Control device and control method

Abstract

The invention relates to a control device and a control method. The control device (11) determines, on the basis of the arrival time at which the vehicle (10) arrives at the destination desired by the user (60) and the delivery time at which the drone (40) delivers the product ordered by the user moving by taking the vehicle to the vehicle, whether or not the drone can deliver the product to the vehicle before the vehicle arrives at the destination.

Description

Technical Field

[0001] The present disclosure relates to a control device and a control method. Background Art

[0002] Patent Document 1 discloses a delivery system that delivers products ordered by users using drones.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-90152 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, the invention described in Patent Document 1 is a system for delivering products to a user's residence using a drone, and does not mention delivering products to a user who is moving.

[0008] An aspect of the present disclosure is to deliver goods to a user on the move.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems, a control device involved in one scheme of the present disclosure is a control device having a controller, wherein the controller determines whether the drone can deliver the goods to the vehicle before the vehicle arrives at the destination desired by the user and the delivery time of the drone to deliver the goods ordered by the user who is traveling on the vehicle to the vehicle.

[0011] In order to solve the above-mentioned problems, a control method involved in one scheme of the present invention is a control method used in a control device equipped with a controller, which includes the following steps: based on the arrival time of a vehicle at a user's desired destination and the delivery time of a drone for delivering goods ordered by the user who is traveling on the vehicle to the vehicle, determining whether the drone can deliver the goods to the vehicle before the vehicle arrives at the destination.

[0012] The control device involved in the scheme of the present disclosure can also be implemented by a computer. In this case, the control program of the control device implemented by the computer by causing the computer to act as the various parts (software elements) possessed by the control device and the computer-readable recording medium recording the control program also fall within the scope of the present disclosure.

[0013] Effects of the Invention

[0014] According to an aspect of the present disclosure, commodities can be delivered to users who are on the move. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic configuration diagram showing an example of a delivery management system according to an embodiment of the present disclosure.

[0016] Figure 2 This is a diagram illustrating an example of a method of receiving cargo from a drone.

[0017] Figure 3 is a block diagram showing the hardware structure of the first management server.

[0018] Figure 4 is a block diagram showing the hardware structure of the second management server.

[0019] Figure 5 It is a block diagram showing the hardware structure of the vehicle control device.

[0020] Figure 6 is a block diagram showing the hardware structure of a user terminal.

[0021] Figure 7 This is the appearance of the drone.

[0022] Figure 8 This is a block diagram showing the hardware structure of the drone control device.

[0023] Fig. 9 This is a flowchart showing the flow of processing in the delivery management system.

[0024] Fig.10 This is a flowchart showing the flow of processing in the delivery management system.

[0025] Fig.11 This is an example of an ordering screen when a user orders a product.

[0026] Fig.12 This is map information showing the travel route until the vehicle reaches the destination.

[0027] Fig.13 This is map information showing the travel route until the vehicle reaches the destination. DETAILED DESCRIPTION

[0028] Hereinafter, the delivery management system 100 according to the embodiment of the present disclosure will be described with reference to the attached drawings. Figure 1 In the description of the drawings, the same parts are denoted by the same reference numerals and the description thereof is omitted.

[0029] (Structure of Delivery Management System 100)

[0030] The delivery management system 100 is a system that delivers a product ordered by a user who is riding in a vehicle to the user using a drone. Figure 1 1 is a schematic configuration diagram showing an example of the delivery management system 100 .

[0031] like Figure 1 As shown, the delivery management system 100 includes a vehicle 10 used in a ride-sharing service, a first management server 20 managed and operated by an operator who conducts the ride-sharing service, a second management server 30 managed and operated by an operator who conducts a meal delivery service, a drone 40 as a flying mobile body, a communication network 50, and a user terminal 70 held by a user 60 who is riding in the vehicle 10.

[0032] exist Figure 1 In the example, there is one vehicle 10, but the present invention is not limited thereto, and the delivery management system 100 may include two or more vehicles. Figure 1 In the example, there is one drone 40, but the present invention is not limited thereto, and the delivery management system 100 may include two or more drones. Figure 1 In the embodiment, there is one user terminal 70, but the present invention is not limited thereto, and the delivery management system 100 may include two or more user terminals. For example, in addition to the user terminal 70 held by the user 60, the delivery management system 100 may also include a user terminal held by the user 61. In addition, when the operator that provides the carpooling service and the operator that provides the meal delivery service are the same operator, the first management server 20 and the second management server 30 may also be integrated into one server. In addition, the service provided by the operator that manages and operates the second management server 30 is not limited to the meal delivery service, but may also be a delivery service for daily necessities, medicines, etc.

[0033] The vehicle 10 and the drone 40 include a control device described below. The control device of the vehicle 10 , the first management server 20 , the second management server 30 , the control device of the drone 40 , and the user terminal 70 can communicate with each other via the communication network 50 .

[0034] In the present embodiment, the vehicle 10 is described as a vehicle used in a carpooling service, but the present invention is not limited thereto, and the vehicle 10 may also be a vehicle used as a private car. In addition, the vehicle 10 is described as a vehicle having an automatic driving function. It is assumed that the automatic driving function installed in the vehicle 10 does not require passenger monitoring. In other words, it is assumed that the level of automatic driving is so-called L3 or above. However, the present invention is not limited thereto, and the vehicle 10 may also be a vehicle without an automatic driving function. Two users, namely user 60 and user 61, are riding in the vehicle 10, but three or more users may also be riding.

[0035] The vehicle 10 includes a control device 11 , a GPS receiver 12 , a camera 13 , a sensor group 14 , a display 15 , a ceiling module 16 , an opening and closing module 17 , and an actuator 18 .

[0036] The control device 11 controls the actuator 18 based on the information obtained from the GPS receiver 12, the camera 13 and the sensor group 14 to realize automatic driving. The actuator 18 includes a brake actuator, an accelerator pedal actuator, a steering actuator, etc. In addition, the control device 11 has a function of controlling the operation of the roof module 16 and the opening and closing module 17 to receive cargo from the drone 40.

[0037] The GPS receiver 12 receives radio waves from an artificial satellite to obtain position information of the vehicle 10 on the ground. The position information of the vehicle 10 obtained by the GPS receiver 12 is transmitted to the control device 11.

[0038] The camera 13 has a photographing element such as a CCD (charge-coupled device) and a CMOS (complementary metal oxide semiconductor). The number and location of the camera 13 are not particularly limited, but as an example, the cameras 13 are respectively arranged in front, on the side, and on the rear of the vehicle 10. The camera 13 photographs the surroundings of the vehicle 10 at a predetermined period and detects information about the surroundings of the vehicle 10. The information about the surroundings of the vehicle 10 includes information about moving objects such as pedestrians, bicycles, motorcycles, or other vehicles, and information about stationary objects such as dividing lines, traffic lights, signs, crosswalks, or intersections. The information about the surroundings of the vehicle 10 detected by the camera 13 is sent to the control device 11.

[0039] The sensor group 14 includes sensors for detecting the state of the vehicle 10 and sensors for detecting information about the surroundings of the vehicle 10. Examples of sensors for detecting the state of the vehicle 10 include speed sensors, acceleration sensors, steering angle sensors, gyro sensors, brake fluid pressure sensors, and accelerator opening sensors. Examples of sensors for detecting information about the surroundings of the vehicle 10 include millimeter wave radars and LiDAR (Light Detection and Ranging). LiDAR is a sensor that measures the distance and direction to an object or recognizes the shape of an object by emitting a laser to an object around the vehicle 10 and measuring the time until the laser hits the object and bounces back. The state of the vehicle 10 and the information about the surroundings of the vehicle 10 detected by the sensor group 14 are sent to the control device 11.

[0040] The display 15 is a device that displays various information.

[0041] The ceiling module 16 is a module that can move in the vehicle interior along a rail (not shown) provided on the ceiling in the vehicle interior. The "module" mentioned here means a component having a predetermined function.

[0042] The opening and closing module 17 is a module that is provided at a portion of the roof of the vehicle 10 and can open and close a portion of the opening of the roof. In the present embodiment, an example in which the opening and closing module 17 is provided at the rear end of the roof is shown, but the opening and closing module 17 may also be provided at the center or front end of the roof.

[0043] The communication network 50 is described as the Internet, but is not limited to this, and other wireless communication methods may be used.

[0044] (Method of receiving goods)

[0045] Next, refer to Figure 2 An example of a method of receiving the cargo 80 from the drone 40 will be described. Figure 2 The scene in which the roof module 16 of the vehicle 10 receives the cargo 80 delivered by the drone 40 is shown. The cargo 80 is a commodity ordered by the user 60 using the user terminal 70 via the Internet.

[0046] The control device 11 of the vehicle 10 , which detects the arrival of the cargo 80 , slides the opening and closing module 17 toward the front of the vehicle 10 to open the opening 81 of a portion of the roof.

[0047] The control device 11 of the vehicle 10 moves the ceiling module 16 from the opening 81 toward the outside of the vehicle 10. The ceiling module 16 is in a rectangular box shape, and the upper surface is an open surface. Thus, the cargo 80 can be loaded from the upper surface of the ceiling module 16 to the inside of the ceiling module 16. After the drone 40 loads the cargo 80 on the ceiling module 16, it opens the arm holding the cargo 80. By handing over the cargo 80 in this way, the cargo 80 will not fall, and damage to the cargo 80 can be prevented.

[0048] In this embodiment, it is assumed that a series of processes until the user 60 orders goods via the Internet and the drone 40 delivers the ordered goods, that is, the goods 80, are performed while the vehicle 10 is moving toward the destination. Here, depending on the conditions, the goods 80 may not be delivered before the vehicle 10 arrives at the destination. Therefore, in this embodiment, it is configured to determine whether the goods 80 can be delivered by the drone 40 before the vehicle 10 arrives at the destination, and if it is determined that the goods 80 can be delivered, the drone 40 is made to deliver the goods 80.

[0049] (Hardware Configuration of First Management Server 20)

[0050] Next, refer to Figure 3 An example of the hardware configuration of the first management server 20 will be described. Figure 3 2 is a block diagram showing the hardware configuration of the first management server 20 .

[0051] like Figure 3 As shown, the first management server 20 is a general-purpose computer including a communication I / F 21 , a CPU (Central Processing Unit) 22 , a memory 23 , and a storage device 24 , and these components are electrically connected via a bus (not shown).

[0052] The communication I / F 21 is implemented as hardware such as a network adapter, various communication software, or a combination thereof, and is configured to enable wireless communication via the communication network 50 .

[0053] CPU 22 is a central processing unit and a controller for executing various programs. Memory 23 is a storage medium such as ROM (Read Only Memory) and RAM (Random Access Memory). Storage device 24 is composed of HDD (Hard Disk Drive), SSD (Solid State Drive) or flash memory, etc., and stores various programs and various data. Specifically, the storage device 24 stores account information such as user ID and password for using the carpooling service, usage history, etc.

[0054] (Hardware Configuration of Second Management Server 30)

[0055] Next, refer to Figure 4 An example of the hardware configuration of the second management server 30 will be described. Figure 4 2 is a block diagram showing the hardware configuration of the second management server 30 .

[0056] like Figure 4 As shown, the second management server 30 is a general-purpose computer including a communication I / F 31, a CPU 32, a memory 33, and a storage device 34, and these components are electrically connected via a bus not shown. The configurations of the communication I / F 31, the CPU 32, the memory 33, and the storage device 34 are the same as those of the communication I / F 21, the CPU 22, the memory 23, and the storage device 24 of the first management server 20 described above, and therefore description thereof is omitted.

[0057] The storage device 34 stores account information such as a user ID and a password for utilizing the meal delivery service, stores registered with the meal delivery service, and menus provided by the stores.

[0058] (Hardware Configuration of Control Device 11 of Vehicle 10)

[0059] Next, refer to Figure 5 An example of the hardware configuration of the control device 11 of the vehicle 10 will be described. Figure 5 1 is a block diagram showing a hardware configuration of the control device 11 of the vehicle 10 .

[0060] like Figure 5 As shown, the control device 11 of the vehicle 10 is a general-purpose computer including a communication I / F 11b, a CPU 11a, a memory 11c, a storage device 11d, and an input / output I / F 11e, and these components are electrically connected via a bus not shown. The configurations of the communication I / F 11b, the CPU 11a, the memory 11c, and the storage device 11d are the same as the configurations of the communication I / F 21, the CPU 22, the memory 23, and the storage device 24 of the first management server 20 described above, and therefore, description thereof is omitted.

[0061] The input / output I / F 11e is an interface for communicating with the GPS receiver 12, camera 13, sensor group 14, ceiling module 16, opening / closing module 17 and actuator 18 mounted on the vehicle 10. For example, a communication standard based on the CAN (Controller Area Network) protocol is used as the interface.

[0062] In the control device 11 of the present embodiment, the CPU 11a functions as a notification unit 111, a position information acquisition unit 112, a travel route setting unit 113, a travel control unit 114, a cargo determination unit 115, a reception determination unit 116, a module control unit 117, and a timing calculation unit 118 by executing a predetermined program stored in the storage device 11d.

[0063] The notification unit 111 notifies the drone 40 or the user 60 of predetermined information. The position information acquisition unit 112 acquires position information from the GPS receiver 12 and outputs the acquired position information to the travel control unit 114 .

[0064] The travel route setting unit 113 sets a travel route to a destination desired by the user 60 , and outputs the set travel route to the travel control unit 114 . The travel control unit 114 controls the actuator 18 to cause the vehicle 10 to travel along the travel route obtained from the travel route setting unit 113 .

[0065] The cargo determination unit 115 determines whether the cargo 80 delivered by the drone 40 is the commodity ordered by the user 60. The reception determination unit 116 determines whether the cargo 80 can be received.

[0066] The module control unit 117 controls the operation of the ceiling module 16 and the opening and closing module 17. When the reception determination unit 116 determines that the cargo 80 cannot be received, the timing calculation unit 118 calculates a timing suitable for receiving the cargo 80.

[0067] (Hardware Structure of User Terminal 70)

[0068] Next, refer to Figure 6 An example of the hardware configuration of the user terminal 70 will be described. Figure 6 2 is a block diagram showing the hardware configuration of the user terminal 70 .

[0069] The user terminal 70 is a device held by the user 60 who is using the ride-sharing service and riding in the vehicle 10. In this embodiment, the user terminal 70 is described as a smartphone, but the present invention is not limited thereto and the user terminal 70 may be a tablet terminal or a wearable device.

[0070] like Figure 6 As shown, the user terminal 70 includes a communication I / F 71, a CPU 72, a memory 73, a storage device 74, a GPS receiver 75, and a display 76. Each structure is electrically connected via a bus not shown. The structures of the communication I / F 71, the CPU 72, the memory 73, and the storage device 74 are the same as the structures of the communication I / F 21, the CPU 22, the memory 23, and the storage device 24 of the first management server 20 described above, so the description is omitted.

[0071] An application 741 for utilizing the carpooling service and the meal delivery service is installed in the storage device 74. Hereinafter, the application 741 is simply referred to as “application 741”. The application 741 is realized by the CPU 72 reading a dedicated application from the storage device 74 and executing it.

[0072] The display 76 is composed of a liquid crystal display or an organic EL display, etc., and displays various information. In addition, the display 76 includes a capacitive touch sensor, and also serves as an input device that receives a touch operation by the user 60 as an input operation.

[0073] (Drone 40)

[0074] Next, refer to Figure 7 Next, the drone 40 will be described. Figure 7 This is an appearance diagram of UAV 40.

[0075] like Figure 7 As shown, the drone 40 includes a main body 40a, four propellers 45 connected to the main body 40a, and a group of arms 46 connected to the main body 40a. The main body 40a includes a control device 41, a GPS receiver 42, a camera 43, and a sensor group 44. It should be noted that the number of propellers is not limited to 4, and can be any number as long as a stable flight is achieved. In addition, two or more groups of arms can be provided.

[0076] The GPS receiver 42 receives radio waves from an artificial satellite to obtain the position information of the drone 40. The position information of the drone 40 obtained by the GPS receiver 42 is transmitted to the control device 41.

[0077] The camera 43 has a CCD (charge-coupled device), a CMOS (complementary metal oxide semiconductor) and other imaging elements. The camera 43 captures the surroundings of the drone 40 at a predetermined period and detects information about the surroundings of the drone 40. The information about the surroundings of the drone 40 includes, for example, the weather and brightness around the drone 40, and obstacles such as trees and birds in front of the drone 40. The information about the surroundings of the drone 40 detected by the camera 43 is sent to the control device 41.

[0078] The sensor group 44 includes sensors for detecting the state of the drone 40 and sensors for detecting information about the surroundings of the drone 40. Examples of sensors for detecting the state of the drone 40 include a velocity sensor, an acceleration sensor, and a gyro sensor. Examples of sensors for detecting information about the surroundings of the drone 40 include an ultrasonic sensor, an air pressure sensor, and the like. The state of the drone 40 and the information about the surroundings of the drone 40 detected by the sensor group 44 are transmitted to the control device 41.

[0079] The control device 41 controls the propeller 45 based on information acquired from the GPS receiver 42 , the camera 43 , and the sensor group 44 , thereby causing the drone 40 to fly.

[0080] (Hardware Structure of Control Device 41 of Drone 40)

[0081] Next, refer to Figure 8 An example of the hardware configuration of the control device 41 of the drone 40 will be described. Figure 8 4 is a block diagram showing the hardware configuration of the control device 41 of the drone 40 .

[0082] like Figure 8 As shown, the control device 41 of the drone 40 is a general-purpose computer including a communication I / F 41b, a CPU 41a, a memory 41c, a storage device 41d, and an input / output I / F 41e, and these components are electrically connected via a bus not shown. The structures of the communication I / F 41b, the CPU 41a, the memory 41c, and the storage device 41d are the same as those of the communication I / F 21, the CPU 22, the memory 23, and the storage device 24 of the first management server 20 described above, and therefore, description thereof is omitted.

[0083] The input / output I / F 41 e is an interface for communicating with the GPS receiver 42 , the camera 43 , the sensor group 44 , the propeller 45 , and the arm 46 mounted on the drone 40 .

[0084] In the control device 41 of the present embodiment, the CPU 41a functions as a notification unit 411, an order information acquisition unit 412, a position information acquisition unit 413, a flight path calculation unit 414, an environment determination unit 415, a delivery determination unit 416, a flight control unit 417, an arm control unit 418, a vehicle identification unit 419 and a reading unit 420 by executing a prescribed program stored in the storage device 41d.

[0085] The notification unit 411 notifies the vehicle 10 or the user 60 of predetermined information. The order information acquisition unit 412 acquires information related to the order placed by the user 60 from the second management server 30 .

[0086] The position information acquisition unit 413 acquires the position information from the GPS receiver 42, and outputs the acquired position information to the flight control unit 417. The flight path calculation unit 414 calculates the flight path to the vehicle 10, and outputs the calculated flight path to the flight control unit 417.

[0087] The environment determination unit 415 determines the environment around the drone 40. Specifically, the environment determination unit 415 determines the weather and brightness around the drone 40 or determines the presence or absence of obstacles such as trees and birds based on information obtained from the camera 43 and the sensor group 44.

[0088] The delivery determination unit 416 determines whether the cargo 80 can be delivered to the vehicle 10 before the vehicle 10 arrives at the destination. The flight control unit 417 controls the drone 40 to fly along the flight path calculated by the flight path calculation unit 414 while taking the surrounding environment of the drone 40 into consideration.

[0089] The arm control unit 418 controls the arm 46 so that the arm 46 holds the cargo 80. The vehicle identification unit 419 uses a well-known image processing method such as pattern matching to identify the vehicle 10 that delivers the cargo 80. The reading unit 420 uses the camera 43 to read the QR code (registered trademark) attached to the vehicle 10 and obtain the information embedded in the QR code (registered trademark).

[0090] (Flow of Processing Implemented by Delivery Management System 100)

[0091] Next, refer to Figures 9-10The flowchart shown in FIG. 1 illustrates an example of a process flow performed by the delivery management system 100. The flowchart is performed, for example, in a scenario where the drone 40 delivers a product ordered by a user 60 who is riding in a vehicle 10 to the vehicle 10 and receives the product from the drone 40. As a prerequisite for the flowchart, it is assumed that the user 60 is riding in the vehicle 10 using a ride-sharing service.

[0092] In step S101 , the user 60 riding the vehicle 10 selects a desired store from available stores and selects desired food from the menu provided by the store to place an order using the application 741 . Information on the store and menu selected by the user 60 is sent to the first management server 20 .

[0093] In step S102, the first management server 20 obtains the order-related information sent in the process of step S101, and accepts the order of the user 60. In this embodiment, the following structure is adopted: the operator of the carpooling service and the operator of the meal delivery service cooperate with each other and can share the information of the user 60 who uses the carpooling service and the meal delivery service. Specifically, the following structure is adopted: the first management server 20 can share with the second management server 30 the information related to the carpooling service, such as (1) whether the ordering user 60 is using the carpooling service, (2) if using the carpooling service, which manufacturer's vehicle is being used, (3) where the ordering user 60 is currently traveling, and (4) where the ordering user 60 is going.

[0094] Here, refer to Fig.11 , an example of an ordering screen when user 60 orders food is described. The ordering function is a function provided by application 741, and the order is performed on application 741. Fig.11 As shown, when user 60 orders food, display 76 of user terminal 70 displays icon 90 indicating that user 60 is logged into application 741, notification 91 indicating whether user 60 is using a ride-sharing service, and notification 92 related to the order content.

[0095] As shown in the notification 91, the user 60 is using the carpooling service, the manufacturer name and the vehicle name of the vehicle 10 that the user 60 is riding in, and the destination are displayed on the display 76. The information related to the notification 91 is the information sent from the first management server 20 to the second management server 30 when the user 60 touches the operation icon 93 and places an order.

[0096] return Fig. 9In step S102, the first management server 20 sends information related to the received order and information related to the carpooling service to the second management server 30. The second management server 30 sends the order-related information to the store selected by the user 60, the control device 41 of the drone 40 configured in the store, and the control device 11 of the vehicle 10. The store staff prepares the food ordered by the user 60 and makes the drone 40 deliver it.

[0097] In step S103, the control device 41 of the drone 40 calculates the flight path from the store to the vehicle 10 based on the information received in the process of step S102. Specifically, the control device 41 of the drone 40 calculates the flight path from the store to the vehicle 10 using the position information of the vehicle 10 received from the second management server 30.

[0098] In step S104 , the control device 41 of the drone 40 determines whether the cargo 80 can be delivered to the vehicle 10 before the vehicle 10 arrives at the destination.

[0099] (An example of a method for determining whether delivery is possible)

[0100] Here, regarding the specific method of determining step S104, Fig.12 While explaining.

[0101] Fig.12 It is map information showing the driving path until the vehicle 10 reaches the destination 85. P1 to P6 in the figure represent specific locations that the vehicle 10 will pass through before reaching the destination 85. The specific location is a candidate for the location where the cargo 80 is received from the drone 40 and is set appropriately. The specific location is not particularly limited, but for example, it is an intersection with a traffic light. This is because if the vehicle 10 is stopped due to a red light, it can be considered that it is easier to receive the cargo 80.

[0102] The control device 11 of the vehicle 10 calculates the time of arrival at the destination 85 and the time of passing through each point P1 to P6. The calculated time is one of the information related to the carpooling service, and is transmitted from the second management server 30 to the control device 41 of the drone 40.

[0103] The store 84 in the figure is the store selected by the user 60 . The drone 40 is deployed in the store 84 .

[0104] The control device 41 of the drone 40 that has obtained the information related to the order of the user 60 calculates the flight paths R1 to R6 from the store 84 to each location P1 to P6 and the time of arrival at each location P1 to P6. It should be noted that the flight paths R1 to R6 are the flight paths that can arrive at each location P1 to P6 the earliest.

[0105] Here, the current time is set to 10:00, and it is assumed that the time when the vehicle 10 passes through each of the points P1 to P6 and the time when it arrives at the destination 85 are calculated as follows. The time when the vehicle 10 passes through the point P1 is 10:05. The time when the vehicle 10 passes through the point P2 is 10:10. The time when the vehicle 10 passes through the point P3 is 10:15. The time when the vehicle 10 passes through the point P4 is 10:20. The time when the vehicle 10 passes through the point P5 is 10:25. The time when the vehicle 10 passes through the point P6 is 10:30. The time when the vehicle 10 arrives at the destination 85 is 10:35.

[0106] In addition, it is assumed that the time when the drone 40 arrives at each location P1 to P6 is calculated as follows. The time when the drone 40 arrives at location P1 is 10:10. The time when the drone 40 arrives at location P2 is 10:08. The time when the drone 40 arrives at location P3 is 10:10. The time when the drone 40 arrives at location P4 is 10:15. The time when the drone 40 arrives at location P5 is 10:10. The time when the drone 40 arrives at location P6 is 10:15. That is, the delivery time required to arrive at locations P1, P3, and P5 is 10 minutes, the delivery time required to arrive at location P2 is 8 minutes, and the delivery time required to arrive at locations P4 and P6 is 15 minutes.

[0107] When the arrival time is calculated as described above, the drone 40 cannot deliver the cargo 80 to the vehicle 10 at the point P1. This is because the vehicle 10 has already passed the point P1 when the drone 40 arrives at the point P1. Fig.12 In the example shown, the following is assumed: the speeds of the vehicle 10 and the drone 40 are about the same, and the drone 40 cannot catch up with the vehicle 10 unless the vehicle 10 slows down or stops at a red light. However, if the maximum speed allowed for the drone 40 is sufficiently faster than the legal speed of the vehicle 10, the drone 40 can catch up with the vehicle 10.

[0108] On the other hand, the drone 40 can deliver the cargo 80 to the vehicle 10 at the points P2 to P6. This is because when the drone 40 arrives at the points P2 to P6, the vehicle 10 has not yet arrived at the points P2 to P6.

[0109] Therefore, if the flight paths are R2 to R6 , the control device 41 of the drone 40 determines that the cargo 80 can be delivered to the vehicle 10 before the vehicle 10 arrives at the destination 85 (Yes in step S104 ).

[0110] exist Fig.12, an example is described in which it is determined that the cargo 80 can be delivered before the vehicle 10 arrives at the destination 85 if it is a partial flight path. The partial flight path is the flight paths R2 to R6. In contrast, for an example in which it is determined that the cargo 80 cannot be delivered before the vehicle 10 arrives at the destination 85 regardless of any flight path, refer to Fig.13 To explain.

[0111] Fig.13 is with Fig.12 Likewise, map information of the travel route until the vehicle 10 arrives at the destination 85 is shown. Fig.13 and Fig.12 The different parts are the current location of the vehicle 10 and the location of the store 84 .

[0112] exist Fig.13 In, also with Fig.12 Similarly, assuming that the current time is 10:00, the time when the vehicle 10 passes through each of the points P5 to P6 and the time when it arrives at the destination 85 are calculated as follows. The time when the vehicle 10 passes through the point P5 is 10:25. The time when the vehicle 10 passes through the point P6 is 10:30. The time when the vehicle 10 arrives at the destination 85 is 10:35.

[0113] In addition, it is assumed that the time when the drone 40 arrives at each of the locations P5 to P6 is calculated as follows. The time when the drone 40 arrives at the location P5 is 10:30. The time when the drone 40 arrives at the location P6 is 10:35. That is, the delivery time required to arrive at the location P5 is 30 minutes, and the delivery time required to arrive at the location P6 is 35 minutes.

[0114] When the arrival time is calculated as described above, the drone 40 cannot deliver the cargo 80 to the vehicle 10 regardless of whether it is the point P5 or the point P6. This is because when the drone 40 arrives at the point P5 or the point P6, the vehicle 10 has already passed the point P5 or the point P6.

[0115] Therefore, the control device 41 of the drone 40 determines that the cargo 80 cannot be delivered to the vehicle 10 before the vehicle 10 arrives at the destination 85 (No in step S104).

[0116] exist Fig.12 and Fig.13In the example, various points P1 to P6 are set as candidates for receiving the cargo 80 from the drone 40, but such points may not be set. When no points are set, the control device 41 of the drone 40 may compare the arrival time of the vehicle 10 at the destination 85 with the delivery time of the drone 40 to determine whether the cargo 80 can be delivered to the vehicle 10 before the vehicle 10 arrives at the destination 85. For example, when the delivery time is shorter than the arrival time, the control device 41 of the drone 40 may determine that the cargo 80 can be delivered to the vehicle 10 before the vehicle 10 arrives at the destination 85.

[0117] It should be noted that the subject of the determination of step S104 is not limited to the control device 41 of the drone 40. For example, the control device 11 of the vehicle 10 may also perform the determination of step S104. In order for the control device 11 of the vehicle 10 to perform the determination of step S104, the control device 11 of the vehicle 10 may obtain the time when the drone 40 arrives at each point P1 to P6 from the drone 40.

[0118] The determination of step S104 can be performed as long as the time when the vehicle 10 passes through each location P1 to P6 and the time when the drone 40 arrives at each location P1 to P6 are clear. Therefore, the determination of step S104 can also be performed by the user terminal 70, the first management server 20, or the second management server 30.

[0119] In this embodiment, the control device 11 of the vehicle 10, the first management server 20, the second management server 30, the control device 41 of the drone 40, and the user terminal 70 can communicate with each other via the communication network 50. Therefore, any device can obtain the time when the vehicle 10 passes through each point P1 to P6 and the time when the drone 40 arrives at each point P1 to P6. Therefore, any device can perform the determination of step S104.

[0120] When it is determined that the cargo 80 can be delivered (YES in step S104 ), the process proceeds to step S105 , and the control device 41 of the drone 40 causes the drone 40 to fly along the flight path calculated in the process of step S103 .

[0121] The process proceeds to step S106, and the control device 41 of the drone 40 that has arrived at the delivery location of the cargo 80 determines the vehicle 10 to which the cargo 80 is to be delivered based on the image captured by the camera 43. The delivery location of the cargo 80 is, for example, Fig.12 The control device 41 of the drone 40 needs to identify the vehicle 10 that is to deliver the cargo 80 from the vehicles currently traveling at the delivery point of the cargo 80 .

[0122] An example of a method for identifying the vehicle 10 that delivers the cargo 80 will be described. The control device 41 of the drone 40 has already grasped the name of the vehicle 10 that delivers the cargo 80 because it has already been obtained from the second management server 30. In addition, the shape of the vehicle 10 is stored in the storage device 41d of the drone 40. Therefore, the control device 41 of the drone 40 can compare the shape of the vehicle captured in the image captured by the camera 43 and the shape of the vehicle 10 stored in the storage device 41d at the delivery point of the cargo 80 using pattern matching, and identify the vehicle with the same or substantially the same shape as the vehicle 10 that delivers the cargo 80.

[0123] The process proceeds to step S107 , and the control device 41 of the drone 40 uses the camera 43 to capture the QR code (registered trademark) attached to the vehicle 10 identified in the process of step S106 , and acquires information embedded in the QR code (registered trademark).

[0124] The reason for obtaining information from the QR code (registered trademark) attached to the vehicle 10 in the process of step S107 is to confirm whether the cargo 80 delivered by the drone 40 is the product ordered by the user 60. The control device 41 of the drone 40 transmits the information related to the ride-sharing service obtained from the second management server 30 and the information embedded in the QR code (registered trademark) to the control device 11 of the vehicle 10. The "information related to the ride-sharing service" includes, as described above, the manufacturer name and vehicle name of the vehicle 10 that the user 60 who ordered the cargo 80 is currently riding in (see Fig.11 ). The “information embedded in the QR code (registered trademark)” is, for example, the manufacturer name and vehicle name of the vehicle 10 to which the QR code (registered trademark) is attached.

[0125] The control device 11 of the vehicle 10 compares the information related to the carpooling service obtained from the control device 41 of the drone 40 with the information embedded in the QR code (registered trademark). If the information on both sides is consistent, it is determined that the cargo 80 transported by the drone 40 is the product ordered by the user 60 (step S107).

[0126] The processing of step S107 is effective when two or more vehicles of the same manufacturer and the same vehicle name are running in parallel. When two or more vehicles of the same manufacturer and the same vehicle name are running in parallel, in the processing of step S106, any vehicle may be determined as the vehicle to which the goods 80 are delivered. In this case, the drone 40 may deliver the goods 80 to a vehicle to which the goods 80 should not be delivered. Therefore, in this embodiment, the following mechanism is formed: the information of the QR code (registered trademark) affixed to the vehicle is used to confirm whether the goods 80 transported by the drone 40 is the product ordered by the user 60. As a result, even when two or more vehicles of the same manufacturer and the same vehicle name are running in parallel, the goods 80 can be delivered to the vehicle to which the goods 80 should be delivered.

[0127] It should be noted that the information obtained by the control device 41 of the drone 40 in the process of step S107 is not limited to the information of the QR code (registered trademark), but may also be the information of the license plate. The information obtained by the control device 41 of the drone 40 is sufficient as long as it can distinguish between two or more vehicles of the same manufacturer and the same vehicle name when the vehicles are parallel.

[0128] When the information related to the carpooling service obtained from the control device 41 of the drone 40 and the information embedded in the QR code (registered trademark) are inconsistent (No in step S107), the processing enters step S117, and the control device 11 of the vehicle 10 notifies the control device 41 of the drone 40 that the vehicle delivering the cargo 80 is wrong.

[0129] The process proceeds to step S118, and the control device 41 of the drone 40 obtains the order-related information and the carpooling service-related information from the second management server 30 again. The process proceeds to step S119, and the control device 41 of the drone 40 moves the drone 40 to the location of the vehicle to deliver the cargo 80 based on the information obtained in the process of step S118. Thereafter, the process returns to step S106.

[0130] In step S108, the control device 11 of the vehicle 10 determines whether the cargo 80 can be received. The control device 11 of the vehicle 10 can determine whether the cargo 80 can be received based on the driving state of the vehicle 10 or the driving environment of the vehicle 10. The speed of the vehicle 10 can be cited as the driving state of the vehicle 10. As a specific example, the control device 11 of the vehicle 10 determines that the cargo 80 can be received when the speed of the vehicle 10 is lower than 30 km / h. On the other hand, the control device 11 of the vehicle 10 determines that the cargo 80 cannot be received when the speed of the vehicle 10 is higher than 30 km / h. It should be noted that the value of 30 km / h is an example and can be changed appropriately.

[0131] The driving environment of the vehicle 10 may include the road on which the vehicle 10 is traveling. As a specific example, the control device 11 of the vehicle 10 determines that it is impossible to receive the cargo 80 when the road on which the vehicle 10 is traveling is a sharp curve or a steep slope. In addition, the control device 11 of the vehicle 10 may also determine that it is impossible to receive the cargo 80 when the road on which the vehicle 10 is traveling is a poor road. The "poor roads" mentioned here include Belgian roads, wavy roads, or gravel roads. On the other hand, the control device 11 of the vehicle 10 determines that it is possible to receive the cargo 80 when the road on which the vehicle 10 is traveling is a straight and paved flat road. It should be noted that the control device 11 of the vehicle 10 can determine what kind of road the vehicle 10 is traveling on based on the image captured by the camera 13.

[0132] In addition, the control device 11 of the vehicle 10 may also determine whether the cargo 80 can be received using both the driving state and driving environment of the vehicle 10. For example, the control device 11 of the vehicle 10 may determine that the cargo 80 can be received when the speed of the vehicle 10 is lower than 30 km / h and the road on which the vehicle 10 is traveling is a straight and paved flat road.

[0133] If the result of the process in step S108 is YES, the process proceeds to step S109, and the control device 11 of the vehicle 10 slides the opening and closing module 17 toward the front of the vehicle 10 to open the opening 81 of a part of the roof (see Figure 2 ).

[0134] The process proceeds to step S110, and the control device 11 of the vehicle 10 moves the roof module 16 from the opening 81 toward the outside of the vehicle 10 to a position where the cargo 80 can be loaded (see Figure 2 ).

[0135] The process proceeds to step S111, and the control device 41 of the drone 40, which has confirmed the movement of the ceiling module 16 using the camera 43, places the cargo 80 on the ceiling module 16 and opens the arm 46 holding the cargo 80. Thus, the delivery of the cargo 80 is completed.

[0136] If the processing of step S108 is negative, the processing proceeds to step S120, and the control device 11 of the vehicle 10 calculates a timing suitable for receiving the cargo 80. As a specific example, if the vehicle 10 is traveling on a sharp curve, the control device 11 of the vehicle 10 calculates the timing after passing the sharp curve as the timing for receiving the cargo 80. In addition, if the speed of the vehicle 10 is 30 km / h or more, the control device 11 of the vehicle 10 may also calculate the timing when the speed of the vehicle 10 becomes less than 30 km / h as the timing for receiving the cargo 80.

[0137] When the timing calculated in step S120 is within the prescribed time (yes in step S121), the process proceeds to step S122, and the control device 11 of the vehicle 10 notifies the control device 41 of the drone 40 of the intention. An example of the "prescribed time" mentioned here is 30 seconds, but it is not limited to this. After that, the process proceeds to step S109.

[0138] If the timing calculated in step S120 does not arrive within the prescribed time (No in step S121), the process proceeds to step S123, and the control device 11 of the vehicle 10 notifies the control device 41 of the drone 40 of this fact. The process proceeds to step S124, and the control device 11 of the vehicle 10 stops the vehicle 10 to receive the cargo 80. Thereafter, the process proceeds to step S109.

[0139] If the result of the process in step S104 is NO, the process proceeds to step S112 , and the control device 41 of the drone 40 notifies the user 60 that the cargo 80 cannot be delivered to the vehicle 10 before the vehicle 10 arrives at the destination 85 .

[0140] The process proceeds to step S113, and the user 60 who has received the notification designates a receiving place and a desired receiving time for receiving the goods 80 on the application 741. The information input by the user 60 is transmitted to the first management server 20.

[0141] The process proceeds to step S114, and the first management server 20 obtains the information of the receiving place and receiving time sent in the process of step S113, and accepts the designation of the user 60. The first management server 20 sends the information of the receiving place and receiving time designated by the user 60 to the second management server 30. In addition, the second management server 30 sends the information of the receiving place and receiving time designated by the user 60 to the control device 41 of the drone 40.

[0142] The process proceeds to step S115 , and the control device 41 of the drone 40 calculates a flight path to the reception location acquired in the process of step S114 .

[0143] The process proceeds to step S116, and the control device 41 of the drone 40 causes the drone 40 to fly along the flight path calculated in the process of step S115. At the receiving location and receiving time specified by the user 60, the delivery of the cargo 80 is completed.

[0144] If the result of step S104 is negative, the control device 41 of the drone 40 may cancel the order of the user 60 because the delivery cannot be made before the vehicle 10 arrives at the destination 85. In this case, the user 60 is notified of the cancellation of the order.

[0145] It should be noted that the control device 41 of the drone 40 may also determine that the flight itself cannot be performed and cancel the subscription of the user 60 when strong winds or heavy rain are detected around the drone 40 .

[0146] In addition, Figures 9-10 The processing flow described in the above is an example, and unnecessary steps may be deleted, new steps may be added, or the order of the steps may be changed without departing from the main purpose. In addition, the subject of each processing is not limited to the above content, and according to the situation, it may also be processed by the control device 11 of the vehicle 10, the first management server 20, the second management server 30, the control device 41 of the drone 40, or the user terminal 70.

[0147] (Effect)

[0148] As described above, according to this embodiment, the following effects can be obtained.

[0149] The control device 11 of the vehicle 10 determines whether the drone 40 can deliver the goods to the vehicle 10 before the vehicle 10 arrives at the destination 85 desired by the user 60 based on the arrival time of the vehicle 10 at the destination 85 desired by the user 60 and the delivery time of the drone 40 for delivering the goods ordered by the user 60 who is traveling in the vehicle 10 to the vehicle 10.

[0150] If it is determined that the goods can be delivered, the drone 40 delivers the goods. Thus, the goods can be delivered to the moving user 60. Since the user 60 can receive the goods while moving, it helps to expand the shopping needs or dining needs while moving.

[0151] In addition, when it is determined that the drone 40 can deliver the product to the vehicle 10 before the vehicle 10 arrives at the destination 85, the control device 11 of the vehicle 10 can determine whether the product can be received from the drone 40 based on at least one of the driving state of the vehicle 10 and the driving environment of the vehicle 10. In addition, when it is determined that the product cannot be received, the control device 11 of the vehicle 10 can calculate the timing at which the product can be received from the drone 40 based on at least one of the driving state of the vehicle 10 and the driving environment of the vehicle 10.

[0152] According to the above structure, when it is difficult to receive the goods from the drone 40, the control device 11 of the vehicle 10 does not control the roof module 16 and the opening and closing module 17, and does not allow the goods to be received. On the other hand, by receiving the goods when the conditions such as the speed of the vehicle 10 is lower than the specified speed and the road on which the vehicle 10 is traveling is a straight and paved flat road are met, the possibility of damaging the goods can be reduced.

[0153] (Variation Example)

[0154] Although it is stated in Fig.10 If the processing of step S108 is yes, the control device 11 of the vehicle 10 controls the opening and closing module 17 and the ceiling module 16 to receive the cargo 80, but the timing of receiving the cargo 80 from the drone 40 can also be calculated according to the user 60's wishes before controlling the opening and closing module 17 and the ceiling module 16.

[0155] Specifically, in Fig.10 When the processing of step S108 is yes, the control device 11 of the vehicle 10 may also display the arrival of the drone 40 on the display 15 of the vehicle 10 or on the user terminal 70 to notify the user 60. The user 60 who has received the notification selects whether to receive the cargo 80. This selection is performed, for example, on the application 741. When the user 60 wishes to receive the cargo 80, the control device 11 of the vehicle 10 controls the opening and closing module 17 and the ceiling module 16 to receive the cargo 80. According to this structure, the user 60 can receive the cargo 80 at a desired timing.

[0156] It should be noted that, when the user 60 does not wish to receive the goods 80 , the user 60 can simply input a desired receiving time.

[0157] In addition, when the user 60 specifies a desired receiving time when ordering the goods, the control device 11 of the vehicle 10 may also display "the ordered goods will arrive in 10 minutes" on the display 15 before the specified time of the receiving time (for example, 10 minutes before) to notify the user 60. It is assumed that the desired receiving time is 12:00. In this case, the time of notification to the user 60 is 11:50. In the case where the user 60 who has received the notification wants to postpone the receiving time, the user 60 may also change the desired receiving time on the application 741. For example, the user 60 can change the desired receiving time from 12:00 to 12:15. Information indicating the changed time is sent to the control device 41 of the drone 40. The control device 41 of the drone 40 causes the drone 40 to fly in a manner that arrives at the vehicle 10 at the changed time. According to this structure, the user 60 can receive the goods 80 at the desired timing.

[0158] 〔Software-based implementation example〕

[0159] The functions of the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70 can be realized by the following program, which is a program for enabling the computer to function as the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70, and is a program for enabling the computer to function as each control block of the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70.

[0160] In this case, the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70 includes a computer having at least one device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The functions described in the above-mentioned embodiments are realized by executing the program on the computer.

[0161] The program may be recorded in one or more non-temporary computer-readable recording media. The recording medium may or may not be provided by the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70. In the latter case, the program may be supplied to the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70 via any transmission medium, whether wired or wireless.

[0162] In addition, part or all of the functions of each control block can also be implemented by a logic circuit. For example, an integrated circuit having a logic circuit that functions as each control block is also included in the scope of the present disclosure. In addition, for example, a quantum computer can also be used to implement the functions of each control block.

[0163] In addition, AI (Artificial Intelligence) may be used to perform the various processes described in the above-mentioned embodiments. In this case, AI may be used in the first management server 20, the second management server 30, the control device 11 of the vehicle 10, the control device 41 of the drone 40, or the user terminal 70, or may be used in other devices (e.g., edge computers or cloud servers, etc.).

[0164] The present disclosure is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims.

[0165] Description of Reference Numerals

[0166] 100 Distribution Management System

[0167] 10 Vehicles

[0168] 11 Control Device

[0169] 40 drones.

Claims

1. A control device, comprising a controller, wherein: The controller determines whether the drone can deliver the product to the vehicle before the vehicle arrives at the destination desired by the user based on the arrival time of the vehicle at the destination desired by the user and the delivery time used by the drone to deliver the product ordered by the user who is traveling in the vehicle to the vehicle.

2. The control device according to claim 1, When the controller determines that the drone can deliver the product to the vehicle before the vehicle arrives at the destination, the controller determines whether the product can be received from the drone based on at least one of the driving state of the vehicle and the driving environment of the vehicle.

3. The control device according to claim 2, When the controller determines that the product cannot be received, the controller calculates a timing at which the product can be received from the drone based on at least one of a driving state of the vehicle and a driving environment of the vehicle.

4. The control device according to claim 1, The controller calculates a timing for receiving the product from the drone according to a request of the user, when determining that the drone can deliver the product to the vehicle before the vehicle arrives at the destination.

5. A control method used in a control device having a controller, wherein: The steps include: Based on the arrival time of the vehicle at the user's desired destination and the delivery time of the drone for delivering the goods ordered by the user who is traveling in the vehicle to the vehicle, it is determined whether the drone can deliver the goods to the vehicle before the vehicle arrives at the destination.

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