Delivery system, delivery method, and computer program product

Abstract

The present application provides a delivery system, a delivery method, and a computer program product, which improve the reliability of delivery by an unmanned mobile body. In the delivery system, the mobile body (50) is provided with: a mobile body communication device (51); a route setting portion (73) that sets a movement route to the mobile body (50) based on position information (461) representing the position of the storage portion (400) received by the mobile body communication device (51) from the storage portion (400); a movement control portion (75) that moves the mobile body (50) according to the movement route; and a sensor group (53) that is mounted on the mobile body (50) and detects the storage portion (400), and the route setting portion (73) sets a movement route to the storage portion (400) based on information representing the movement history (463) of the storage portion (400) received by the mobile body communication device (51) in a case where the sensor group (53) fails to detect the storage portion (400).

Description

Technical Field

[0001] This invention relates to delivery systems, delivery methods, and computer program products. Background Technology

[0002] Previously, there were known systems that used unmanned mobile vehicles to deliver goods.

[0003] For example, Patent Document 1 discloses a delivery system in which an aircraft control unit that controls an unmanned aerial vehicle (UAV) causes the UAV to fly toward a vehicle. If the vehicle door is opened, goods are unloaded into the vehicle. If the UAV arrives at the vehicle, a vehicle control device that controls the vehicle opens the door.

[0004] Patent document 2 discloses a delivery robot comprising: a route information acquisition unit that acquires autonomous route information representing autonomous routes within a building; a driving route determination unit that determines a driving route for transporting a delivery item determined to be delivered to a delivery destination based on the autonomous route information; and a driving unit that drives within the building based on the driving route.

[0005] [Existing Technical Documents]

[0006] [Patent Literature]

[0007] [Patent Document 1]

[0008] Japanese Patent Application Publication No. 2018-165205

[0009] [Patent Document 2]

[0010] Japanese Patent Application Publication No. 2019-108219 Summary of the Invention

[0011] [The problem the invention aims to solve]

[0012] However, even when the location information of the delivery destination is obtained, and no unmanned vehicle is dispatched to the destination, sometimes the delivery destination cannot be reached based solely on the location information. For example, if the delivery destination is a garage, multi-story parking garage, underground parking garage, or a storage unit capable of storing goods, sometimes the unmanned vehicle cannot reach these delivery destinations.

[0013] The present invention was made in view of the above circumstances, and its object is to provide a delivery system, delivery method and computer program product that improves the reliability of unmanned mobile delivery of goods.

[0014] [Methods used to solve problems]

[0015] This disclosure discloses a delivery system that utilizes an unmanned mobile vehicle to deliver items to a storage unit. The delivery system includes: a communication unit; a route setting unit that sets a movement route to the unmanned mobile vehicle based on location information received by the communication unit from the storage unit indicating the location of the storage unit; a movement control unit that causes the unmanned mobile vehicle to move along the movement route; and a detection unit mounted on the unmanned mobile vehicle that detects the storage unit. When the detection unit cannot detect the storage unit, the route setting unit sets a movement route to the storage unit based on information received by the communication unit indicating the movement history of the storage unit.

[0016] In the aforementioned delivery system, the communication unit receives information about the restricted movement zone within the facility where the storage unit is located. If the movement route of the storage unit shown in the movement history is the route taken by the storage unit within the restricted movement zone, the route setting unit sets a movement route that avoids the restricted movement zone.

[0017] In the aforementioned delivery system, the unmanned mobile body is an unmanned aerial vehicle (UAV). When the restricted movement area is an area where the UAV is prohibited from flying, the items delivered by the unmanned mobile body are transferred to an unmanned vehicle pre-prepared within the facility.

[0018] In the above-mentioned delivery system, the storage unit is equipped with a position detection unit, which detects the position and movement direction of the storage unit and generates the movement history.

[0019] In the aforementioned delivery system, the storage unit is a vehicle or a storage box.

[0020] This disclosure discloses a delivery method that uses an unmanned mobile vehicle to deliver items to a storage unit. In this delivery method, a computer equipped with the unmanned mobile vehicle performs: a setting process that sets a movement route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received from the storage unit by a communication unit equipped with the unmanned mobile vehicle; a movement process that causes the unmanned mobile vehicle to move along the movement route; and a detection process that detects the storage unit. In the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information indicating the movement history of the storage unit received by the communication unit.

[0021] This disclosure relates to a computer program product comprising a program that causes a computer of an unmanned mobile body delivering items to a storage unit to execute: a setting process that sets a movement route to the unmanned mobile body based on location information indicating the location of the storage unit received from the storage unit by a communication unit of the unmanned mobile body; a movement process that causes the unmanned mobile body to move along the movement route; and a detection process that detects the storage unit. In the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information indicating the movement history of the storage unit received by the communication unit.

[0022] [Invention Effects]

[0023] According to one aspect of the present invention, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit. Therefore, it is possible to reduce the occurrence of situations where the storage unit, as the delivery destination, cannot be detected and items cannot be delivered, thereby improving the reliability of unmanned mobile delivery of items. Attached Figure Description

[0024] Figure 1 This is a diagram illustrating the system structure of an implementation method.

[0025] Figure 2 It is a block diagram showing the structure of the business terminal, facilities, storage unit, and mobile unit.

[0026] Figure 3 This is a diagram showing delivery information.

[0027] Figure 4 This diagram illustrates an example of a situation where the moving object cannot detect the storage section.

[0028] Figure 5 This is a diagram showing an example inside a parking lot.

[0029] Figure 6 This is a flowchart illustrating the actions of the moving object. Detailed Implementation

[0030] [1. Structure of the delivery system]

[0031] The following description, with reference to the accompanying drawings, explains the implementation methods of the delivery system, delivery method, and computer program product. Figure 1 This is a diagram illustrating the system structure of this embodiment. Figure 1 The system 1 shown includes a management server 10, a sales office 20, a user terminal 40, a mobile unit 50, and a storage unit 400. The mobile unit 50 and the storage unit 400 constitute the delivery system.

[0032] The management server 10, the branch terminal 200 configured in the branch office 20, the user terminal 40 and the mobile device 50 are connected via the network 5 in a manner that enables them to communicate with each other via data.

[0033] Network 5 can be, for example, a public communication network such as the Internet (WAN), or another communication network. Network 5 can also include telephone communication networks such as mobile phones, or wireless communication networks such as Wi-Fi. Wi-Fi is a registered trademark.

[0034] The management server 10 is a server managed by a management operator that manages the operation of the mobile body 50, which supports the distribution and collection of goods 57. The management server 10 manages information related to the mobile body 50, such as information indicating the current location of the mobile body 50, information indicating the status of the mobile body 50, information indicating the operation schedule, and the presence or absence of goods.

[0035] The management server 10 registers sender information, including personal information such as the sender's name, address, and phone number, and settlement information such as the credit card number used for delivery fee settlement. Additionally, the management server 10 registers delivery information, including recipient information, delivery destination information containing the destination of the goods 57, and item information related to the goods 57 to be delivered. This information is registered, for example, through the sender's user terminal 40.

[0036] Each branch office 20 is equipped with a branch office terminal 200. The branch office terminal 200 is a terminal used for the collection and distribution of goods 57. Specifically, the branch office terminal 200 is used to obtain distribution information for goods 57 at each branch office and input the distribution status. The branch office terminal 200 can be a tablet, smartphone, PDA (Personal Digital Assistant), laptop, or desktop computer device.

[0037] The management server 10 transmits sender information and delivery information to the branch terminal 200 of the branch 20 that collects goods 57 and the branch terminal 200 of the branch 20 that delivers goods 57.

[0038] In addition, the 20 business offices are equipped with more than 50 mobile units. Figure 1 The mobile body 50 shown represents an aircraft such as a drone, but it can also be a vehicle traveling on a road or similar surface. The mobile body 50 is a mobile body that moves unmanned, whether it is an aircraft or a vehicle.

[0039] User terminal 40 is a terminal held by a user utilizing the system. User terminal 40 may also be a tablet terminal, smartphone, PDA (Personal Digital Assistant), laptop, or desktop computer device. Users include the sender and the recipient.

[0040] The mobile body 50 is a mobile body that moves in an unmanned manner, which can be an aircraft such as a drone, or a vehicle that travels on a road.

[0041] The storage unit 400 stores the goods 57 delivered by the mobile unit 50. For example, such as... Figure 1 As shown, the storage unit 400 can be a vehicle 400A or a storage box 400B. Furthermore, the storage unit 400 can also be a designated location such as an entryway, delivery box, bicycle basket, garage, balcony, or rental box.

[0042] [2. Structure of Business Terminals]

[0043] Figure 2 This is a block diagram showing the structure of the business terminal 200, facility 300, storage unit 400, and mobile body 50.

[0044] The branch terminal 200 includes a first communication device 210 and a first control unit 230.

[0045] The first communication device 210 includes an interface circuit corresponding to wired communication standards such as Ethernet for data communication via network 5, and a wireless communication module corresponding to wireless communication standards such as Wi-Fi and Bluetooth. Ethernet and Bluetooth are registered trademarks.

[0046] The first communication device 210 communicates with the management server 10 via the network 5 and receives sender information and delivery information from the management server 10.

[0047] The first control unit 230 is a computer device that includes a first storage unit 240 and a first processor 250.

[0048] The first storage unit 240 may include, for example, a non-volatile storage unit such as ROM (Read Only Memory) and a volatile storage unit such as RAM (Random Access Memory). Alternatively, the first storage unit 240 may also have an auxiliary storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive). The non-volatile storage unit stores the control program executed by the first processor 250. A diagram of the control program is omitted.

[0049] The first storage unit 240 stores sender information and delivery information 241. (Illustration of sender information omitted.) Delivery information 241 is information received from the management server 10, including information entered by the sender using the user terminal 40 and information pre-registered by the recipient.

[0050] Figure 3 This is a diagram showing an example of delivery information 241.

[0051] The delivery information 241 includes delivery destination information and item information related to the delivered goods 57. The delivery destination information includes information about the recipient and the destination of the goods 57.

[0052] exist Figure 3 The delivery information 241 shown includes the recipient's name, contact information, and location information as delivery destination information, and the goods ID, goods type, and desired delivery time period as item information.

[0053] Communication information is the information required to send and receive data from the receiving unit 400, such as the application ID assigned to the application, IP (Internet Protocol) address, MAC (Media Access Control) address, email address, etc.

[0054] Location information refers to the latitude and longitude of the receiving unit 400 at the delivery destination. Regarding location information, the second control unit 330 can also communicate with the receiving unit 400 via communication information to obtain location information. Alternatively, the location information of the receiving unit 400 input by the recipient using a user terminal 40 or a vehicle navigation system can be registered in the management server 10, and the management server 10 can send delivery information 241 containing the location information to the sales terminal 200.

[0055] The cargo ID is the identification information for cargo 57, and the cargo type is information indicating the size of cargo 57, whether it is frozen, etc.

[0056] In addition, although Figure 3 Although not shown in the diagram, if the storage unit 400 is a vehicle 400A, the delivery information 241 may include information such as the vehicle's body color, license plate number, model, height, width, and length, as well as an image of the vehicle 400A itself. Alternatively, if the storage unit 400 is a storage box 400B, the delivery information 241 may include identification information such as the storage box 400B's serial number.

[0057] The first processor 250 is an arithmetic processing device equipped with processors such as a CPU (Central Processing Unit) and an MPU (Micro-Processing Unit). The first processor 250 may consist of a single processor or multiple processors.

[0058] When the first control unit 230 receives delivery information 241 from the management server 10, it stores the received delivery information 241 in the first storage unit 240. Furthermore, based on the received delivery information 241, the first control unit 230 selects a vehicle 50 for delivering the goods 57 and sends the delivery information 241 to the selected vehicle 50. For example, the first control unit 230 selects a vehicle 50 for delivering the goods 57 based on the size of the goods 57 and whether the delivery destination is within a no-fly zone. If the delivery destination is within a no-fly zone, the first control unit 230 selects a vehicle as the vehicle 50.

[0059] [3. Structure of the facilities and equipment]

[0060] Facility 300 is a device installed at facility 30, which serves as the delivery destination. Facility 30 may include, for example, multi-story parking garages, underground parking garages of apartments, and parking garages.

[0061] The facility device 300 includes a second communication device 310 and a second control unit 330. For example, in the case of a multi-story facility such as a multi-level parking garage, the facility device 300 can also be installed on each floor of the multi-story facility.

[0062] The second communication device 310, for example, has a communication module corresponding to the Wi-Fi communication standard, and performs wireless communication with a mobile body 50 that has moved into the facility 30 or is approaching a mobile body 50 within a specified distance from the facility 30.

[0063] The second control unit 330 is a computer device that includes a second storage unit 340 and a second processor 350.

[0064] The second storage unit 340 includes a non-volatile storage unit such as ROM and a volatile storage unit such as RAM. The second storage unit 340 stores the control program executed by the second processor 350 and facility information 345. A diagram of the control program is omitted.

[0065] The second processor 350 is a computing device equipped with a CPU, MPU, and other processors. The second processor 350 can consist of a single processor or multiple processors.

[0066] The second control unit 330 sends facility information 345 to the mobile body 50 upon request from the mobile body 50.

[0067] Facility information 345 refers to information within the facility, such as information about prohibited areas where the movement or flight of the mobile body 50 is forbidden, and information about designated routes where the movement or flight of the mobile body 50 is permitted. Additionally, facility information 345 may also include detailed map information about the facility 30. This detailed map information may include, for example, the location of elevators that allow the vehicle 400A to move to higher floors.

[0068] [4. Structure of the storage section]

[0069] The storage unit 400 includes a third communication device 410, a storage unit position detection unit 430, and a third control unit 450.

[0070] exist Figure 2 The diagram shows a case where the storage unit 400 is located inside the facility 30, but for example, if the storage unit 400 is a vehicle 400A, there are also cases where the storage unit 400 is located outside the facility 30, such as an apartment.

[0071] The third communication device 410 may include, for example, a communication module corresponding to the Wi-Fi communication standard and a short-range wireless communication module corresponding to short-range wireless communication standards such as Bluetooth. Additionally, it may sometimes include an interface circuit corresponding to wired communication standards such as Ethernet for data communication via Network 5. Ethernet and Bluetooth are registered trademarks.

[0072] The receiving unit position detection unit 430 includes a GNSS (Global Navigation Satellite System) receiver and a processor. Illustrations of the GNSS receiver and processor are omitted. The GNSS receiver receives satellite signals transmitted from satellites. The processor calculates the latitude and longitude representing the position of the receiving unit 400 based on the satellite signals received by the GNSS receiver. Furthermore, based on the differences between multiple calculated latitude and longitude values, the processor calculates the azimuth representing the direction of travel of the receiving unit 400 as its direction of movement.

[0073] The third control unit 450 is a computer device having a third storage unit 460 and a third processor 470.

[0074] The third storage unit 460 includes non-volatile storage units such as ROM and volatile storage units such as RAM. The third storage unit 460 stores the control program executed by the third processor 470, position information 461, and movement history information 463. A diagram of the control program is omitted.

[0075] Location information 461 indicates the current location of the storage unit 400. The latitude and longitude information obtained by the storage unit location detection unit 430 is registered as location information 461.

[0076] Movement history information 463 is information representing the movement history of the storage unit 400.

[0077] For example, if the storage unit 400 is a vehicle 400A, the movement history information 463 may include latitude, longitude, and azimuth information calculated by the storage unit position detection unit 430 at predetermined intervals. For example, if the mobile body 50 cannot move to the storage unit 400 due to the inability to detect it or due to one-way traffic information within the facility 30, it acquires the movement history information 463. The mobile body 50 then moves to the storage unit 400 by setting a movement route according to the acquired movement history information 463.

[0078] In the case where facility 30 is a multi-level parking garage or an underground parking garage, sometimes the mobile unit 50 cannot move to the location of the storage unit 400 using only latitude and route information as location information. Therefore, the movement history information 463 can also include height information, tilt or slope information, gyroscope information indicating the orientation of the vehicle 400A, and map matching information. In addition, the movement history information 463 can also include images taken at the branching points of the movement route to the parking location, and the parking level. Furthermore, if there is an operation history of the vehicle 400A, it can also include the opening and closing history of the parking garage doors and gates, and the history of elevator operation.

[0079] The third processor 470 is a computing device equipped with a CPU, MPU, and other processors. The third processor 470 can consist of a single processor or multiple processors.

[0080] [5. Structure of the moving body]

[0081] The mobile body 50 includes a mobile body communication device 51, a mobile body position detection unit 52, a sensor group 53, a drive unit 54, a tag reading unit 55, a cargo holding unit 56, and a mobile body control unit 60. The mobile body 50 may also include components other than these, but these will not be described here. Furthermore, in Figure 2 The diagram shows the case where the mobile body 50 is an aircraft such as a drone, but the mobile body 50 can also be a vehicle traveling on a road.

[0082] The mobile communication device 51 includes a communication module for data communication via network 5, a wireless communication module corresponding to the Wi-Fi communication standard, and a short-range wireless communication module corresponding to the Bluetooth or other short-range wireless communication standards.

[0083] The mobile body position detection unit 52 includes a GNSS receiver and a processor. Illustrations of the GNSS receiver and processor are omitted. The GNSS receiver receives satellite signals transmitted from satellites. The processor calculates the latitude and longitude representing the position of the mobile body 50 based on the satellite signals received by the GNSS receiver. Additionally, the processor can also calculate the azimuth representing the direction of travel of the mobile body 50 based on the differences between multiple calculated latitude and longitude values.

[0084] Sensor group 53 uses LiDAR (Light Detection and Ranging), ultrasonic sensors, cameras, etc.

[0085] LiDAR is used to irradiate a laser, and the distance and direction to the obstacle are determined by measuring the time it takes for the irradiated laser to hit an obstacle and then return.

[0086] An ultrasonic sensor sends out ultrasonic waves, and a wave receiver detects the waves reflected when the transmitted ultrasonic waves hit an obstacle, thereby detecting the presence or absence of the obstacle and measuring the distance to the obstacle.

[0087] Cameras are mounted, for example, in the front, back, left, and right directions of the moving body 50, and these cameras capture images of the area around the moving body 50. The field of view of the cameras can be adjusted by actuators (not shown).

[0088] The drive unit 54 has a propeller actuator that drives multiple propellers 59.

[0089] The mobile body control unit 60 controls the drive of the drive unit 54, thereby controlling the flight-based movement of the mobile body 50.

[0090] The tag reader 55 reads information from the tag 58 attached to the goods 57 being transported by the mobile body 50. The tag 58 may be a one-dimensional barcode or a two-dimensional code such as a QR code. The tag 58 may be an RFID (Radio Frequency Identification) tag. The tag 58 may contain, for example, the sender's personal information, goods ID, and delivery information for the goods 57. QR codes are a registered trademark.

[0091] The mobile control unit 60 is a computer device that includes a mobile storage unit 61 and a mobile processor 70.

[0092] The mobile storage unit 61 includes a non-volatile storage unit such as ROM and a volatile storage unit such as RAM. The mobile storage unit 61 stores the control program executed by the mobile processor 70, map data 63, and delivery information 65. The delivery information 65 is information indicating the delivery destination of the goods, and is the same information as the delivery information 241 received from the sales terminal 200.

[0093] [6. Movements of the moving unit]

[0094] The mobile processor 70 is a computing device equipped with processors such as a CPU and an MPU. The mobile processor 70 can consist of a single processor or multiple processors.

[0095] The mobile unit control unit 60 includes a communication control unit 71, a route setting unit 73, and a mobile control unit 75 as functional units. These functional units are implemented by the mobile unit processor 70 executing control programs.

[0096] The communication control unit 71 controls the mobile communication device 51 to conduct mutual data communication with the business terminal 200, facility device 300, and storage unit 400.

[0097] For example, before the mobile unit 50 departs from the sales office 20 for delivery, the communication control unit 71 receives delivery information 241 from the sales office terminal 200 and stores it in the mobile unit storage unit 61 as delivery information 65. Additionally, when the mobile unit 50 approaches or moves into the facility, the communication control unit 71 receives facility information 345 from the facility device 300. Furthermore, if the communication control unit 71 cannot detect the storage unit 400 based on images captured by the camera included in the sensor group 53, it communicates with the storage unit 400 and receives movement history information 463 from the storage unit 400.

[0098] The route setting unit 73 performs route searching based on map data 63 and delivery information 65 received from the sales terminal 200, searching for a mobile route to the delivery destination. If the mobile vehicle 50 is an aircraft such as a drone, it searches for routes that the mobile vehicle 50 can fly.

[0099] The movement control unit 75 controls the drive unit 54 to make the moving body 50 move along the movement route set by the route setting unit 73.

[0100] This section explains the situation where facility 30 is a multi-level parking garage and storage unit 400 is the luggage compartment of vehicle 400A owned by the user.

[0101] When the mobile vehicle 50 approaches or moves into the multi-level parking garage that serves as facility 30, it receives facility information 345 from the facility device 300 of facility 30. In the case of a multi-level parking garage, the facility information 345 includes information on prohibited areas where the mobile vehicle 50 is prohibited from driving or flying, and information on designated routes where the mobile vehicle 50 is permitted to drive or fly. Additionally, the facility information 345 may also include detailed map information of the facility 30.

[0102] The route setting unit 73 sets the movement route within the facility based on the received facility information 345 and delivery information 65. At this time, the location information 461 can also be retrieved from the storage unit 400 via the communication control unit 71. For example, if the luggage compartment of vehicle 400A is used as the storage unit 400, vehicle 400A may move, so the location information 461 of the storage unit 400 can also be retrieved. Furthermore, if facility 30 is a multi-level parking garage or similar facility, it may sometimes be impossible to identify the parking level where vehicle 400A is parked. Therefore, facility devices 300 can be installed on each level of the multi-level parking garage. When vehicle 400A moves to the level where facility device 300 is installed and wireless communication with vehicle 400A is possible, facility device 300 sends facility information 345, containing information about the installation level of facility device 300, to the storage unit 400, which is vehicle 400A. The storage unit 400 of vehicle 400A can also send movement history information 463, which includes setting floor information of the parking floor of vehicle 400A, to the mobile body 50 upon request from the mobile body 50.

[0103] Alternatively, the route setting unit 73 can, for example, change the mobile body 50 transporting the cargo 57 from an aircraft to a vehicle if the movement of the aircraft is prohibited within the facility 30, or if the mobile body 50 cannot deliver the cargo 57 if it does not move within the prohibited area where flight is prohibited. In this case, the cargo 57 is transferred from the aircraft to the vehicle.

[0104] For example, if the number of users receiving goods using the multi-level parking garage exceeds a certain threshold, the operator providing the service can prepare vehicles in advance at a designated location within facility 30. Additionally, apartment and building management companies can also prepare vehicles in advance.

[0105] The movement control unit 75 causes the moving body 50 to move along the movement route set by the route setting unit 73. If the distance between the moving body 50 and the storage unit 400 approaches within a predetermined distance, the storage unit 400 is determined by image analysis of the image captured by the camera. At this time, if the storage unit 400 is a vehicle 400A, the movement control unit 75 can also determine the storage unit 400 based on information such as the vehicle body color, number, model, height, width, and length of the vehicle 400A contained in the delivery information 65. In addition, if the storage unit 400 is a storage box 400B, the storage unit 400 can also be determined based on the identification information of the storage box 400B.

[0106] Figure 4 This diagram illustrates an example of a situation where the moving body 50 cannot detect the storage unit 400.

[0107] When the motion control unit 75 determines that the mobile body 50 cannot move to the location of the storage unit 400, it sends a request to the storage unit 400 to obtain the motion history information 463, and obtains the motion history information 463 from the storage unit 400. The inability of the mobile body 50 to move to the location of the storage unit 400 includes situations where the storage unit 400 cannot be determined based on images captured by the camera, such as... Figure 4 The situation shown is where the column 31, elevator, restricted area, other vehicles, etc., of the multi-level parking garage become obstacles that prevent access to the storage unit 400.

[0108] The movement history information 463 includes latitude, longitude, and orientation information calculated by the storage unit position detection unit 430 at predetermined intervals. Additionally, the movement history information 463 may also include information indicating the parking level of vehicle 400A.

[0109] The route setting unit 73 resets the movement route of the mobile body 50 based on the movement history information 463 obtained by the communication control unit 71 and the facility information 345 obtained from the facility device 300.

[0110] At this time, if the storage unit 400 is within a restricted movement area, or if it is impossible to reach the storage unit 400 without moving within the restricted movement area, the route setting unit 73 determines that delivery is not possible and does not deliver the goods 57. In this case, the moving body 50 is returned to the sales office 20 under the control of the movement control unit 75.

[0111] In addition, if the route setting unit 73 finds that the movement route of the storage unit 400 shown in the movement history information 463 includes a movement prohibition area, but the storage unit 400 can be reached by moving around the movement prohibition area, it determines that the goods 57 can be delivered.

[0112] Figure 5 This is a diagram showing an example of the state of the first level of a multi-level parking garage.

[0113] exist Figure 5 In the process, when the mobile body 50 enters the parking lot from the entrance 33, it moves within the multi-level parking lot according to the movement route set based on the delivery information 65 and the location information 461. Figure 5 The image shows the mobile body 50 located near the entrance / exit 33 of a multi-level parking garage. The mobile body 50 can be an aircraft or a vehicle.

[0114] in addition, Figure 5 The diagram shows the movement route of the mobile body 50 when delivering goods 57 to the vehicle 400A or the storage box 400B.

[0115] Assume that goods 57 are being delivered to vehicle 400A. In this case, vehicle 400A is not located within a restricted movement area, and furthermore, it is not necessary for the mobile body 50 to move within the restricted movement area in order to move to the location of vehicle 400A. Therefore, the mobile body 50 is set based on facility information 345 and location information 461. Figure 5 The shown movement route is 501.

[0116] Additionally, assume that goods 57 are delivered to storage box 400B.

[0117] From Figure 5 The routes by which the moving body 50 moves toward the storage box 400B include a moving route 503 that turns right from the position of the moving body 50 in the figure and a moving route 505 that goes straight for a predetermined distance from the position of the moving body 50 in the figure, then turns right and then turns right again.

[0118] When the mobile body 50 moves on the movement route 503, it moves in the movement-restricted area, so the movement route 505 is selected as the route.

[0119] Figure 6 This is a flowchart illustrating the actions of the moving body 50.

[0120] Reference Figure 6 The flowchart shown illustrates the actions of the moving body 50.

[0121] First, the mobile unit control unit 60 receives delivery information 65 from the sales terminal 200 (step S1) and begins moving towards the delivery destination shown in the delivery information 65 (step S2). Step S2 is equivalent to the movement process. At this time, if the location shown in the delivery information 65 is in a place where the mobile unit 50, which is an aircraft, cannot deliver, the sales terminal 200 selects a vehicle as the mobile unit 50 and instructs the selected mobile unit 50 to deliver the goods 57.

[0122] Next, the mobile unit control unit 60 determines whether the distance to the delivery destination is within a specified distance (step S3). If the distance to the delivery destination is greater than the specified distance (step S3 / No), the mobile unit control unit 60 returns to step S2, allowing the mobile unit 50 to continue moving. Alternatively, if the distance to the delivery destination approaches the specified distance (step S3 / Yes), the mobile unit control unit 60 determines whether facility information 345 can be obtained (step S4). At this time, the mobile unit control unit 60 can also determine, based on the camera images and map data 63, whether the storage unit 400, as the delivery destination, is located in a multi-level parking garage, the basement of an apartment building, or other similar facilities.

[0123] If the mobile unit control unit 60 cannot wirelessly communicate with the facility device 300 of the facility 30, or if it can wirelessly communicate with the facility device 300 but the facility device 300 does not have facility information 345, it determines that it cannot obtain facility information 345 (step S4 / No). If the mobile unit control unit 60 cannot obtain facility information 345 (step S4 / No), it wirelessly communicates with the storage unit 400 and obtains location information 461 from the storage unit 400 (step S5). For example, if the storage unit 400 is a vehicle 400A, the vehicle 400A may also be moving, so if it approaches a predetermined distance, it re-obtains the location information 461 of the storage unit 400.

[0124] Next, if the position of the storage unit 400 obtained by the mobile unit control unit 60 in step S5 matches the position of the delivery information 65 received from the sales terminal 200, the mobile unit control unit 60 continues to move along the pre-set route. Furthermore, if the position of the storage unit 400 obtained by the mobile unit control unit 60 in step S5 does not match the position of the delivery information 65 received from the sales terminal 200, the mobile unit control unit 60 resets the route based on the location information 461 of the storage unit 400 obtained in step S5, and continues to move along that route (step S6).

[0125] Next, the mobile unit control unit 60 determines whether the storage unit 400 is detected by analyzing the image captured by the camera (step S7). The processing in step S7 is equivalent to the detection processing. If the storage unit 400 cannot be detected (step S7 / No), the mobile unit control unit 60 performs wireless communication with the storage unit 400 and obtains the movement history information 463 from the storage unit 400 (step S8).

[0126] Next, the movement control unit 60 determines whether it can move to the storage unit 400 according to the movement route shown in the acquired movement history information 463 (step S9). Step S9 is equivalent to setting processing.

[0127] For example, if the mobile unit control unit 60 is unable to move due to obstacles or other obstacles along the movement route, it determines that it cannot move (step S9 / No). In this case, the mobile unit control unit 60 determines that it cannot deliver the goods 57 and returns to the sales office 20.

[0128] When the mobile body control unit 60 determines that it can move to the storage unit 400 according to the moving route shown in the moving history information 463 (step S9 / Yes), it moves the mobile body 50 to the storage unit 400 and delivers the goods 57 (step S10).

[0129] Additionally, when the moving body control unit 60 detects the storage unit 400 through image analysis of the captured image from the camera (step S7 / Yes), it moves the moving body 50 to the storage unit 400 and delivers the goods 57 (step S10).

[0130] Furthermore, in step S4, if the facility information 345 can be obtained from the facility device 300 (step S4 / Yes), the mobile unit control unit 60 wirelessly communicates with the facility device 300 to obtain the facility information 345 (step S11). Then, the mobile unit control unit 60 wirelessly communicates with the storage unit 400 to obtain the location information 461 from the storage unit 400 (step S12). Here, if the storage unit 400 is a vehicle 400A, there is a possibility that the vehicle 400A is moving; therefore, when it approaches a predetermined distance, the location information 461 of the storage unit 400 is obtained again.

[0131] Next, the mobile unit control unit 60 determines whether the location of the storage unit 400 is within the restricted movement area based on the facility information 345 and the location information 461 of the storage unit 400 (step S13). If the location of the storage unit 400 is within the restricted movement area (step S13 / Yes), the mobile unit control unit 60 determines that the goods 57 cannot be delivered and returns to the sales office 20.

[0132] Furthermore, if the location of the storage unit 400 is not within the movement prohibition zone (step S13 / No), and the location of the storage unit 400 obtained in step S12 matches the location of the delivery information 65 received from the sales terminal 200, the movement of the mobile body 50 continues according to the pre-set movement route and the facility information 345 obtained in step S11 (step S14). Furthermore, if the location of the storage unit 400 obtained in step S12 does not match the location of the delivery information 65 received from the sales terminal 200, the movement route is reset according to the location information 461 of the storage unit 400 obtained in step S12, and the movement of the mobile body 50 continues according to this movement route and the facility information 345 obtained in step S11 (step S14).

[0133] Next, the mobile body control unit 60 determines whether the storage unit 400 is detected by analyzing the image captured by the camera (step S15). The processing in step S15 is equivalent to the detection processing. If the storage unit 400 is detected (step S15 / Yes), the mobile body control unit 60 moves the mobile body 50 to the storage unit 400 to deliver the goods 57 (step S18).

[0134] In addition, if the storage unit 400 cannot be detected by image analysis of the image captured by the camera (step S15 / No), the mobile body control unit 60 shall wirelessly communicate with the storage unit 400 again to obtain the mobile history information 463 (step S16).

[0135] The mobile unit control unit 60 determines whether it can move to the storage unit 400 according to the movement route shown in the acquired movement history information 463 (step S17). Step S17 is equivalent to setting processing. For example, if there are obstacles or other obstacles in the middle of the movement route, or if the movement route shown in the movement history information 463 contains a movement prohibition area, and it is impossible to reach the storage unit 400 without passing through the movement prohibition area, the mobile unit control unit 60 determines that it cannot move (step S17 / No) and returns to the sales office 20.

[0136] Additionally, when the mobile body control unit 60 determines that it can move to the storage unit 400 according to the moving route shown in the moving history information 463 (step S17 / Yes), it moves the mobile body 50 to the storage unit 400 and delivers the goods 57 (step S18).

[0137] The flowchart above describes the delivery of goods 57 to the storage unit 400, such as vehicle 400A. However, if the management company of the apartment or building has prepared a vehicle in advance, the goods 57 delivered to the storage unit 400 can be further transferred to the vehicle and delivered to the recipient's home by the vehicle.

[0138] In addition, when the mobile unit 50 delivers goods 57 to vehicle 400A and storage box 400B, it is necessary to open the rear door of vehicle 400A, the trunk, and the opening and closing door of storage box 400B.

[0139] For example, the authentication password can be pre-registered in the storage unit 400, and when the mobile body 50 approaches the vehicle 400A and the storage box 400B within a specified distance, the mobile body 50 sends the password to the vehicle 400A and the storage box 400B.

[0140] When the password received from the mobile body 50 is successfully authenticated, the rear door of vehicle 400A, the trunk, and the door of storage box 400B are automatically opened, so that the goods 57 can be stored inside vehicle 400A and storage box 400B.

[0141] When the wireless communication between the vehicle 400A, storage box 400B and the mobile body 50 is cut off after the vehicle 400A and storage box 400B leave the vehicle 400A and storage box 400B, the rear door of the vehicle 400A, the trunk, and the opening and closing door of the storage box 400B will automatically close.

[0142] [7. Effects of the Implementation Method]

[0143] As described above, this embodiment is a system that delivers goods 57 to the storage unit 400 via a mobile body 50. The mobile body 50 includes a mobile body communication device 51, a route setting unit 73, a movement control unit 75, and a sensor group 53.

[0144] The route setting unit 73 sets a movement route to the mobile body 50 based on the location information 461, which indicates the location of the storage unit 400, received by the mobile body communication device 51 from the storage unit 400.

[0145] The movement control unit 75 causes the moving body 50 to move along the movement route.

[0146] The sensor group 53 is mounted on the moving body 50, including a camera that generates captured images.

[0147] When the storage unit 400 cannot be detected based on the image captured by the camera, the route setting unit 73 sets a movement route to the storage unit 400 based on the information received by the mobile communication device 51 indicating the movement history of the storage unit 400.

[0148] Therefore, it is possible to reduce the occurrence of situations where the storage unit 400, which is the destination for delivery, cannot be detected from the captured image, thus preventing the delivery of goods 57 and improving the reliability of the mobile body 50 in delivering goods 57.

[0149] The mobile communication device 51 receives facility information 345, which includes information about the restricted movement area within the facility 30 where the storage unit 400 is located.

[0150] If the movement route shown in the movement history to the storage unit 400 is the route in which the storage unit 400 moves within the movement restricted area, the route setting unit 73 sets a movement route that avoids the movement restricted area.

[0151] Therefore, even if a restricted movement zone is set up within the facility 30, it is possible to avoid movement within that restricted movement zone and deliver goods 57 to the storage unit 400. This improves the reliability of goods 57 delivery by the mobile unit 50.

[0152] Mobile vehicle 50 is an unmanned aerial vehicle. In areas where unmanned aerial vehicles are prohibited from flying within restricted movement zones, the cargo 57 delivered by mobile vehicle 50 is transferred to an unmanned vehicle pre-prepared within the facility. This reduces the likelihood of cargo 57 being unable to be delivered due to the inability to move within restricted movement zones. Therefore, the reliability of cargo 57 delivered by mobile vehicle 50 is improved.

[0153] The storage unit 400 is equipped with a storage unit position detection unit 430 that detects the position and direction of movement of the storage unit 400 and generates a movement history.

[0154] Therefore, for example, by moving the storage unit 400 from the facility entrance within the facility while positioning the storage unit 400 at the location where the goods 57 are to be delivered, movement history information can be generated. The mobile body 50 sets its movement route based on this movement history information, thereby improving the reliability of the mobile body 50 in delivering the goods 57.

[0155] Storage section 400 is either vehicle 400A or storage box 400B.

[0156] Therefore, goods 57 can be delivered to vehicle 400A or storage box 400B via mobile body 50.

[0157] [8. Other Implementation Methods]

[0158] The above embodiments are preferred embodiments of the present invention. However, the invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the invention.

[0159] For example, Figure 2 The functional units of the branch terminal 200, facility device 300, storage unit 400, and mobile body 50 shown represent a functional structure, and there are no particular restrictions on the specific installation method. That is, it is not necessarily necessary to install hardware corresponding to each functional unit, and it is also possible to configure the system so that the functions of multiple functional units are implemented by a single processor executing a program. In addition, in the above embodiment, a portion of the functions implemented by software can be implemented by hardware, or a portion of the functions implemented by hardware can be implemented by software.

[0160] in addition, Figure 6 The processing units in the flowchart shown are divided according to the main processing content for easy understanding of the processing of the moving body 50. This invention is not subject to... Figure 6 The flowchart illustrates the segmentation method and naming restrictions for processing units. Furthermore, the processing of moving body 50 can be divided into more processing units based on the processing content, or it can be divided into a single processing unit containing more processing. Additionally, the processing order in the flowchart is not limited to the example shown.

[0161] [9. Structure supported by the above embodiments]

[0162] The above implementation supports the following structures.

[0163] (Structure 1)

[0164] A delivery system that uses an unmanned mobile vehicle to deliver items to a storage unit, comprising: a communication unit; a route setting unit that sets a movement route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received by the communication unit from the storage unit; a movement control unit that causes the unmanned mobile vehicle to move along the movement route; and a detection unit mounted on the unmanned mobile vehicle that detects the storage unit, wherein, if the detection unit cannot detect the storage unit, the route setting unit sets a movement route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit.

[0165] According to the delivery system of Structure 1, when the detection unit cannot detect the storage unit, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit. Therefore, the occurrence of situations where items cannot be delivered due to the inability to detect the storage unit as the delivery destination can be reduced, and the reliability of unmanned mobile vehicle delivery of items can be improved.

[0166] (Structure 2)

[0167] According to the delivery system of claim 1, the communication unit receives information about the restricted movement zone within the facility where the storage unit is located, and if the movement route of the storage unit shown in the movement history is the route the storage unit takes in the restricted movement zone, the route setting unit sets a movement route that avoids the restricted movement zone.

[0168] According to the delivery system of Structure 2, if the movement route of the storage unit indicated in the movement history is a route in which the storage unit moves within a prohibited movement area, a movement route that avoids the prohibited movement area is set. Therefore, it is possible to reduce the occurrence of situations where items cannot be delivered due to the storage unit being unable to be detected as the delivery destination, and to improve the reliability of unmanned mobile vehicle delivery of items.

[0169] (Structure 3)

[0170] According to the delivery system of Structure 2, the unmanned mobile body is an unmanned aerial vehicle (UAV). When the movement prohibition zone is an area where the UAV is prohibited from flying, the items delivered by the unmanned mobile body are transferred to an unmanned vehicle prepared in advance within the facility.

[0171] According to the delivery system in Structure 3, in areas where unmanned aerial vehicles (UAVs) are prohibited from flying within a restricted movement zone, the items to be delivered by the unmanned mobile vehicle are transferred to pre-prepared unmanned vehicles within the facility. This reduces the likelihood of items being unable to be delivered and improves the reliability of unmanned mobile vehicle delivery.

[0172] (Structure 4)

[0173] According to any one of structures 1 to 3, the delivery system includes a storage unit that detects the position and direction of movement of the storage unit and generates the movement history.

[0174] According to the delivery system of Structure 4, the storage unit is equipped with a position detection unit, which detects the position and direction of movement of the storage unit and generates the movement history. For example, by moving the storage unit from the facility entrance into the facility while positioning it at the location of the item to be delivered, movement history information can be generated. By setting the movement route based on this movement history information, the reliability of unmanned mobile vehicle delivery of items can be improved.

[0175] (Structure 5)

[0176] A delivery system according to any one of structures 1 to 4, wherein the storage unit is a vehicle or a storage box.

[0177] According to the delivery system of Structure 5, items can be delivered to vehicles or storage boxes using unmanned mobile bodies.

[0178] (Structure 6)

[0179] A delivery method utilizes an unmanned mobile vehicle to deliver items to a storage unit, wherein, in this delivery method, a computer equipped with the unmanned mobile vehicle performs: a setting process, which sets a movement route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received from the storage unit by a communication unit equipped with the unmanned mobile vehicle; a movement process, which causes the unmanned mobile vehicle to move along the movement route; and a detection process, which detects the storage unit, wherein, in the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information indicating the movement history of the storage unit received by the communication unit.

[0180] According to the delivery method of Structure 6, when the storage unit cannot be detected through detection processing, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit. Therefore, it is possible to reduce the occurrence of situations where items cannot be delivered due to the inability to detect the storage unit as the delivery destination, and to improve the reliability of unmanned mobile vehicle delivery of items.

[0181] (Structure 7)

[0182] A computer program product includes a program that causes a computer of an unmanned mobile body delivering items to a storage unit to execute: a setting process that sets a movement route to the unmanned mobile body based on location information indicating the location of the storage unit received from the storage unit by a communication unit of the unmanned mobile body; a movement process that causes the unmanned mobile body to move along the movement route; and a detection process that detects the storage unit, wherein, in the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information indicating the movement history of the storage unit received by the communication unit.

[0183] According to the computer program product of Structure 7, when the storage unit cannot be detected through detection processing, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit. Therefore, it is possible to reduce the occurrence of situations where items cannot be delivered due to the inability to detect the storage unit as the delivery destination, and to improve the reliability of unmanned mobile vehicle delivery of items.

[0184] Explanation of reference numerals in the attached figures

[0185] 1…System, 5…Network, 10…Management Server, 20…Sales Office, 30…Facilities, 31…Columns of Multi-level Parking Garage, 33…Entrance / Exit, 40…User Terminal, 50…Mobile Body, 51…Mobile Body Communication Device, 52…Mobile Body Position Detection Unit, 53…Sensor Group, 54…Drive Unit, 55…Tag Reading Unit, 56…Cargo Handling Unit, 57…Cargo, 58…Tag, 59…Propeller, 60…Mobile Body Control Unit, 61…Mobile Body Storage Unit, 63…Map Data, 65…Delivery Information, 70…Mobile Body Processor, 71…Communication Control Unit, 73…Route Setting Unit, 75…Mobile Control Unit, 200…Sales Office Terminal, 210…First Communication device, 230… First control unit, 240… First storage unit, 241… Delivery information, 250… First processor, 300… Facility device, 310… Second communication device, 330… Second control unit, 340… Second storage unit, 345… Facility information, 350… Second processor, 400… Storage unit, 400A… Vehicle, 400B… Storage box, 410… Third communication device, 430… Storage unit position detection unit, 450… Third control unit, 460… Third storage unit, 461… Location information, 463… Movement history information, 470… Third processor, 501… Movement route, 503… Movement route, 505… Movement route.

Claims

1. A delivery system that utilizes unmanned mobile vehicles to deliver items to a storage area, wherein, This delivery system has the following features: Ministry of Communications; The route setting unit sets a movement route to the unmanned mobile body based on the location information indicating the location of the storage unit received by the communication unit from the storage unit. A movement control unit that causes the unmanned mobile body to move along the movement route; as well as The detection unit, mounted on the unmanned mobile body, detects the storage unit. When the detection unit cannot detect the storage unit, the route setting unit sets a movement route to the storage unit based on information received by the communication unit indicating the movement history of the storage unit.

2. The delivery system according to claim 1, wherein, The communication unit receives information about the restricted movement zone within the facility where the storage unit is located. When the movement route of the storage unit shown in the movement history is the same route the storage unit takes to move within the prohibited movement area, the route setting unit sets a movement route that avoids the prohibited movement area.

3. The delivery system according to claim 2, wherein, The unmanned mobile body is an unmanned aerial vehicle (UAV). In cases where the restricted movement zone is an area where the unmanned aerial vehicle is prohibited from flying, the items delivered by the unmanned mobile vehicle are transferred to an unmanned vehicle prepared in advance within the facility.

4. The delivery system according to any one of claims 1 to 3, wherein, The storage unit has a position detection unit that detects the position and direction of movement of the storage unit and generates the movement history.

5. The delivery system according to any one of claims 1 to 3, wherein, The storage unit is a vehicle or a storage box.

6. A delivery method that utilizes unmanned mobile vehicles to deliver items to a storage area, wherein, In this delivery method, the computer equipped on the unmanned mobile vehicle performs the following: The setting process involves setting a movement route to the unmanned mobile body based on the location information indicating the location of the storage unit received from the storage unit by the communication unit of the unmanned mobile body. The movement is processed to make the unmanned mobile body move along the movement route; as well as The detection and processing involves detecting the storage section. In the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit.

7. A computer program product comprising a program that causes a computer in an unmanned mobile body delivering items to a storage area to execute: The setting process involves setting a movement route to the unmanned mobile body based on the location information indicating the location of the storage unit received from the storage unit by the communication unit of the unmanned mobile body. The movement is processed to make the unmanned mobile body move along the movement route; as well as The detection and processing involves detecting the storage section. In the setting process, if the storage unit is not detected by the detection process, a movement route to the storage unit is set based on information received by the communication unit indicating the movement history of the storage unit.

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