock flag is "true" (step S36: Yes), the process proceeds to step S39.

[0120] In step S37, control is performed to transfer the designated item at the delivery destination. If the unmanned mobile unit is UGV1, the control unit 17 acquires input data input by the recipient from the display Di. Furthermore, the control unit 17 uses the acquired input data and authentication data corresponding to the delivery destination ID to perform authentication processing. If the input data is authenticated, the door Do of the storage unit B containing the designated item is unlocked, opening door Do, allowing the storage box C containing the designated item to be retrieved. Thus, the recipient retrieves the designated item.

[0121] On the other hand, when the unmanned mobile vehicle (UAV2) lands at a takeoff and landing site with an operation panel at the delivery destination, the control unit 26 acquires input data input by the recipient from the operation panel. Furthermore, the control unit 26 uses the acquired input data and authentication data corresponding to the delivery destination ID to perform authentication processing. If the input data is authenticated, the pin P holding the designated item release restraint L is unlocked, and the item is removed from the ring of the storage box C, thus detaching the designated item from the storage box C. The recipient then retrieves the designated item.

[0122] Next, the unmanned mobile unit returns to the loading point, for example (step S38). Alternatively, the unmanned mobile unit may begin moving to other delivery destinations. In this case, continue... Figure 8 The processing shown.

[0123] In step S39, the unmanned mobile vehicle accesses the management server 3 and obtains the alternative selection information corresponding to the delivery destination ID of the delivery destination from the management server 3. Next, based on the alternative selection information obtained in step S39, the unmanned mobile vehicle determines whether the user related to the delivery destination has selected an alternative (step S40). If the obtained alternative selection information displays an item ID, it is determined that the user has selected an alternative (step S40: Yes), and the process proceeds to step S41. On the other hand, if the obtained alternative selection information is empty, it is determined that the user has not selected an alternative (step S40: No), and the process proceeds to step S41. Figure 9 Step S42 is shown.

[0124] In step S41, control is performed to transfer the selected substitute, and the process proceeds to step S38. For example, if the unmanned vehicle is UGV1, the control unit 17 acquires input data input from the recipient of the selected substitute via display Di. Furthermore, the control unit 17 uses the acquired input data and authentication data corresponding to the delivery destination ID to perform authentication processing. If the input data is authenticated, the door Do of the storage unit B containing the selected substitute is unlocked, opening door Do, allowing the storage box C containing the substitute to be retrieved. Thus, the recipient retrieves the substitute.

[0125] On the other hand, when the unmanned mobile vehicle (UAV2) lands at a takeoff and landing site with an operation panel at the delivery destination, the control unit 26 acquires input data input from the operation panel by the recipient of the selected substitute. Furthermore, the control unit 26 uses the acquired input data and authentication data corresponding to the delivery destination ID to perform authentication processing. If the input data is authenticated, the pin P holding the detachment restraint L of the selected substitute is unlocked, and the substitute is removed from the ring of the storage box C, thus detaching the substitute's storage box C. The recipient then retrieves the substitute.

[0126] Figure 9 In step S42, it is determined whether the unmanned mobile vehicle can wait at the delivery destination. If it is determined that the unmanned mobile vehicle cannot wait at the delivery destination (step S42: No), the cancellation request information indicating the cancellation request of the specified item designated by the user related to the delivery destination and the delivery destination ID are sent to the management server 3 (step S43), and the process is transferred to the management server 3. Figure 8 The process is shown in step S38. On the other hand, if it is determined that the customer can wait at the delivery destination (step S42: Yes), the waiting time is counted and the process proceeds to step S44.

[0127] In step S44, the unmanned mobile unit can selectively prompt the recipient with the loaded substitute. The substitute prompted here is a substitute specifically identified based on the item ID (item ID of the substitute) contained in the loading information corresponding to the delivery destination ID. In the case of the unmanned mobile unit being UGV1, the control unit 17... Figure 10 As shown, the substitute is displayed on the display Di. On the other hand, if the unmanned mobile vehicle is a UAV2, and it lands at the delivery destination in a takeoff and landing area with an operation panel, the control unit 26 displays the substitute on the operation panel via short-range wireless communication.

[0128] Next, the unmanned mobile unit determines whether the recipient has selected a substitute (step S45). If it is determined that the recipient has selected a substitute (step S45: Yes), substitute selection information indicating the substitute selected by the recipient is obtained, and the process proceeds to step S46. On the other hand, if it is determined that the recipient has not selected a substitute (step S45: No), the process proceeds to step S47. In step S46, the unmanned mobile unit sends the substitute selection information obtained in step S45 and the delivery destination ID of the delivery destination to the management server 3. After that, the process proceeds to step S41, where control is performed to hand over the selected substitute, and then the process proceeds to step S38.

[0129] Figure 11 This is a graph comparing the period during which alternatives could be selected in the past with the period during which alternatives could be selected in this embodiment. For example... Figure 11 As shown, in the past, the period during which alternatives could be selected was before the start of alternative delivery (e.g., before packaging). In contrast, in this embodiment, the period during which alternatives can be selected is from the time the alternatives are delivered until the moment before handover. Therefore, in this embodiment, the period during which alternatives can be selected is extended compared to the past, which improves the convenience for users related to the delivery destination when selecting alternatives.

[0130] In step S47, it is determined whether a specific time has elapsed since the waiting elapsed time in step S42. If it is determined that no specific time has elapsed since the waiting elapsed time was counted (step S47: No), the process returns to step S45. On the other hand, if it is determined that a specific time has elapsed since the waiting elapsed time was counted (step S47: Yes), the unmanned mobile unit sends information indicating that no substitute has been selected, along with the delivery destination ID, to the management server 3 (step S48). At this time, the waiting elapsed time count is reset, and the counting of the waiting elapsed time begins again. Alternatively, it can be configured so that the recipient can explicitly choose not to select the substitute suggested in step S44. For example, Figure 10 The selection screen shows a button that prompts for alternatives not loaded on the unmanned mobile vehicle. When the recipient presses the button, the unmanned mobile vehicle sends information indicating that no alternative has been selected and the delivery destination ID to the management server 3 in step S48.

[0131] also, Figure 10The selection screen shown above can also be displayed on the terminal of the user related to the delivery destination. However, in this case, it can also be configured to display a button on the selection screen of the terminal that prompts for alternatives not loaded on the unmanned mobile vehicle. In this case, when the user related to the delivery destination presses the button, the terminal sends information indicating that no alternative has been selected, along with the delivery destination ID, to the management server 3. Furthermore, when the management server 3 receives the information indicating that no alternative has been selected and the delivery destination ID from the terminal of the user related to the delivery destination, it sets up alternatives for the designated item based on the item ID corresponding to the obtained delivery destination ID, and sends information indicating the content of the set alternatives, along with information indicating the alternatives, to the terminal that sent the information indicating that no alternative has been selected.

[0132] Next, when the unmanned mobile vehicle receives alternative substitute content information from the management server 3 (step S49), based on the alternative substitute content information, the recipient can selectively be prompted with the alternative substitutes (step S50). Here, if the time required to reach the delivery destination is received from the management server 3 along with the alternative substitute content information, the required time is prompted to the recipient along with the alternative substitutes. Furthermore, if a required time is received for each of the multiple alternative substitutes, the recipient is prompted with the required time for each of the alternative substitutes. Additionally, if the alternative substitute content information is empty, the recipient is prompted with the main information.

[0133] Figure 12 This diagram illustrates an example of alternatives that users can optionally suggest related to the delivery destination. Figure 12 In the example, the product name, price, manufacturer, appearance image, and required time for each of the designated item (I0) and its substitutes (I7, I8) are displayed on the screen. Users at the delivery destination can select one or more substitutes from the provided list. However, there are also cases where the user does not select any substitutes. Furthermore, when the information on other substitutes is sent from the management server 3 to the terminal of the user at the delivery destination, Figure 12 The selection screen shown is displayed on the terminal.

[0134] Next, the unmanned mobile unit determines whether the recipient has selected an alternative (step S51). If it is determined that the recipient has selected an alternative (step S51: Yes), alternative selection information indicating the alternative selected by the recipient is obtained, and the process proceeds to step S52. On the other hand, if it is determined that the recipient has not selected an alternative (step S51: No), the process proceeds to step S53. In step S52, the unmanned mobile unit sends the alternative selection information obtained in step S51 and the delivery destination ID of the delivery destination to the management server 3. After that, the process proceeds to step S38. When the management server 3 receives alternative selection information, etc., sent from the unmanned mobile unit, the processes of steps S24 to S26 are performed as described above. In addition, in the terminal of the user related to the delivery destination, the selection (e.g., in...) is made... Figure 12 When other alternatives are selected on the displayed screen, the terminal sends alternative selection information and delivery destination ID to the management server 3. In this case, when the management server 3 receives alternative selection information and delivery destination ID from the terminal of the user related to the delivery destination, it performs the same processing as steps S24 to S26.

[0135] In step S53, it is determined whether a specific time has elapsed since the waiting time elapsed in step S48. If it is determined that no specific time has elapsed since the waiting time elapsed (step S53: No), the process returns to step S51. On the other hand, if it is determined that a specific time has elapsed since the waiting time elapsed (step S53: Yes), the process proceeds to step S43, and the cancellation request information and delivery destination ID are sent to the management server 3.

[0136] As explained above, according to the embodiment described, since the configuration is as follows: after an unmanned mobile body carrying a designated item that is designated as a delivery object for the delivery destination, and one or more substitutes for the designated item that is determined to be undeliverable after being designated, begins to move toward the delivery destination, substitute selection information indicating the substitute selected by the user related to the delivery destination from among the one or more substitutes is obtained, and control is performed to hand over the substitutes indicated by the substitute selection information at the delivery destination, even if the designated item is designated as a delivery object for the delivery destination and is determined to be undeliverable, the substitutes for the designated item can be delivered efficiently and well.

[0137] Furthermore, the described embodiment is one embodiment of the present invention, and the present invention is not limited to this embodiment. Various modifications, such as changes to the configuration, can be made from the described embodiment without departing from the spirit of the present invention, and such modifications are also included within the technical scope of the present invention. In this embodiment, the management server 3 can also obtain input data input by the recipient from the display Di or operation panel at the delivery destination, and use the obtained input data and authentication data corresponding to the delivery destination ID to perform authentication processing. Furthermore, if the input data is authenticated, the management server 3 can also send a handover control command to the unmanned mobile vehicle, thereby controlling the handover of substitutes.

[0138] [Symbol Explanation]

[0139] 1 UGV

[0140] 2 UAV

[0141] 3. Management Server

[0142] 11, 21 Drive Unit

[0143] Positioning section 12, 22

[0144] 13, 23 Ministry of Communications

[0145] 14, 24 Sensor Unit

[0146] 15 Operation / Display Section

[0147] Storage sections 16 and 25

[0148] 17, 26 Control Department

[0149] 31 Ministry of Communications

[0150] 32 Storage Unit

[0151] 33 Control Department

[0152] 331 Item Specific Department

[0153] 332 Delivery Determination Department

[0154] 333 Substitute Design Department

[0155] 334 Substitute Notification Department

[0156] 335 Cancellation of Acceptance Department

[0157] 336 Alternatives Notification Department

[0158] 337 Alternative to the Information Acquisition Department

[0159] 338 Difference Processing Department

[0160] 339 Mobile Unit Control Section

[0161] NW communication network

[0162] S - Goods delivery system.

Claims

1. A goods delivery system, characterized by having: An unmanned mobile vehicle carrying one or more substitutes for items designated for delivery to a specified destination, wherein... The item was determined to be undeliverable due to lack of stock at the specified subsequent inventory confirmation time. The acquisition unit acquires substitute selection information indicating a substitute, wherein the substitute is one or more substitutes that were loaded into the unmanned mobile vehicle before it began moving towards the delivery destination, and a substitute selected by a user related to the delivery destination after the unmanned mobile vehicle began moving towards the delivery destination; and The handover control unit controls the handover of the substitutes indicated by the substitute selection information at the delivery destination.

2. The item delivery system according to claim 1, characterized in that the acquiring unit acquires substitute selection information representing the user's selection of a substitute from a plurality of pre-set substitutes for the item.

3. The goods delivery system according to claim 1 or 2, characterized in that it further comprises: a prompting unit, which can selectively prompt the user for the substitute loaded onto the unmanned mobile body; and The acquiring unit acquires substitute selection information for the substitute selected by the user from among the substitutes suggested by the prompting unit.

4. The goods delivery system according to claim 3, characterized in that, if the user does not select a substitute from the suggested substitutes, the prompting unit prompts the user for other suggested substitutes not loaded onto the unmanned mobile body, and further comprises: The mobility control unit, upon the user selecting the other alternative, causes the unmanned mobile vehicle or other unmanned mobile vehicle carrying the other alternative to move toward the delivery destination.

5. The goods delivery system according to claim 4, characterized in that the prompting unit prompts the user with the time required for the unmanned mobile vehicle or other unmanned mobile vehicle carrying the other substitutes to reach the delivery destination, together with the other substitutes.

6. The goods delivery system according to claim 1 or 2, characterized in that it further comprises: The notification department, before and after the unmanned mobile vehicle begins moving towards the delivery destination, notifies the user of the alternative product; and The Reception Department handles cancellations of the specified items.

7. The goods delivery system according to claim 6, characterized in that it further comprises a movement control unit, which, after the unmanned mobile body begins to move toward the delivery destination, stops the movement upon receiving the cancellation, and causes the unmanned mobile body to move toward a specific location or other delivery destination.

8. The item delivery system according to claim 1 or 2, characterized in that it further comprises a setting unit, which, based on correlation information representing the correlation degree between the item and the substitute for each of the plurality of substitutes, preferentially sets the substitute with a relatively high correlation degree among the plurality of substitutes as the substitute to be loaded onto the unmanned mobile body.

9. The item delivery system according to claim 1 or 2, characterized in that it further comprises a setting unit, which, based on historical information indicating the number or frequency of times each of the plurality of substitutes has been selected as a substitute for the item in the past, preferentially sets the substitute with a relatively high number or frequency among the plurality of substitutes as the substitute to be loaded onto the unmanned mobile body.

10. The goods delivery system according to claim 1 or 2, characterized in that the goods are products for which payment has been completed, and further comprising: In the processing unit, if there is a price difference between the product and the substitute selected by the user, the price difference is eliminated before the handover control unit performs control for handing over the substitute.

11. An unmanned mobile vehicle, characterized in that it carries one or more substitutes for items designated for delivery to a delivery destination, wherein, The item is determined to be undeliverable due to lack of stock at the specified subsequent inventory confirmation time, and meets the following conditions: The mobile control unit causes the unmanned mobile body to move toward the delivery destination; The acquisition unit acquires substitute selection information indicating a substitute, wherein the substitute is one or more substitutes that were loaded into the unmanned mobile vehicle before it began moving towards the delivery destination, and a substitute selected by a user related to the delivery destination after the unmanned mobile vehicle began moving towards the delivery destination; and The handover control unit controls the handover of the substitutes indicated by the substitute selection information at the delivery destination.

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