Information processing device, control method, and control program

Abstract

An information processing device (100) is provided with: an acquisition unit (120) that acquires map information, position information of a first moving body, which is a moving body that can be moved manually or automatically, and position information of a second moving body, which is a moving body that can be moved automatically and on which a cargo is placed; a generation unit (130) that generates route information for the second moving body on the basis of the map information, the position information for the first moving body, and the position information for the second moving body; and a control unit (140) that controls the second moving body on the basis of the route information of the second moving body.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, a control method, and a control program. Background Art

[0002] Goods are delivered according to orders for goods, delivery requests, etc. Here, a technology related to delivery is proposed (see Patent Document 1). For example, the information management center of Patent Document 1 compares the path information of the vehicle that the orderer of the goods takes with the path information of the delivery vehicle that delivers the goods to determine the collection point. The information management center changes the path information of the vehicle so that the vehicle passes through the collection point, changes the path information of the delivery vehicle so that the delivery vehicle passes through the collection point, and notifies them respectively. When the vehicle and the delivery vehicle arrive at the collection point, the orderer can receive the goods.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-121700 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In the above technology, the vehicle (hereinafter referred to as the collection-side mobile body) needs to move to the collection point (i.e., the collection location). However, for example, if the collection-side mobile body must move to the collection location, the schedule of the user riding on the collection-side mobile body (e.g., travel schedule, shopping schedule, etc.) is forcibly changed. Therefore, it is not preferable to move the collection-side mobile body to the collection location.

[0008] The present disclosure aims to enable a user to receive merchandise without being aware of the receiving location.

[0009] Means used to solve problems

[0010] An information processing device according to one embodiment of the present disclosure is provided. The information processing device comprises: an acquisition unit that acquires map information, position information of a first moving body that can be moved manually or automatically, and position information of a second moving body, wherein the first moving body is a moving body that can be moved automatically while carrying cargo; a generation unit that generates path information of the second moving body based on the map information, the position information of the first moving body, and the position information of the second moving body; and a control unit that controls the second moving body based on the path information of the second moving body.

[0011] Effects of the Invention

[0012] According to the present disclosure, a user can receive merchandise without being aware of a receiving place. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing a delivery system according to the first embodiment.

[0014] Figure 2 This is a diagram showing a specific example of processing executed by the delivery system according to the first embodiment.

[0015] Figure 3 This is a diagram showing hardware included in the information processing device according to the first embodiment.

[0016] Figure 4 This is a block diagram showing the functions of the information processing device according to the first embodiment.

[0017] Figure 5 This is a flowchart showing an example of processing executed by the information processing device according to Embodiment 1.

[0018] Figure 6 This is a flowchart showing an example of processing executed by the information processing device according to the modification example of the first embodiment.

[0019] Figure 7 This is a block diagram showing the functions of the information processing device according to the second embodiment.

[0020] Figure 8 This is a diagram showing a specific example (part 1) of the delivery system according to the second embodiment.

[0021] Fig. 9 This is a flowchart showing an example of processing executed by the information processing device according to the second embodiment.

[0022] Fig.10 This is a flowchart showing an example of a process for generating path information of an AMR according to the second embodiment.

[0023] Fig.11 This is a diagram showing a specific example (part 2) of the delivery system according to the second embodiment.

[0024] Fig.12 This is a diagram showing a specific example (part 3) of the delivery system according to the second embodiment.

[0025] Fig.13 This is a block diagram showing the functions of the information processing device according to the third embodiment.

[0026] Fig.14 This is a diagram showing an example of a score table according to the third embodiment.

[0027] Fig.15 This is a diagram showing a specific example of score determination processing according to the third embodiment.

[0028] Fig.16 This is a flowchart showing an example of a process for generating path information of an AMR according to a modification of the third embodiment. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments will be described with reference to the drawings. The following embodiments are merely examples, and various modifications can be made within the scope of the present disclosure.

[0030] Implementation method 1.

[0031] Figure 1 1 is a diagram showing a delivery system according to Embodiment 1. The delivery system includes an information processing device 100 , a first moving object, and a second moving object.

[0032] The first moving object is a moving object that can be moved manually or automatically. For example, the first moving object is a PMV (Personal Mobility Vehicle) 10. In addition, the first moving object is a collection-side moving object.

[0033] The second moving body is a moving body that can carry cargo and automatically move. For example, the second moving body is an AMR (Autonomous Mobile Robot). Also, for example, the cargo is a commodity.

[0034] In the following description, the first moving object is the PMV 10 and the second moving object is the AMR 20 .

[0035] The information processing device 100, the PMV 10, and the AMR 20 communicate via a network. The network is a wireless network.

[0036] The information processing device 100 is a device that executes the control method. For example, the information processing device 100 is a server.

[0037] Next, the processing executed by the delivery system will be briefly described using a specific example.

[0038] Figure 2 This is a diagram showing a specific example of processing executed by the delivery system according to the first embodiment. Figure 2 Shown are stores A and B. For example, stores A and B are supermarkets, restaurants, drug stores, and the like.

[0039] The user riding on the PMV 10 orders the goods at the store A. Alternatively, the user may order the goods through paper media or verbally. Alternatively, the user may order the goods using a terminal such as a smartphone. After finishing the order, the user rides the PMV 10 to the store B.

[0040] AMR 20 is placed in store A. A clerk of store A stores goods in AMR 20. A clerk of store A sends a delivery request of goods to information processing device 100 using a terminal of store A. Information processing device 100 sends path information to AMR 20. In addition, path information is information for moving AMR 20 to the location of PMV 10. AMR 20 moves to the location of PMV 10 based on the path information. AMR 20 arrives at the location of PMV 10. A user receives the goods.

[0041] In this way, the information processing device 100 does not control the PMV 10. Therefore, the user riding in the PMV 10 can receive the product without being aware of the receiving location.

[0042] The above-mentioned example is just one example of the processing executed by the delivery system.

[0043] Hereinafter, the information processing device 100 will be described in detail. First, the hardware included in the information processing device 100 will be described.

[0044] Figure 3 1 is a diagram showing hardware included in the information processing device according to Embodiment 1. The information processing device 100 includes a processor 101 , a volatile storage device 102 , and a nonvolatile storage device 103 .

[0045] The processor 101 controls the entire information processing device 100. For example, the processor 101 is a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), etc. The processor 101 may also be a multiprocessor. In addition, the information processing device 100 may also have a processing circuit.

[0046] The volatile storage device 102 is a main storage device of the information processing device 100. For example, the volatile storage device 102 is a RAM (Random Access Memory). The nonvolatile storage device 103 is an auxiliary storage device of the information processing device 100. For example, the nonvolatile storage device 103 is a HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0047] Next, the functions of the information processing device 100 will be described.

[0048] Figure 41 is a block diagram showing the functions of the information processing device according to Embodiment 1. The information processing device 100 includes a storage unit 110 , an acquisition unit 120 , a generation unit 130 , and a control unit 140 .

[0049] The storage unit 110 may be realized as a storage area reserved in the volatile storage device 102 or the nonvolatile storage device 103 .

[0050] Part or all of the acquisition unit 120, the generation unit 130, and the control unit 140 may also be implemented by a processing circuit. In addition, part or all of the acquisition unit 120, the generation unit 130, and the control unit 140 may also be implemented as a module of a program executed by the processor 101. For example, the program executed by the processor 101 is also referred to as a control program. For example, the control program is recorded in a recording medium.

[0051] The storage unit 110 stores various information.

[0052] The acquisition unit 120 acquires the delivery request of goods. For example, the acquisition unit 120 acquires the delivery request of goods from a terminal of a store which is a delivery source.

[0053] The acquisition unit 120 acquires map information. For example, the acquisition unit 120 acquires map information from the storage unit 110. In addition, for example, the acquisition unit 120 acquires map information from an external device. In addition, the external device is a device that can be connected to the information processing device 100. For example, the external device is a cloud server. In addition, the diagram of the external device is omitted. For example, the map information includes information related to the shape of the road, the width of the road, intersections, stairs, crosswalks, pedestrian-only roads (such as pedestrian overpasses), places with many pedestrians, street lights, arcades and other passages, and information related to facilities such as stores, stations, and squares.

[0054] The acquisition unit 120 acquires the position information of the PMV 10 from the PMV 10. The acquisition unit 120 may acquire the position information of the PMV 10 from the PMV 10 via another device.

[0055] The acquisition unit 120 acquires the location information of the AMR 20 from the AMR 20. The acquisition unit 120 may acquire the location information of the AMR 20 from the AMR 20 via another device.

[0056] The generator 130 generates the path information of the AMR 20 based on the map information, the location information of the PMV 10, and the location information of the AMR 20. The path indicated by the path information of the AMR 20 is preferably the shortest path for moving the AMR 20 from the location indicated by the location information of the AMR 20 to the location indicated by the location information of the PMV 10.

[0057] The control unit 140 controls the AMR 20 based on the path information of the AMR 20. For example, the control unit 140 sends the path information of the AMR 20 and an instruction indicating movement based on the path information of the AMR 20 to the AMR 20. In addition, the control unit 140 may also send the path information of the AMR 20 and the instruction to the AMR 20 via other devices. Thus, the AMR 20 moves based on the path information of the AMR 20. In addition, the control unit 140 may also send the movement destination based on the path information to the AMR 20 at any time.

[0058] Furthermore, after the path information of the AMR 20 is generated, the control unit 140 performs a determination process of whether the AMR 20 has merged with the PMV 10 based on the position information of the PMV 10 acquired again and the position information of the AMR 20. In other words, after performing control on the AMR 20, the control unit 140 performs a determination process of whether the AMR 20 has merged with the PMV 10 based on the position information of the PMV 10 acquired again and the position information of the AMR 20.

[0059] Next, the processing executed by the information processing device 100 will be described using a flowchart.

[0060] Figure 5 This is a flowchart showing an example of processing executed by the information processing device according to Embodiment 1. Here, it is assumed that AMR 20 exists at a delivery source (for example, store A).

[0061] (Step S11) The acquisition unit 120 acquires a delivery request of goods.

[0062] (Step S12) The acquisition unit 120 acquires map information.

[0063] (Step S13 ) The acquisition unit 120 acquires the position information of the PMV 10 and the position information of the AMR 20 .

[0064] (Step S14 ) The generation unit 130 generates the route information of the AMR 20 based on the map information, the position information of the PMV 10 , and the position information of the AMR 20 .

[0065] (Step S15) The control unit 140 controls the AMR 20 based on the path information of the AMR 20. As a result, the AMR 20 moves based on the path information of the AMR 20.

[0066] (Step S16) After a predetermined time has passed, the acquisition unit 120 acquires the position information of the PMV 10 and the position information of the AMR 20. The predetermined time is a time that is sufficiently shorter than the time required for the AMR 20 to reach the position indicated by the position information of the PMV 10.

[0067] (Step S17) The control unit 140 determines whether the PMV 10 and the AMR 20 have merged based on the position information of the PMV 10 and the position information of the AMR 20. For example, when the position indicated by the position information of the PMV 10 is the same as the position indicated by the position information of the AMR 20, the control unit 140 determines that the PMV 10 and the AMR 20 have merged. In addition, for example, when the distance between the position indicated by the position information of the PMV 10 and the position indicated by the position information of the AMR 20 is greater than a threshold value, the control unit 140 determines that the PMV 10 and the AMR 20 have not merged. Here, the threshold value is, for example, a distance that does not prevent a user riding in the PMV 10 from picking up the cargo stored in the AMR 20.

[0068] When the PMV 10 and the AMR 20 have met, the process ends. When the PMV 10 and the AMR 20 have met, the information processing device 100 determines that the user has received the goods.

[0069] When the PMV 10 and the AMR 20 have not merged, the process proceeds to step S14.

[0070] In addition, the control unit 140 may also send a advance notice to the PMV 10 when the AMR 20 approaches the PMV 10. For example, the advance notice is a notice indicating that the goods will arrive soon. In detail, the information processing device 100 performs the following processing. After the path information of the AMR 20 is generated, the acquisition unit 120 acquires the location information of the PMV 10 and the location information of the AMR 20. In other words, the acquisition unit 120 acquires the location information of the PMV 10 and the location information of the AMR 20 after performing control on the AMR 20. The control unit 140 sends the advance notice to the PMV 10 when the distance between the position indicated by the location information of the PMV 10 and the position indicated by the location information of the AMR 20 is less than a predetermined threshold. That is, when the distance between the position indicated by the location information of the PMV 10 acquired in step S16 and the position indicated by the location information of the AMR 20 acquired in step S16 is less than the threshold, the control unit 140 sends the advance notice to the PMV 10. This allows the user riding the PMV 10 to recognize that the cargo will soon arrive. Here, the threshold value is, for example, a distance within which the user riding the PMV 10 can visually see the AMR 20, or a distance slightly longer than the distance within the range.

[0071] Furthermore, when the AMR 20 does not merge with the PMV 10 within a predetermined time, the control unit 140 may control the AMR 20 to move at a speed faster than the current speed of the AMR 20 so that the AMR 20 merges with the PMV 10. For example, when the AMR 20 does not merge with the PMV 10 within a predetermined time from the moment when the path information of the AMR 20 is sent to the AMR 20, the control unit 140 sends an instruction to move at a speed faster than the current speed of the AMR 20. When the AMR 20 receives the instruction, it increases its speed. As a result, the AMR 20 can quickly merge with the PMV 10.

[0072] According to Embodiment 1, the information processing device 100 does not control the PMV 10. Therefore, the user riding on the PMV 10 can receive the cargo without being aware of the receiving location.

[0073] Furthermore, when the first moving body and the second moving body are small moving bodies such as PMV and AMR, the user can receive the cargo in a narrow area.

[0074] A variation of implementation example 1.

[0075] In the first embodiment, the case where the AMR 20 is present at the delivery source is described. If the AMR 20 is not present at the delivery source, the AMR 20 needs to go to the delivery source to pick up the goods. In a modification of the first embodiment, such a case is described.

[0076] The processing executed by the information processing device 100 will be described using a flowchart.

[0077] Figure 6 This is a flowchart showing an example of processing executed by the information processing device according to the modification example of the first embodiment. Figure 6 The processing is different from that of Figure 5 Therefore, in Figure 6 In the above, steps S12a, 14a, and 17a are described. The description of the processes other than steps S12a, 14a, and 17a is omitted.

[0078] (Step S12a) The acquisition unit 120 acquires the location information of the delivery source of the goods. For example, the acquisition unit 120 acquires the location information of the delivery source from the storage unit 110 or an external device.

[0079] (Step S14a) The generation unit 130 generates the path information of the AMR 20 based on the map information, the location information of the delivery source, the location information of the PMV 10, and the location information of the AMR 20. The path information is a path for the AMR 20 to move from the current location of the AMR 20 to the location of the delivery source and from the location of the delivery source to the current location of the PMV 10.

[0080] (Step S17 a ) The control unit 140 determines whether the PMV 10 and the AMR 20 have merged based on the position information of the PMV 10 and the position information of the AMR 20 .

[0081] If the PMV 10 and the AMR 20 have already merged, the process ends. If the PMV 10 and the AMR 20 have not merged, the process proceeds to step S14a. In addition, in step S14a, the generation unit 130 generates the path information of the AMR 20 so that the AMR 20 moves from the current position of the AMR 20 to the current position of the PMV 10 when the AMR 20 has already moved to the delivery source.

[0082] As a result, the AMR 20 can move to the delivery source based on the route information and obtain the goods.

[0083] According to the modification of the first embodiment, the AMR 20 can move to the delivery source based on the route information of the AMR 20 and acquire the goods.

[0084] Implementation method 2.

[0085] Next, Embodiment 2 will be described. In Embodiment 2, matters different from Embodiment 1 will be mainly described. In Embodiment 2, description of matters common to Embodiment 1 will be omitted.

[0086] In the first embodiment, the case where the AMR 20 approaches the PMV 10 is described. For example, if the PMV 10 is moving, the AMR 20 may take a long time to catch up with the PMV 10. Therefore, in the second embodiment, the case where the AMR 20 arrives first is described.

[0087] Figure 7 1 is a block diagram showing the functions of the information processing device according to Embodiment 2. The information processing device 100 a includes an acquisition unit 120 a , a generation unit 130 a , a control unit 140 a , and a prediction unit 150 .

[0088] Part or all of the acquisition unit 120a, generation unit 130a, control unit 140a, and prediction unit 150 may be implemented by a processing circuit. In addition, part or all of the acquisition unit 120a, generation unit 130a, control unit 140a, and prediction unit 150 may be implemented as a module of a program executed by the processor 101.

[0089] The acquisition unit 120 a acquires the movement history of the PMV 10 from the storage unit 110 or an external device.

[0090] The prediction unit 150 uses the location information of the PMV 10, the map information, and the movement history of the PMV 10 to predict the movement path of the PMV 10. For example, the prediction unit 150 predicts the destination of the PMV 10 based on the map information and the movement history of the PMV 10, and predicts the shortest path for the PMV 10 to move from the current location to the destination as the movement path of the PMV 10.

[0091] Furthermore, the prediction unit 150 may also use the location information of the PMV 10, map information, the movement history of the PMV 10, and information related to the user riding in the PMV 10 to predict the movement path of the PMV 10. For example, the information related to the user is attribute information (such as age, gender, etc.), preference information, shopping lists, past purchase history, content posted to SNS (Social Networking Service), etc. In addition, the information related to the user is acquired from the storage unit 110 or an external device by the acquisition unit 120a. The prediction unit 150 can improve the prediction accuracy of the movement path of the PMV 10 by using the information related to the user.

[0092] In addition, the prediction unit 150 may also use the location information of the PMV 10, the map information, the movement history of the PMV 10, and the learned model to predict the movement path of the PMV 10. In addition, the learned model is acquired by the acquisition unit 120a from the storage unit 110 or an external device. By using the learned model, the prediction unit 150 can improve the prediction accuracy of the movement path of the PMV 10. In addition, the learned model can be obtained by machine learning.

[0093] Next, the functions of the generating unit 130a and the controlling unit 140a will be described.

[0094] Next, the delivery system according to the second embodiment will be described using a specific example.

[0095] Figure 8 This is a diagram showing a specific example (part 1) of the delivery system according to the second embodiment. Figure 8The moving path 30 of the PMV 10 is shown. The information processing device 100a selects the first arrival position 31 based on the moving path 30 of the PMV 10. In addition, the first arrival position can be any position as long as it is on the moving path 30 of the PMV 10. When the AMR 20 can arrive first, the information processing device 100a generates path information for moving the AMR 20 to the first arrival position 31. The AMR 20 moves based on the path information. As a result, the AMR 20 moves to the first arrival position 31. The AMR 20 waits at the first arrival position 31. The PMV 10 arrives at the first arrival position 31. The user collects the goods.

[0096] Next, the processing executed by the information processing device 100 a will be described using a flowchart.

[0097] Fig. 9 This is a flowchart showing an example of processing executed by the information processing device according to the second embodiment. Fig. 9 The processing is different from that of Figure 5 Therefore, in Fig. 9 In the above, steps S13b, 14b, and 17b are described. Moreover, descriptions of processes other than steps S13b, 14b, and 17b are omitted. In addition, the processes performed by the acquisition unit 120, the generation unit 130, and the control unit 140 are performed by the acquisition unit 120a, the generation unit 130a, and the control unit 140a.

[0098] (Step S13 b ) The prediction unit 150 predicts the movement path of the PMV 10 using the position information of the PMV 10 , the map information, and the movement history of the PMV 10 .

[0099] (Step S14 b ) The acquisition unit 120 a , the generation unit 130 a , the control unit 140 a , and the prediction unit 150 execute a process of generating the path information of the AMR 20 .

[0100] (Step S17 b ) The control unit 140 a determines whether the PMV 10 and the AMR 20 have merged based on the position information of the PMV 10 and the position information of the AMR 20 .

[0101] If the PMV 10 and the AMR 20 have already merged, the process ends. If the PMV 10 and the AMR 20 have not merged, the process proceeds to step S14b.

[0102] Fig.10 This is a flowchart showing an example of a process for generating path information of an AMR according to the second embodiment. Fig.10 The processing corresponds to step S14b.

[0103] (Step S21 ) The control unit 140 a selects a first arrival position based on the movement path of the PMV 10 .

[0104] (Step S22) The acquisition unit 120a acquires the speed information of the PMV 10. For example, the acquisition unit 120a acquires the speed information of the PMV 10 from the storage unit 110 or an external device. In addition, for example, the speed information of the PMV 10 is information indicating a speed range that the PMV 10 can output. In addition, the speed information of the PMV 10 may also be the current speed of the PMV 10. In the case where the speed information of the PMV 10 is the current speed of the PMV 10, the acquisition unit 120a may also acquire the current speed of the PMV 10 from the PMV 10.

[0105] (Step S23) The control unit 140a calculates the distance to the first arrival position based on the position information of the PMV 10 and the movement path of the PMV 10. The control unit 140a calculates the time when the PMV 10 reaches the first arrival position (hereinafter, the arrival time of the PMV 10) using the distance and the speed information of the PMV 10.

[0106] (Step S24) The acquisition unit 120a acquires the speed information of the AMR 20. For example, the acquisition unit 120a acquires the speed information of the AMR 20 from the storage unit 110 or an external device. In addition, for example, the speed information of the AMR 20 is information indicating a speed range that the AMR 20 can output. Furthermore, when the AMR 20 is moving, the speed information of the AMR 20 may be the current speed of the AMR 20. When the speed information of the AMR 20 is the current speed of the AMR 20, the acquisition unit 120a may acquire the current speed of the AMR 20 from the AMR 20.

[0107] (Step S25) The control unit 140a calculates the distance to the first arrival position based on the position information and map information of the AMR 20. In addition, the distance is preferably the shortest distance. The control unit 140a calculates the time when the AMR 20 arrives at the first arrival position (hereinafter, the arrival time of the AMR 20) using the distance and the speed information of the AMR 20. In addition, when calculating the arrival time of the AMR 20, the control unit 140a preferably uses the maximum speed indicated by the speed information of the AMR 20 to calculate the arrival time of the AMR 20.

[0108] (Step S26) The control unit 140a determines whether the AMR 20 can arrive first based on the arrival time of the PMV 10 and the arrival time of the AMR 20. Specifically, when the arrival time of the AMR 20 is smaller than the arrival time of the PMV 10, the control unit 140a determines that the AMR 20 can arrive first.

[0109] If the AMR 20 can arrive first, the process proceeds to step S27. If the AMR 20 cannot arrive first, the process proceeds to step S28.

[0110] (Step S27) The generator 130a generates the path information of the AMR 20 for moving the AMR 20 to the first arrival position based on the map information, the position information of the AMR 20, and the first arrival position. The path information indicates the path of the distance (for example, the shortest distance) used in step S25. Then, the process ends.

[0111] (Step S28 ) The prediction unit 150 predicts the future position of the PMV 10 based on the movement path of the PMV 10 , the position information of the PMV 10 , the speed information of the PMV 10 , and a predetermined time.

[0112] (Step S29 ) The generation unit 130 a generates the route information of the AMR 20 for moving the AMR 20 to the future position of the PMV 10 based on the map information, the position information of the AMR 20 , and the future position of the PMV 10 .

[0113] Here, the PMV 10 and the AMR 20 when steps S28 and 29 are executed will be described using a specific example.

[0114] Fig.11 This is a diagram showing a specific example (part 2) of the delivery system according to the second embodiment. Fig.11 The movement path 32 of the PMV 10 is shown. In addition, Fig.11 It shows that it arrives at position 33 first. In addition, Fig.11 The future position 34 of the PMV 10 is shown.

[0115] When the AMR 20 cannot arrive first, the information processing device 100a generates path information for causing the AMR 20 to move to the position 34. The AMR 20 moves based on the path information. Thus, the AMR 20 starts moving toward the position 34.

[0116] By executing step S29, the information processing device 100a can move the AMR 20 toward the future position of the PMV 10. In other words, the information processing device 100a can make the AMR 20 approach the PMV 10. Moreover, by moving the AMR 20 toward the future position of the PMV 10, the AMR 20 can meet the PMV 10 in a shorter time and travel distance than when the AMR 20 is simply moved toward the current position of the PMV 10.

[0117] Furthermore, when step S15 is executed after step S27, the control unit 140a may send an instruction to the AMR 20 to move at the speed used in step S25 (eg, the maximum speed). Thus, the AMR 20 can move at the speed used in step S25.

[0118] According to Embodiment 2, when the AMR 20 is able to arrive first, the user can receive the goods earlier because the AMR 20 arrives first.

[0119] Furthermore, in step S27, the generator 130a may generate the path information of the AMR 20 for moving the AMR 20 to the first arrival position and in the direction opposite to the direction in which the PMV 10 moves along the movement path based on the map information, the movement path of the PMV 10, the position information of the AMR 20, and the first arrival position. A specific example will be described below.

[0120] Fig.12 3 is a diagram showing a specific example (part 3) of the distribution system of Embodiment 2. The information processing device 100a generates path information of the AMR 20 for moving the AMR 20 to the first arrival position 31 and in the direction opposite to the direction in which the PMV 10 moves along the movement path, based on the map information, the movement path of the PMV 10, the position information of the AMR 20, and the first arrival position. The AMR 20 moves to the first arrival position 31 based on the path information. Then, the AMR 20 moves in the direction opposite to the direction in which the PMV 10 moves along the movement path. As a result, the user can collect the goods earlier than when the AMR 20 waits at the first arrival position 31.

[0121] A variation of implementation example 2.

[0122] In the second embodiment, the case where the information processing device 100a predicts the moving path of the PMV 10 is described. In a modification of the second embodiment, the case where the information processing device 100a does not predict the moving path of the PMV 10 is described.

[0123] When the PMV 10 moves by automatic driving, the acquisition unit 120 a acquires the movement path of the PMV 10 from the PMV 10 .

[0124] In this way, the information processing device 100a does not need to perform the process of predicting the moving path of the PMV 10 by acquiring the moving path of the PMV 10 from the PMV 10. Therefore, according to the modification of the second embodiment, the processing load of the information processing device 100a is reduced.

[0125] In the modification of the second embodiment, the information processing device 100a does not predict the moving path of the PMV 10. In the modification of the second embodiment, the other processing is the same as that of the second embodiment.

[0126] Implementation method 3.

[0127] Next, Embodiment 3 will be described. In Embodiment 3, matters different from Embodiment 1 will be mainly described. In Embodiment 3, description of matters common to Embodiment 1 will be omitted.

[0128] The meeting point where the PMV 10 and the AMR 20 meet may not be suitable as a place for handing over goods. For example, the meeting point may be a pedestrian crossing. Therefore, in Embodiment 3, a case where control is performed so that the meeting point becomes a place suitable for handing over goods is described.

[0129] Fig.13 1 is a block diagram showing the functions of the information processing device according to Embodiment 3. The information processing device 100b includes an acquisition unit 120b, a generation unit 130b, a control unit 140b, and a prediction unit 150b.

[0130] Part or all of the acquisition unit 120b, generation unit 130b, control unit 140b and prediction unit 150b may also be implemented by a processing circuit. In addition, part or all of the acquisition unit 120b, generation unit 130b, control unit 140b and prediction unit 150b may also be implemented as a module of a program executed by the processor 101.

[0131] The acquisition unit 120 b acquires the movement history of the PMV 10 from the storage unit 110 or an external device.

[0132] The prediction unit 150 b predicts the movement path of the PMV 10 using the position information of the PMV 10 , the map information, and the movement history of the PMV 10 .

[0133] The acquisition unit 120 b acquires the speed information of the PMV 10 and the speed information of the AMR 20 .

[0134] The prediction unit 150b predicts a merging section using the moving path of the PMV 10, the position information of the PMV 10, the position information of the AMR 20, the speed information of the PMV 10, and the speed information of the AMR 20. The merging section is a section where the PMV 10 and the AMR 20 merge.

[0135] The acquisition unit 120b acquires the score table from the storage unit 110 or an external device. Here, the score table is shown.

[0136] Fig.141 is a diagram showing an example of a score table according to Embodiment 3. For example, a score table 111 is stored in a storage unit 110. The score table 111 is also referred to as score information. The score table 111 shows scores corresponding to intervals. In addition, the score table 111 shows scores corresponding to intervals and scores corresponding to weather. In addition, the score table 111 shows scores corresponding to intervals and scores corresponding to time periods. In detail, the score table 111 has items of location, score, and remarks. The method of using the score table 111 will be described later.

[0137] The control unit 140b divides the merging section. The control unit 140b uses the score table 111 and the map information to determine the score of each of the plurality of sections obtained by dividing the merging section.

[0138] Next, the score determination process will be described using a specific example.

[0139] Fig.15 This is a diagram showing a specific example of score determination processing according to the third embodiment. Fig.15 The moving path 41 of the PMV 10 is shown. In addition, Fig.15 The control unit 140b divides the merging section. As a result, the merging section is divided into sections 42 to 44.

[0140] Based on the map information, the control unit 140b determines that the section 42 is a section with a crosswalk. The section 42 is a section including a place where the vehicle should not stop. Based on the map information, the control unit 140b determines that the section 43 is a section including a rooftop. Based on the map information, the control unit 140b determines that the section 44 is a section with many pedestrians.

[0141] The control unit 140b determines the score of the interval 42 to be “−100” based on the score table 111 . The control unit 140b determines the score of the interval 43 to be “10” based on the score table 111 . The control unit 140b determines the score of the interval 44 to be “−20” based on the score table 111 .

[0142] The control unit 140b determines the meeting point based on the scores of each of the plurality of sections. For example, the control unit 140b determines the section with the highest score among the scores of each of the plurality of sections as the meeting point. For example, the control unit 140b determines section 43 as the meeting point.

[0143] The generation unit 130 b generates the route information of the AMR 20 based on the map information, the meeting point, and the position information of the AMR 20 .

[0144] The control unit 140b calculates the speed of the AMR 20 for merging the PMV 10 and the AMR 20 at the merging point using the moving path of the PMV 10, the speed information of the PMV 10, and the path information of the AMR 20. When calculating the speed of the AMR 20, the control unit 140b may also use the position information of the PMV 10 and the position information of the AMR 20.

[0145] The control unit 140b controls the AMR 20 based on the path information of the AMR 20, and controls the AMR 20 so that the AMR 20 moves at the calculated speed. For example, the control unit 140b sends the path information of the AMR 20, information indicating the speed of the AMR 20, an instruction indicating movement based on the path information of the AMR 20, and an instruction indicating movement based on the speed to the AMR 20. In addition, the control unit 140b may also send the path information of the AMR 20 to the AMR 20 via other devices. As a result, the AMR 20 moves at the speed and moves to the meeting point based on the path information of the AMR 20.

[0146] According to Embodiment 3, the information processing device 100b can move the AMR 20 to the meeting point. The meeting point is a place suitable as a delivery point for goods. Therefore, the user can receive the goods with peace of mind.

[0147] The information processing device 100b may also perform the following processing. The acquisition unit 120b acquires weather information. The control unit 140b uses the score table 111, map information, and weather information to determine the scores of each of the multiple sections obtained by dividing the merging section. For example, section 43 is a section that includes a place with a roof such as an arcade. The weather information shows rain. The control unit 140b determines the score of section 43 as "100". In the case where section 43 has a higher score, section 43 is determined as the merging point. In the case of raining, the place where the goods are collected is preferably a place with a roof. In this way, by further using weather information, the user can collect the goods in a comfortable place.

[0148] The information processing device 100b may also perform the following processing. The acquisition unit 120b acquires the current time. The control unit 140b uses the score table 111, the map information, and the current time to determine the scores of each of the multiple sections obtained by dividing the merging section. For example, section 43 is a section that includes bright places such as the vicinity of street lights. The current time shows the time at night. The control unit 140b determines the score of section 43 as "50". In the case where section 43 has a higher score, section 43 is determined as the merging point. During the night time period, it is desired that the place where the goods are collected is a bright place. In this way, by further using the current time, the user can collect the goods in a comfortable place.

[0149] The acquisition unit 120b acquires the user's preference information. The control unit 140b may also determine the scores of each of the plurality of sections obtained by dividing the convergence section using the score table 111, the map information, and the user's preference information. For example, section 43 is a section that includes a place near a store that the user likes. The control unit 140b determines the score "30" of section 43 using the score table 111, the map information, and the user's preference information. If section 43 has a high score, section 43 is determined as the convergence point. If it is known from the user's preference information that the user likes a specific store, the place where the goods are collected is preferably near the specific store.

[0150] In addition, the section 43 may include a place far from the store. The control unit 140b determines the score "20" of the section 43 using the score table 111, the map information, and the user's preference information. If the section 43 has a high score, the section 43 is determined as the meeting point. If the user's preference information shows that the user is concerned about being seen by others, the place where the goods are received is desired to be far from the store.

[0151] In this way, by further using the user's preference information, the user can receive the goods at a comfortable place.

[0152] A variation of implementation example 3.

[0153] Next, a modification of Embodiment 3 will be described. In the modification of Embodiment 3, matters different from Embodiment 2 will be mainly described. In addition, in the modification of Embodiment 3, description of matters common to Embodiment 2 will be omitted.

[0154] In Embodiment 2, the first arrival position is selected. In a modification of Embodiment 3, a case where the first arrival position is determined using the score table 111 is described. The determination process is described using a flowchart.

[0155] Fig.16 This is a flowchart showing an example of a process for generating path information of an AMR according to a modification of the third embodiment. Fig.16 The processing corresponds to step S14b.

[0156] also, Fig.16 The processing of steps S21a to 21c is different from Fig.10 Therefore, Fig.16 In the description of the processing other than steps S21a to 21c, the description of the processing other than steps S21a to 21c is omitted.

[0157] (Step S21 a ) The prediction unit 150 predicts a merging section using the moving path of the PMV 10 , the position information of the PMV 10 , the position information of the AMR 20 , the speed information of the PMV 10 , and the speed information of the AMR 20 .

[0158] (Step S21 b ) The acquisition unit 120 a acquires the score table 111 from the storage unit 110 or an external device.

[0159] (Step S21c) The control unit 140a divides the merging section. The control unit 140a determines the scores of each of the multiple sections obtained by dividing the merging section using the score table 111 and the map information. The control unit 140a determines the first arrival position based on the scores of each of the multiple sections. For example, the control unit 140a determines the section with the highest score among the scores of the multiple sections as the first arrival position.

[0160] Furthermore, when determining the score, the control unit 140 a may determine the score of each of the plurality of sections using weather information, the current time, or user preference information.

[0161] According to the variation of the third embodiment, the information processing device 100a can move the AMR 20 to the first arrival position when the AMR 20 can arrive first. The AMR 20 waits at the first arrival position. The first arrival position is a location suitable as a delivery point for goods. Therefore, the user can receive the goods with confidence.

[0162] The features in the respective embodiments described above can be combined with each other as appropriate.

[0163] Description of Reference Numerals

[0164] 30, 32 moving path, 31, 33 arriving at the position first, 32, 34 position, 41 moving path, 42-44 interval, 100, 100a, 100b information processing device, 101 processor, 102 volatile storage device, 103 non-volatile storage device, 110 storage unit, 111 score table, 120, 120a, 120b acquisition unit, 130, 130a, 130b generation unit, 140, 140a, 140b control unit, 150, 150b prediction unit.

Claims

1. An information processing device, wherein: The information processing device comprises: an acquisition unit that acquires map information, position information of a first moving object that can be moved manually or automatically, and position information of a second moving object that can be moved automatically while carrying cargo; a generating unit configured to generate path information of the second moving object based on the map information, the position information of the first moving object, and the position information of the second moving object; as well as A control unit controls the second moving object based on the path information of the second moving object.

2. The information processing device according to claim 1, wherein: The information processing device further includes a prediction unit. The acquisition unit acquires the movement history of the first moving body, the speed information of the first moving body, the speed information of the second moving body, and score information indicating the score corresponding to the section, The prediction unit predicts a movement path of the first moving body using the position information of the first moving body, the map information, and the movement history of the first moving body, and predicts a merging section where the first moving body merges with the second moving body using the movement path of the first moving body, the position information of the first moving body, the position information of the second moving body, the speed information of the first moving body, and the speed information of the second moving body, The control unit divides the merging section, determines the scores of each of a plurality of sections obtained by dividing the merging section using the score information and the map information, and determines a merging point based on the scores of each of the plurality of sections. The generating unit generates the path information of the second moving object based on the map information, the meeting point, and the position information of the second moving object. When the meeting point is determined, the control unit uses the moving path of the first moving body, the speed information of the first moving body, and the path information of the second moving body to calculate the speed of the second moving body for making the first moving body and the second moving body meet at the meeting point, controls the second moving body based on the path information of the second moving body, and controls the second moving body so that the second moving body moves at the calculated speed.

3. The information processing device according to claim 2, wherein: The score information shows the score corresponding to the interval and the score corresponding to the weather. The acquisition unit acquires weather information. The control unit determines a score for each of the plurality of sections using the score information, the map information, and the weather information.

4. The information processing device according to claim 2, wherein: The score information shows the score corresponding to the interval and the score corresponding to the time period. The obtaining unit obtains the current time. The control unit determines a score for each of the plurality of sections using the score information, the map information, and the current time.

5. The information processing device according to claim 1, wherein: The information processing device further includes a prediction unit. The acquisition unit acquires the movement history of the first moving object, the speed information of the first moving object, and the speed information of the second moving object. The prediction unit predicts a movement path of the first moving object by using the position information of the first moving object, the map information, and a movement history of the first moving object. The control unit selects a first-arrival position based on the moving path of the first moving body, calculates a distance to the first-arrival position based on the position information of the first moving body and the moving path of the first moving body, calculates a time when the first moving body arrives at the first-arrival position, i.e., an arrival time of the first moving body, using the calculated distance and the speed information of the first moving body, calculates a distance to the first-arrival position based on the position information of the second moving body and the map information, calculates a time when the second moving body arrives at the first-arrival position, i.e., an arrival time of the second moving body, using the calculated distance and the speed information of the second moving body, and determines whether the second moving body can arrive first based on the arrival time of the first moving body and the arrival time of the second moving body. The generating unit generates, when the second moving object can arrive first, path information of the second moving object for moving the second moving object to the first arrival position based on the map information, the position information of the second moving object, and the first arrival position.

6. The information processing device according to claim 5, wherein: The acquisition unit acquires information related to a user riding on the first moving body, The prediction unit predicts a movement path of the first moving object by using the position information of the first moving object, the map information, a movement history of the first moving object, and information related to the user.

7. The information processing device according to claim 5 or 6, wherein: The prediction unit predicts the future position of the first moving body based on the moving path of the first moving body, the position information of the first moving body, the speed information of the first moving body, and a predetermined time when the second moving body cannot arrive first. The generating unit generates route information of the second moving body for moving the second moving body to the future position of the first moving body based on the map information, the position information of the second moving body, and the future position of the first moving body.

8. The information processing device according to any one of claims 5 to 7, wherein: The prediction unit predicts a merging section, which is a section where the first moving body merges with the second moving body, based on the moving path of the first moving body, the position information of the first moving body, the position information of the second moving body, the speed information of the first moving body, and the speed information of the second moving body. The acquisition unit acquires score information indicating a score corresponding to a section, The control unit divides the merging section, determines a score for each of a plurality of sections obtained by dividing the merging section using the score information and the map information, and determines the first arrival position based on the scores for each of the plurality of sections.

9. The information processing device according to claim 1, wherein: The acquisition unit acquires the moving path of the first moving body from the first moving body, and acquires speed information of the first moving body and speed information of the second moving body when the first moving body is moving by automatic driving. The control unit selects a first arrival position based on the moving path of the first moving body, calculates a distance to the first arrival position based on the position information of the first moving body and the moving path of the first moving body, calculates a time when the first moving body arrives at the first arrival position, i.e., the arrival time of the first moving body, using the calculated distance and the speed information of the first moving body, calculates a distance to the first arrival position based on the position information of the second moving body and the map information, calculates a time when the second moving body arrives at the first arrival position, i.e., the arrival time of the second moving body, using the calculated distance and the speed information of the second moving body, and determines whether the second moving body can arrive first based on the arrival time of the first moving body and the arrival time of the second moving body. The generating unit generates, when the second moving object can arrive first, path information of the second moving object for moving the second moving object to the first arrival position based on the map information, the position information of the second moving object, and the first arrival position.

10. The information processing device according to claim 9, wherein: The information processing device further includes a prediction unit, which predicts the future position of the first moving body based on the moving path of the first moving body, the position information of the first moving body, the speed information of the first moving body, and a predetermined time when the second moving body cannot arrive first. The generating unit generates route information of the second moving body for moving the second moving body to the future position of the first moving body based on the map information, the position information of the second moving body, and the future position of the first moving body.

11. The information processing device according to claim 9, wherein: The information processing device further includes a prediction unit that predicts a merging section, i.e., a section where the first moving body merges with the second moving body, based on a moving path of the first moving body, position information of the first moving body, position information of the second moving body, speed information of the first moving body, and speed information of the second moving body. The acquisition unit acquires score information indicating a score corresponding to a section, The control unit divides the merging section, determines the scores of each of a plurality of sections obtained by dividing the merging section using the score information and the map information, and determines the first arrival position based on the scores of each of the plurality of sections.

12. The information processing device according to claim 11, wherein: The score information shows the score corresponding to the interval and the score corresponding to the weather. The acquisition unit acquires weather information. The control unit determines a score for each of the plurality of sections using the score information, the map information, and the weather information.

13. The information processing device according to claim 11, wherein: The score information shows the score corresponding to the interval and the score corresponding to the time period. The obtaining unit obtains the current time. The control unit determines a score for each of the plurality of sections using the score information, the map information, and the current time.

14. The information processing device according to any one of claims 5 to 13, wherein: The generating unit generates path information of the second moving body for moving the second moving body toward the first arriving position and in a direction opposite to the direction in which the first moving body moves along the moving path based on the map information, the moving path of the first moving body, the position information of the second moving body, and the first arriving position when the second moving body is able to arrive first.

15. The information processing device according to any one of claims 1 to 14, wherein: The acquisition unit acquires the location information of the delivery source of the goods, The generating unit generates route information of the second moving object based on the map information, the position information of the delivery source, the position information of the first moving object, and the position information of the second moving object.

16. The information processing device according to any one of claims 1 to 15, wherein: The acquisition unit acquires the position information of the first moving object and the position information of the second moving object after the path information of the second moving object is generated. The control unit transmits a warning notification to the first moving object when a distance between a position indicated by the position information of the first moving object and a position indicated by the position information of the second moving object is equal to or smaller than a predetermined threshold value.

17. The information processing device according to any one of claims 1 to 16, wherein: The acquisition unit acquires the position information of the first moving object and the position information of the second moving object after the path information of the second moving object is generated. The control unit determines whether the second moving body has merged with the first moving body based on the position information of the first moving body and the position information of the second moving body, and controls the second moving body to move at a speed faster than the current speed of the second moving body when the second moving body does not merge with the first moving body within a predetermined time.

18. A control method, wherein: The information processing device performs the following processing: obtaining map information, position information of a first moving body that can be moved manually or automatically, and position information of a second moving body that can be moved automatically while carrying cargo, generating path information of the second moving object based on the map information, the position information of the first moving object, and the position information of the second moving object, The second moving object is controlled based on the path information of the second moving object.

19. A control program, wherein: The control program causes the information processing device to execute the following processing: obtaining map information, position information of a first moving body that can be moved manually or automatically, and position information of a second moving body that can be moved automatically while carrying cargo, generating path information of the second moving object based on the map information, the position information of the first moving object, and the position information of the second moving object, The second moving object is controlled based on the path information of the second moving object.

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