Autonomous mobile body control device, autonomous mobile body control method, and computer program

Abstract

To provide an autonomous mobile body control device which can reduce delay of a delivery time of an autonomous mobile body.SOLUTION: The autonomous mobile body control device for controlling an autonomous mobile body which delivers a package, comprises: control means which determines a delivery position of the autonomous mobile body by using a format which uses a unique identifier to identify information about time and a state of an object present in a space defined by an arbitrary reference system representing positions in a three-dimensional space; and space state information acquisition means which acquires space state information about the state of the object present in the space. The control means determines a prescribed delivery position from among a plurality of distribution position candidates on the basis of a prescribed requirement and the space state information acquired by the space state information acquisition means.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to an autonomous mobile object control device, an autonomous mobile object control method, and a computer program used for package delivery. [Background technology]

[0002] When it comes to parcel delivery, methods being considered include delivery using unmanned aerial vehicles such as drones, and delivery using autonomous mobile objects such as small robots within a specific premises.

[0003] However, delivery by autonomous mobile objects such as drones can be problematic in that the package cannot be delivered to the destination due to unexpected obstacles at the destination or on the delivery route, bad weather, etc. In response to this problem, Patent Document 1 describes a technology that allows multiple destinations to be evaluated on-site and selected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6519748 Summary of the Invention [Problem to be solved by the invention]

[0005] However, evaluating the destination on-site means that it is impossible to determine whether delivery is possible without actually going to the delivery destination, which can result in delays in delivery time.

[0006] The present invention has been made in consideration of the above problems, and has an object to provide an autonomous mobile body control device that can suppress delays in delivery time caused by autonomous mobile bodies. [Means for solving the problem]

[0007] The autonomous mobile object control device of the present invention comprises: An autonomous mobile object control device for controlling an autonomous mobile object that delivers luggage, A control means for determining a delivery position of the autonomous moving body using a format that identifies information about a state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space using a unique identifier; a space state information acquisition means for acquiring space state information relating to a state of an object existing in the space, The control means is characterized in that it determines a predetermined delivery location from among a plurality of delivery location candidates based on the spatial state information acquired by the spatial state information acquisition means and predetermined requirements. Effect of the Invention

[0008] According to the present invention, it is possible to realize an autonomous mobile body control device that can suppress delays in delivery time caused by an autonomous mobile body. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing an example of the overall configuration of a delivery system according to an embodiment of the present invention; [Diagram 2] 2 is a functional block diagram showing an example of the configuration of a user interface 21 appearing in FIG. 1. [Diagram 3] 2 is a functional block diagram showing an example of the internal configuration of a delivery system control device etc. in FIG. 1. [Figure 4] FIG. 2 is a perspective view showing a configuration example of an autonomous moving body 12 according to the embodiment. [Diagram 5] 1A and 1B are diagrams for explaining a three-dimensional map used by an autonomous moving body according to an embodiment. [Figure 6] FIG. 6(A) is a diagram showing latitude / longitude information of the earth, and FIG. 6(B) is a perspective view showing a predetermined space 100 of FIG. 6(A). [Figure 7] 1 is a diagram showing a schematic diagram of spatial information within a space 100. FIG. [Figure 8] 13A and 13B are diagrams showing examples of delivery destinations according to an embodiment. [Figure 9]1 is a flowchart showing the overall flow of a system during package delivery according to an embodiment. [Figure 10] 10 is a continuation of the flowchart in FIG. [Figure 11] 11 is a flowchart illustrating an operation of an autonomous mobile control device when delivering luggage according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described using examples with reference to the drawings. However, the present invention is not limited to the following examples. In each drawing, the same members or elements are given the same reference numbers, and duplicated descriptions are omitted or simplified.

[0011] 1 is a diagram showing an example of the overall configuration of a delivery system according to an embodiment of the present invention. The delivery system according to this embodiment has a delivery system control device 10 for stably delivering packages received from an external deliverer (delivery company) 30 that delivers packages to a predetermined delivery destination (delivery location) 15 by an autonomous mobile body 12.

[0012] The delivery system control device 10 functions as an information processing device that manages the entire delivery system together with the conversion information storage device 13. The delivery system control device 10 also receives package information from a delivery person (delivery company) 30 outside the apartment complex, manages the delivery status of packages, and manages the delivery destinations desired by each resident.

[0013] The reception desk 14 is a place where the manager of the apartment complex or a reception device receives packages delivered to the apartment complex from an external delivery person 30. In FIG. 1, the reception desk 14 is depicted as a building outside the apartment complex, but it may be a room, space, etc. within the apartment complex.

[0014] The reception desk 14 has a terminal device (not shown) which receives package information indicating the type of package to be delivered in advance from the delivery system control device 10. When the package actually arrives, the terminal device reads, for example, a QR code (registered trademark) attached to the package, compares the two, and transmits a message to the delivery system control device 10 that the package has arrived at the apartment building.

[0015] As mentioned above, the package may be received by the manager of the apartment complex, or it may be received by a robot or a dedicated reception device, and the process of verification and notification may be performed fully automatically.

[0016] The autonomous mobile object waiting location 16 is a location where the autonomous mobile object 12 for parcel delivery, which will be described later, waits. As with the reception location 14, the autonomous mobile object waiting location 16 is depicted in Fig. 1 as a building outside an apartment building, but it may be a room or space within the apartment building. Also, although the reception location 14 and the autonomous mobile object waiting location 16 are depicted separately in Fig. 1, they may be in the same place.

[0017] Here, based on instructions from an autonomous mobile object control device 11 (described later), the task of loading packages received from a delivery company at a reception desk 14 onto an autonomous mobile object 12 (described later) is performed automatically by a caretaker or a robot, etc.

[0018] After loading of the luggage onto the autonomous mobile body 12 is completed, the autonomous mobile body 12 delivers the luggage to a delivery location designated by a resident of the residence in the apartment building based on instructions from the autonomous mobile body control device 11. Furthermore, when delivery of the luggage is completed, the autonomous mobile body 12 returns to the autonomous mobile body waiting area 16 based on instructions from the autonomous mobile body control device 11.

[0019] The autonomous mobile body 12 notifies the autonomous mobile body control device 11 of information that the autonomous mobile body 12 has returned to the autonomous mobile body waiting station 16.

[0020] The conversion information storage device 13 functions as a storage means for storing information on the position and state of a specific space (space state information) in a predetermined format. The conversion information storage device 13 functions as a contact point when the delivery system control device 10 obtains information on the delivery destination 15, and provides information and the like for the autonomous mobile body control device 11 to determine a delivery route to the delivery destination 15 and transmit the same to the autonomous mobile body 12.

[0021] The autonomous mobile object control device 11 is a device that controls the operation of the autonomous mobile object 12 described later. The autonomous mobile object control device 11 acquires package information from the delivery system control device 10, and acquires information on the delivery destination 15 from the conversion information storage device 13.

[0022] Based on this acquired information, the autonomous mobile body control device 11 generates route information for the autonomous mobile body 12 to deliver the package to the delivery location. Then, the autonomous mobile body control device 11 notifies the autonomous mobile body 12 of the generated route information and issues operation instructions to the autonomous mobile body 12. When the scale of the apartment building or the demand of the residents is large, the autonomous mobile body control device 11 is configured to be able to control multiple autonomous mobile bodies 12 simultaneously.

[0023] Furthermore, the autonomous mobile object control device 11 also has a function of instructing the autonomous mobile object 12 waiting at the autonomous mobile object waiting point 16 to head to the reception point 14. And, it also has a function of directing the autonomous mobile object 12 to the delivery destination 15 together with the package received at the reception point 14.

[0024] When the delivery system control device 10 receives a request such as a detailed location specification of a delivery destination from a recipient 20, the autonomous mobile object control device 11 selects an autonomous mobile object 12 that can handle the request. Furthermore, the autonomous mobile object control device 11 generates a route for the autonomous mobile object 12 to move, and causes the autonomous mobile object 12 to deliver the package to the requested delivery destination 15.

[0025] In addition, in FIG. 1, the delivery system control device 10 and the autonomous mobile object control device 11 are defined as separate devices, but they may be configured as a single device having the respective roles.

[0026] The autonomous mobile body 12 is a means for delivering the package to the residence of a resident in an apartment building, which is the delivery destination 15, and is, for example, a small robot or a drone. The autonomous mobile body 12 is capable of moving based on the control of the autonomous mobile body control device 11 without the need for human operation.

[0027] The delivery system control device 10 communicates with the autonomous mobile body control device 11, the autonomous mobile body 12, the user interface 21 operated by the recipient, the conversion information storage device 13, and the external deliverer 30 via a network. The delivery system control device 10 may be configured to be able to communicate with the autonomous mobile body 12 via the autonomous mobile body control device 11.

[0028] The recipient 20 can specify the delivery destination while viewing specific information about the living space through the GUI of the user interface 21. The transmission and reception of information between the above components is performed via the Internet or other network systems such as a LAN (Local Area Network).

[0029] Next, the configuration and function of each device in Fig. 1 will be described in detail with reference to Fig. 2. Fig. 2 is a functional block diagram showing an example of the configuration of the user interface 21 in Fig. 1, and Fig. 3 is a functional block diagram showing an example of the internal configuration of the delivery system control device etc. in Fig. 1.

[0030] Some of the functional blocks shown in Figures 2 and 3 are realized by causing a CPU or the like serving as a computer (not shown) included in a control unit of each device to execute a computer program stored in a memory serving as a storage medium (not shown).

[0031] However, some or all of them may be realized by hardware. For the hardware, a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP) may be used. Furthermore, the respective functional blocks shown in Figures 2 and 3 do not have to be built in the same housing, and may be configured by separate devices connected to each other via signal paths.

[0032] The external deliverer 30 and the user interface 21 in Fig. 2 are each connected to the delivery system control device 10 shown in Fig. 3 via a network or the like. The external deliverer 30 has a terminal device equipped with a CPU as a computer (not shown) and a memory as a storage medium.

[0033] The user interface 21 is a terminal device used by the recipient 20, and includes an operation unit 21-1, a control unit 21-2, a display unit 21-3, an information storage unit (memory / HDD) 21-4, and a network connection unit 21-5.

[0034] The operation unit 21-1 is configured with a touch panel, key buttons, etc., and is used for inputting data. The display unit 21-3 is, for example, a liquid crystal screen, etc., and is used for displaying data.

[0035] The recipient 20 can select a service, input information, and confirm the information via the GUI menu displayed on the display unit 21-3. That is, the operation unit 21-1 and the display unit 21-3 provide a user interface for the recipient 20 to actually perform operations.

[0036] The control unit 21-2 has a built-in CPU as a computer, and controls the operation of each part of the user interface 21 based on a computer program stored in an information storage unit (memory / HDD) 21-4 as a storage medium.

[0037] That is, the control unit 21-2 controls the processing in the operation unit 21-1, the display unit 21-3, the information storage unit (memory / HDD) 21-4, the network connection unit 21-5, etc. The information storage unit (memory / HDD) 21-4 is a database for storing necessary information. The network connection unit 21-5 controls communication performed via the Internet, LAN, wireless LAN, etc.

[0038] The user interface 21 is a terminal such as a smartphone, and is configured to display information required by the user on the display unit 21-3 and to accept operations by the recipient 20, who is the user, from the operation unit 21-1.

[0039] The user interface 21 in this embodiment can display, for example, a plurality of candidates for floor plan and delivery destination on the browser screen of the display unit 21-3, and can accept selective input by the user regarding the delivery location and other delivery. Note that the delivery system control device 10 itself may also function as the user interface 21.

[0040] 3, the delivery system control device 10 includes a unique identifier management unit 10-1, a control unit 10-2, a position / route information management unit 10-3, an information storage unit (memory / HDD) 10-4, an acquisition unit 10-5, a reception unit 10-6, and an output unit 10-7. The delivery system control device 10 further includes a network connection unit 10-8 and an RTC 10-9. Here, RTC is an abbreviation for real-time clock.

[0041] The position / route information management unit 10-3 holds simple map information having consistency between topographical information and latitude / longitude information, and manages predetermined position information acquired through the network connection unit 10-8 and route information to a predetermined position.

[0042] Furthermore, the location / route information management unit 10-3 divides the location / route information at a predetermined interval and generates location information such as the latitude / longitude of each divided location. The unique identifier management unit 10-1 manages information obtained by converting the location information and route information into unique identifiers by the conversion information storage device 13, which will be described later.

[0043] The control unit 10-2 has a built-in CPU as a computer, and controls the operation of each part of the delivery system control device 10 based on a computer program stored in an information storage unit (memory / HDD) 10-4 as a storage medium.

[0044] That is, the control unit 10-2 is responsible for controlling communication functions such as position information, route information, and unique identifiers, and controls the unique identifier management unit 10-1, position / route information management unit 10-3, information storage unit (memory / HDD) 10-4, network connection unit 10-8, etc.

[0045] The control unit 10-2 also provides a WEB page to the user interface 21, and transmits predetermined position information acquired from the WEB page to the autonomous mobile body control device 11. Furthermore, the control unit 10-2 acquires predetermined delivery route information from the autonomous mobile body control device 11, and transmits each position information of the route information to the conversion information storage device 13.

[0046] Then, the control unit 10-2 transmits the route information converted into the unique identifier acquired from the conversion information storage device 13 to the autonomous mobile unit 12 via the autonomous mobile unit control device 11 or directly. The control unit 10-2 also acquires the current time from the RTC 10-9.

[0047] As described above, the delivery system control device 10 acquires the delivery location information designated by the recipient 20 and transmits the delivery location information to the autonomous mobile body control device 11. Then, the delivery system control device 10 acquires route information to the delivery location generated by the autonomous mobile body control device 11 and transmits the route information to the conversion information storage device 13.

[0048] Then, route information in which the route to the delivery position is expressed by the unique identifier is acquired by the conversion information holding device 13, and the route information expressed by the acquired unique identifier is transmitted to the autonomous mobile object control device 11.

[0049] As shown in FIG. 3, the autonomous mobile control device 11 includes a site information management unit 11-1, a control unit 11-2, a position / route information management unit 11-3, an information storage unit (memory / HDD) 11-4, a network connection unit 11-5, and a unique identifier management unit 11-6.

[0050] The site information management unit 11-1 holds maps and floor plan information of the premises within the delivery range of the autonomous mobile body. Specifically, it stores information on the layout of rooms in an apartment building that exists within the delivery range of the autonomous mobile body and the floor plan of each room. The above map and floor plan information are three-dimensional map information including information such as topography, latitude / longitude / altitude, and the floor plan of the building.

[0051] The site information management unit 11-1 also searches for route information indicating a route on a map based on a predetermined location and floor plan information designated by the recipient. Specifically, the site information management unit 11-1 searches for a route from the current location of the autonomous moving body to the predetermined location based on information on a predetermined location designated by the recipient of the package who is a resident of the above-mentioned apartment building and stored information on the floor plan of the recipient's room.

[0052] Then, the site information management unit 11-1 generates route information based on the search result, and transmits the route information of the search result to the position / route information management unit 11-3.

[0053] The control unit 11-2 includes a CPU as a computer and a memory as a storage medium for storing computer programs, and controls the processing in each unit within the autonomous mobile object controlling device 11.

[0054] The position / route information management unit 11-3 manages the position information of the autonomous moving body 12 obtained via the network connection unit 11-5, transmits the position information to the site information management unit 11-1, and manages the route information obtained as a search result from the site information management unit 11-1.

[0055] The control unit 11-2 converts the route information managed by the position / route information management unit 11-3 into a predetermined data format in accordance with a request from the external system, and transmits it to the external system. In this way, the autonomous mobile object control device 11 of this embodiment is configured to search for a route based on delivery position information specified by a user, and output the route information in a predetermined data format.

[0056] 3, the conversion information storage device 13 includes a location / route information management unit 13-1, a unique identifier management unit 13-2, a control unit 13-3, a format database 13-4, and an information storage unit (memory / HDD) 13-5. The conversion information storage device 13 further includes a network connection unit 13-6, and an RTC (real-time clock) 13-7.

[0057] The position / route information management unit 13-1 manages predetermined position information acquired through the network connection unit 13-6, and transmits the position information to the control unit 13-3 in response to a request from the control unit 13-3.

[0058] The control unit 13-3 has a built-in CPU as a computer and a memory as a storage medium for storing computer programs, and is responsible for controlling the unique identifier conversion function in the conversion information storage device 13 and controls the processing in each part within the conversion information storage device 13.

[0059] Based on the location information acquired from the location / route information management unit 13-1 and the format information managed in the format database 13-4, the control unit 13-3 converts the location information into a unique identifier and transmits it to the unique identifier management unit 13-2.

[0060] The above format assigns an identifier (hereinafter, unique identifier) ​​to a space starting from a specified location and manages the space by associating it with the unique identifier. Based on specified location information, the corresponding unique identifier and information within the space can be obtained.

[0061] In other words, the above format divides the three-dimensional space that is the delivery range of the autonomous mobile body according to a predetermined criterion, assigns (associates) a unique identifier to each divided space, and manages the divided spaces. In addition, the divided spaces contain spatial information about objects and the like that exist within the divided spaces.

[0062] In this embodiment, since the three-dimensional space is managed in such a format, for example, a delivery location and a route to the delivery location designated by a recipient 20 are identified by a unique identifier associated with the divided space corresponding to the delivery location and the position on the route.

[0063] By transmitting the unique identifier thus identified to the autonomous mobile body control device 11, the autonomous mobile body control device 11 becomes able to autonomously move the autonomous mobile body 12 along the route to the delivery position. Also, based on the spatial information contained in each of the divided spaces, the autonomous mobile body control device 11 becomes able to search for the optimal route at the current time.

[0064] That is, the autonomous mobile body control device 11 of this embodiment determines the delivery position of the autonomous mobile body 12 using a format that uses a unique identifier to identify information regarding the state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space.

[0065] The unique identifier management unit 13-2 manages the unique identifier converted by the control unit 13-3, and transmits it to the outside via the network connection unit 13-6.

[0066] The format database 13-4 manages the format information, and transmits the format information to the control unit 13-3 in response to a request from the control unit 13-3. Also, the format is used to manage the information within the space acquired via the network connection unit 13-6.

[0067] The conversion information storage device 13 manages the information about the space acquired by the external device, apparatus, and network connected to itself by linking it to the unique identifier.The conversion information storage device 13 provides the unique identifier and the information about the space linked thereto to the external device, apparatus, and network connected to itself.The control unit 13-3 can also acquire the current time from the RTC 13-7.

[0068] As described above, information on the state and time of an object existing in a space defined in an arbitrary reference system that represents a position in three-dimensional space is stored in the conversion information storage device 13. In addition, the conversion information storage device 13 has a function of collecting unique identifiers and information within the space based on predetermined position information, and managing and providing the information in a state that can be shared by external devices, equipment, and networks connected to the conversion information storage device 13.

[0069] As shown in FIG. 3, the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HDD) 12-4, a network connection unit 12-5, and a drive unit 12-6.

[0070] The detection unit 12-1 functions as a detection means for detecting the spatial state around the autonomous moving body 12 by detecting objects present around the autonomous moving body 12. The detection unit 12-1 has an imaging means such as an image sensor, and a distance measurement function using, for example, a plurality of image sensors having parallax.

[0071] Then, using the imaging means and the distance measuring function, detection information (hereinafter, detection information) regarding surrounding terrain, obstacles such as building walls, etc. Furthermore, the detection unit 12-1 has a self-position estimation function that estimates its own position from the detection information.

[0072] The above-mentioned distance measurement function and self-location estimation function may be used in combination with distance measurement using a LiDAR (Light Detection And Ranging) installed in the autonomous moving body 12, or a self-location estimation function based on point cloud information of an object whose distance is measured. Alternatively, each of them may be realized by using only one of them.

[0073] The detector 12-1 also has a self-position detection function such as a global positioning system (GPS) and a direction detection function such as a geomagnetic sensor. The direction detection function may be performed by measuring an angular velocity using an inertial measurement device such as an inertial measurement unit (IMU) and calculating the amount of rotation to detect the direction.

[0074] In addition, the IMU can estimate the self-position by utilizing the amount of movement calculated from the acceleration measurement results, together with the amount of rotation. Based on the detection information, self-position estimation information, and direction detection information acquired by the detection unit 12-1, the control unit 12-2 can create a 3D map in cyberspace.

[0075] A three-dimensional map of cyberspace can express spatial information equivalent to the positions of features in the real world as digital data. In this three-dimensional map of cyberspace, the autonomous mobile body 12 existing in the real world and information on features in its surroundings are held as spatially equivalent digital data. Therefore, the autonomous mobile body 12 can move efficiently based on this digital data.

[0076] Furthermore, the autonomous moving body 12 has learning result data obtained by performing machine learning or the like stored in, for example, an information storage unit (memory / HDD) 12-4, and can detect objects from captured images. The detection information can also be obtained from an external system via a network connection unit 12-5 and reflected in a 3D map.

[0077] The control unit 12-2 includes a CPU as a computer and a memory as a storage medium for storing computer programs. The control unit 12-2 also controls the movement, direction changes, and autonomous driving functions of the autonomous mobile body 12, and controls the detection unit 12-1, direction control unit 12-3, information storage unit (memory / HDD) 12-4, network connection unit 12-5, drive unit 12-6, etc.

[0078] The direction control unit 12-3 changes the output of a plurality of driving units 12-6 to change the tilt direction, moving direction, speed, etc. of the autonomous moving body 12. The driving units 12-6 are formed of driving devices such as motors, and generate a propulsive force for the autonomous moving body 12.

[0079] The autonomous mobile body 12 can reflect the self-position, detection information, and object detection information in the 3D map, generate a route that maintains a certain distance from the surrounding terrain, buildings, obstacles, and objects, and perform autonomous traveling. That is, the autonomous mobile body 12 can correct the delivery position or delivery route determined by the control means based on the detection output by the detection unit 12-1 as a detection means while moving.

[0080] Next, the main body configuration of the autonomous mobile body 12 in this embodiment will be described with reference to Fig. 4. Fig. 4 is a perspective view showing a configuration example of the autonomous mobile body 12 according to the embodiment. Note that in this embodiment, the autonomous mobile body 12 is described as an unmanned aerial vehicle (drone) having a propeller, but is not limited to this, and the autonomous mobile body 12 may be a running body having wheels, or may be in any form as long as it is capable of moving autonomously.

[0081] 4, the autonomous moving body 12 is provided with a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HDD) 12-4, a network connection unit 12-5, and a driving unit 12-6, as described in FIG 3. The driving unit 12-6 includes a propeller, and the autonomous moving body 12 is provided with at least two or more driving units 12-6.

[0082] Then, as described above, the direction control unit 12-3 changes the moving direction of the autonomous moving body 12 by changing the output of the multiple driving units 12-6 and changing the direction of the driving units 12-6 by rotating the shaft. Furthermore, the driving units 12-6 move the autonomous moving body 12 forward, backward, etc. by rotating the rotating shaft of the propeller. Note that the configuration described using FIG. 4 is one example and is not limited to this, and any structure that can achieve the same effect may be used.

[0083] As described above, the autonomous mobile body 12 is a mobile body equipped with, for example, SLAM (Simultaneous Localization And Mapping) technology. The autonomous mobile body 12 is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 12-1 and detection information of an external system such as an external server acquired via the Internet.

[0084] The autonomous moving body 12 can perform a trace movement, tracing precisely specified points, or it can pass through roughly set points and generate its own route information for the space between them to move.

[0085] Furthermore, the autonomous mobile body 12 has a function of reading the slip information attached to the delivery with the detection unit 12-1, sending individual information for identifying the delivery to the autonomous mobile body control device 11 through the network connection unit, and authenticating the package and inquiring about the delivery location. The individual information only needs to be able to identify the delivery (package), and may be a unique delivery number or a combination with an address or a unique identifier shown below.

[0086] The autonomous moving body 12 detects the unique identifier according to the display form of the unique identifier printed as the slip information of the delivery. For example, when the unique identifier is shown as a barcode or a QR code (registered trademark), image recognition is performed using a 1D scanner or an imaging element that can detect them.

[0087] These can be detected from captured images, etc., by using learning result data obtained by performing machine learning, etc., in the information storage unit 12-4 described above. Here, the unique identifier printed as the slip information includes a unique identifier indicating the divided space corresponding to the delivery location specified by the recipient 20.

[0088] With the above configuration, in this embodiment, the autonomous mobile body 12 queries the delivery system control device 10 for authentication of the delivery item, and moves autonomously based on route information using the unique identifier provided by the delivery system control device 10 based on the authentication result.

[0089] Next, the 3D map of the cyberspace used in this embodiment will be described in detail with reference to Fig. 5(A) and (B). Fig. 5(A) and (B) are diagrams for explaining the 3D map used by the autonomous mobile body according to the embodiment, and Fig. 5(A) is a diagram showing the spatial positional relationship between the autonomous mobile body 12 in the real world and a pillar 99 that exists as feature information around it.

[0090] The position of the autonomous moving body 12 is identified as the same position α0 within the autonomous moving body 12 from position information of latitude and longitude acquired by a GPS (not shown) or the like of the autonomous moving body 12. In addition, the orientation of the autonomous moving body 12 is identified by the difference between an orientation αY acquired by an electronic compass (not shown) or the like and a moving direction 12Y of the autonomous moving body 12.

[0091] Also, for example, the position of the pillar 99 is identified as the position of the vertex 99-1 from previously measured position information. Also, the distance measurement function of the autonomous moving body 12 makes it possible to obtain the distance from α0 of the autonomous moving body 12 to the vertex 99-1.

[0092] In Fig. 5(A), when the moving direction 12Y direction of the autonomous mobile body 12 is the Y axis of the XYZ coordinate system and α0 is the origin, the coordinates of the vertex 99-1 can be shown as (Wx, Wy, Wz). In the three-dimensional map of cyberspace, the information acquired in this way is managed as digital data and can be reconstructed as spatial information as shown in Fig. 5(B).

[0093] 5(B) shows the state in which the autonomous mobile body 12 and the pillar 99 are mapped onto an XYZ coordinate system space with an arbitrary P0 as the origin. That is, by setting P0 to a specific latitude and longitude in the real world and taking the north direction in the real world as the Y-axis direction, the autonomous mobile body 12 can be represented as P1 and the pillar 99 as P2 in this arbitrary XYZ coordinate system space.

[0094] Specifically, from the latitude and longitude of α0 and the latitude and longitude of P0, the position of α0 in this space can be managed as P1, and similarly the position of the pillar 99 can be managed as P2. Note that in this embodiment, the position is identified using latitude and longitude information acquired by a GPS or the like of the autonomous mobile body 12, but this is not limiting, and the position may be identified by sensing the surrounding environment of the autonomous mobile body 12 with a detection unit 12-1 such as a camera or LiDAR.

[0095] Furthermore, the direction of the coordinate system in the three-dimensional map may be determined from the direction obtained by an electric potential compass or the like, or the direction may be determined from shape information of surfaces and lines of the surrounding environment by sensing the surrounding environment of the autonomous mobile body 12 using a detection unit 12-1 such as a camera or LiDAR.

[0096] For example, a wall surface 98 around the autonomous mobile body 12 is sensed by a camera and recognized as such. By taking the direction along the recognized wall surface as the Y-axis direction, it becomes possible to identify this arbitrary XYZ coordinate system space. Furthermore, in the example of Fig. 5, the autonomous mobile body 12 and the pillar 99 are represented on a three-dimensional map in cyberspace, but it goes without saying that multiple objects can be handled in the same way.

[0097] As described above, the 3D map in this embodiment is a mapping of the self-position and objects in the real world in a 3D space.

[0098] Returning to FIG. 4, the control unit 12-2 of the autonomous moving body 12 can detect objects from the captured images acquired by the detection unit 12-1 by storing learning result data obtained by machine learning or the like in the information storage unit 12-4, for example.

[0099] Furthermore, the control unit 12-2 can also acquire the detection information from an external system via the network connection unit 12-5 and reflect it in the 3D map. In addition, the control unit 12-2 judges whether it is possible to navigate to the specified delivery destination 15 and place the package there without colliding with surrounding objects, based on the acquired surrounding object information and the created 3D map.

[0100] The route generation performed by the autonomous mobile body control device 11 described above generates a rough route mainly based on three-dimensional information of the interior of the apartment house acquired in advance. In contrast, the route generation for autonomous navigation performed by the autonomous mobile body 12 detects the positional relationship between the autonomous mobile body 12 itself and surrounding obstacles more accurately, and generates a detailed route to move without coming into contact with them.

[0101] Here, the management format of the three-dimensional space managed in the conversion information storage device 13 will be described in detail with reference to Figs. 6(A), (B) and 7. Fig. 6(A) is a diagram showing the latitude / longitude information of the Earth, and Fig. 6(B) is a perspective view showing a predetermined space 100 in Fig. 6(A). In Fig. 6(B), the center of the predetermined space 100 is defined as center 101. Fig. 7 is a diagram showing the spatial information within space 100 in schematic form.

[0102] As shown in Figures 6(A) and 6(B), the format managed by the format database 13-4 divides the space of the Earth into three-dimensional spaces determined by ranges starting from latitude / longitude / altitude, and makes it possible to manage each space by linking it to a unique identifier.

[0103] For example, here, a space 100 is displayed as a predetermined three-dimensional space. The space 100 is a divided space that is defined, for example, with a center 101 at 20 degrees north latitude, 140 degrees east longitude, and height H, with a width in the latitude direction defined as D, a width in the longitude direction defined as W, and a width in the height direction defined as T. Also, it is one space obtained by dividing the space of the earth into spaces determined by ranges starting from the latitude / longitude / height.

[0104] For convenience, only space 100 is shown in FIG. 6(A), but in terms of the format specifications, as described above, spaces defined in the same way as space 100 are arranged side by side in the latitude / longitude / height directions.

[0105] The horizontal position of each of the arranged divided spaces is defined by latitude / longitude, and they also overlap in the vertical direction, with their vertical position being defined by their height.

[0106] 6B, the center 101 of the divided space is set as the starting point of the latitude / longitude / height, but this is not limited to this, and for example, a corner of the space or the center of the bottom surface may be set as the starting point. Also, the shape may be approximately a rectangular parallelepiped, and when considering the case of laying out the tiles on the surface of a sphere such as the Earth, it is better to set the top surface of the rectangular parallelepiped slightly wider than the bottom surface in order to arrange them more tightly without gaps.

[0107] 7, taking the space 100 as an example, the types of objects that exist or can enter the range of the space 100 and information on time restrictions (spatial information) are formatted and stored in association with unique identifiers in the conversion information storage device 13. The formatted spatial information is stored in chronological order, such as from the past to the future.

[0108] That is, the conversion information storage device 13 formats and stores spatial information on the type of object that exists or can enter a three-dimensional space defined by latitude / longitude / height in association with a unique identifier. However, the three-dimensional space in this embodiment is not limited to one defined by latitude / longitude / height, and may be one defined by any reference system (coordinate system).

[0109] The spatial information can be updated periodically or when an event occurs based on information input from an external system communicatively connected to the conversion information storage device 13, such as a surveillance camera in an apartment building. That is, the spatial state information can be acquired from an imaging device such as a camera mounted on the autonomous mobile body itself, a measuring device such as RiDAR, or an external server via a network.

[0110] The spatial state information may be acquired from a measuring device such as an imaging device or RiDAR provided on the moving path of the autonomous moving body. The spatial state information is shared with other external systems communicably connected to the conversion information storage device 13.

[0111] As described above, in this embodiment, information on the type of object that can exist or enter a three-dimensional space defined by latitude / longitude / height and time restrictions (hereinafter referred to as spatial information) is associated with a unique identifier, formatted, and stored in a database. Then, the formatted spatial information makes it possible to manage space-time.

[0112] Therefore, the autonomous mobile body control device 11 can check the latest status of the delivery destination 15 and the route space between them. The formatted and managed time space used to generate the route of the autonomous mobile body 12 may be common to the whole world or specific to the apartment building.

[0113] Using a system that is standardized worldwide has the advantage of reducing management costs for the apartment complex, while using a system specific to the apartment complex has the advantage of ensuring privacy within the complex.

[0114] 8(A) and (B) are diagrams showing examples of delivery destinations according to an embodiment. Delivery destination 15 can be specified, for example, in front of the entrance door of a residence (FIG. 8(A)) or on a veranda (balcony) (FIG. 8(B)), as shown by the dotted line area in FIG. 8.

[0115] The location of this delivery destination 15 is specified by the recipient, who is a resident, using the user interface 21, and is managed as a unique identifier of the spatial information in the conversion information storage device 13. By setting multiple delivery destinations 15, the autonomous mobile control device 11 can determine the optimal delivery route and delivery location based on the weather, the degree of congestion on the route, the status of the delivery destination 15, etc.

[0116] In this embodiment, the multiple delivery destinations 15 can be set by the resident recipient with delivery priorities. In other words, multiple delivery destination candidates can be set by the recipient of the package. This has the effect of enabling the package to be delivered to the resident's desired location as much as possible.

[0117] The delivery destination 15 can be set by the resident recipient to the same location and priority for all packages. In other words, multiple delivery destination candidates can be set with priorities according to the recipient of the package destination. It is also possible to set the priority for each package individually according to the recipient of the package destination.

[0118] Next, the flow of parcel delivery in the apartment complex delivery system according to this embodiment, i.e., an autonomous mobile body control method for controlling an autonomous mobile body that delivers parcels, will be described. Fig. 9 is a flowchart showing the flow of the entire system during parcel delivery according to the embodiment, Fig. 10 is a continuation of the flowchart in Fig. 9, and Fig. 11 is a flowchart extracting the operation of the autonomous mobile body control device during parcel delivery according to the embodiment.

[0119] The operations of the steps in the sequences of Figs. 9 to 11 are sequentially performed by a CPU serving as a computer in the control unit of each device executing a computer program stored in a memory.

[0120] First, in step S091, the CPU causes the delivery system control device 10 to receive package information from the delivery company, such as who is the recipient of the package and what kind of package is being sent. It is assumed that the delivery system control device 10 has previously sent the package information to the reception desk 14 as information for verifying the delivered package.

[0121] In step S092, the CPU of the delivery system control device 10 checks the delivery destination 15, which is the desired delivery location of the resident of the destination, that is pre-registered in the delivery system control device 10, based on the destination of the received package information.

[0122] As described above, the delivery destinations 15 are registered in advance by residents with priority, and multiple delivery destination areas are linked to different unique identifiers. Therefore, in step S092, the unique identifier of the matched delivery destination area and the package information are transmitted from the delivery system control device 10 to the autonomous mobile object control device 11.

[0123] Meanwhile, in step S111 on the autonomous mobile control device 11 side, the CPU causes the autonomous mobile control device 11 to receive the package information and information on the desired delivery location (a unique identifier for the delivery destination area) sent in step S092 from the delivery system control device.

[0124] In step S093, when the package arrives at the apartment complex, the apartment complex manager or reception device at the reception desk 14 checks the package and receives it from the delivery company, and the reception desk 14 notifies the delivery system control device 10 via a CPU that the package has arrived at the apartment complex.

[0125] In this flow, it is assumed that the package information can be received from the delivery company before the package arrives at the apartment complex. However, the package arrival and package information may be received simultaneously, or the received package may be confirmed at the reception desk 14 and registered as package information in the delivery system control device 10. The delivered package is sent to the autonomous mobile object waiting area 16.

[0126] Next, in steps S094 and S112, the autonomous mobile object control device 11 checks the received information of the delivery destination 15 against the conversion information storage device 13 by the CPU. Then, the CPU obtains current spatial state information from the autonomous mobile object waiting area 16 to the delivery destination 15 from the conversion information storage device 13.

[0127] The current spatial state information (spatial state information) specifically includes weather information, information on obstacles on the delivery route including construction status within apartment complexes, information on the degree of congestion of people on the delivery route, and information on obstacles at the delivery destination 15 including other packages that have already been placed there.

[0128] Steps S094 and S112 function as a space state information acquisition step (space state information acquisition means) for acquiring space state information related to the state of objects existing in the space. The space state information includes information related to the state of objects existing in the path space to the delivery position.

[0129] Next, in steps S095 and S113, the autonomous mobile object control device 11 determines a possible delivery destination 15 and a delivery route based on the acquired current space information, the priority registered (set) by the resident, and the package information, by the CPU. Note that here, steps S095 and S113 function as control steps (control means).

[0130] In addition, in the control step, the delivery position of the autonomous mobile body is determined using a format that uses a unique identifier to identify information regarding the state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space.

[0131] That is, the system determines whether there is a delivery route that the autonomous mobile body 12 can navigate while carrying the cargo, based on spatial information such as weather, obstacles, and congestion level obtained from the conversion information storage device 13, in the order of highest priority delivery destinations 15 set by the resident, and then determines the delivery destinations 15 and delivery route.

[0132] In addition, in the control step (control means) of this embodiment, a predetermined delivery location is determined from among a plurality of delivery location candidates based on the spatial state information acquired in the spatial state information acquisition step and predetermined requirements.

[0133] Specifically, for example, the delivery destination 15 and the delivery route are selected so as to satisfy at least one of the following multiple requirements.

[0134] For example, the autonomous mobile body 12 and the package are not affected by weather such as rain or snow, there is little risk of contact with obstacles during delivery, there is no need to fly directly above passersby during delivery, the package can be placed, etc. Alternatively, the autonomous mobile body 12 may satisfy requirements regarding past delivery history (whether there is a record of successful delivery for each delivery location, delivery success rate, etc.).

[0135] In other words, the above requirements include at least one of the following: priority information set by the recipient of the parcel, weather information, information on obstacles around the candidate delivery location, information on the degree of obstacles or congestion of pedestrians on the delivery route, and delivery history information on whether delivery has been made to the candidate delivery destination in the past.

[0136] In this embodiment, based on the spatial state information acquired by the spatial state information acquisition means, a delivery destination 15 and delivery route with high feasibility and safety can be determined from among multiple delivery location candidate information before the departure of the autonomous mobile body 12.

[0137] That is, when the delivery position (delivery destination 15) of the autonomous mobile body is determined, the movement route of the autonomous mobile body is also determined. Therefore, it is possible to suppress delays in delivery time due to obstacles during delivery, and the autonomous mobile body 12 can be efficiently operated by the intra-house delivery system.

[0138] In addition, the delivery system can significantly reduce the possibility of a problem occurring during delivery and the need to change the delivery location by determining the delivery route and delivery location (destination) after the package arrives near the delivery location.

[0139] In this embodiment, an apartment building is used as an example, but the system can also be applied to other buildings such as detached houses or single-family homes, or even buildings such as office buildings and factories, as long as multiple delivery locations are set.

[0140] Furthermore, the possibility of route changes during delivery is reduced, the travel time of the autonomous moving body 12 can be reduced, and there is also an effect of improving safety by reducing the possibility of accidents such as the autonomous moving body 12 coming into contact with passersby or obstacles while traveling, or dropping the cargo it is carrying.

[0141] In steps S096 and S114, the CPU transmits information on the delivery destination 15 and the delivery route determined in step S095 from the autonomous mobile object control device 11 to the autonomous mobile object 12.

[0142] In step S097, the CPU causes the autonomous mobile body 12 loaded with the package to start autonomous navigation from the autonomous mobile body waiting station 16 toward the transmitted delivery destination 15. As described above, this autonomous navigation is performed while the autonomous mobile body 12 uses the detection unit 12-1 to more accurately detect the positional relationship between itself and surrounding obstacles while generating a more detailed route to move without coming into contact with the obstacles, while following the transmitted rough delivery route.

[0143] The luggage may be loaded onto the autonomous mobile body 12 by the manager of the apartment complex at the autonomous mobile body waiting area 16, or may be loaded automatically by the autonomous mobile body 12 itself or by another facility. Furthermore, the autonomous mobile body 12 may depart from the autonomous mobile body waiting area 16 and load the luggage at the reception area 14.

[0144] In steps S098 and S115, the CPU determines whether or not the autonomous mobile body 12 has reached the delivery destination 15. If the determination is No, the process proceeds to step S099, and if the determination is Yes, the process proceeds to step S100. The determination in step S098 is made by the control unit 12-2 based on information from the camera of the detection unit 12-1, etc., that the autonomous mobile body 12 uses for autonomous navigation.

[0145] If the results of steps S098 and S115 are No, the CPU changes the delivery route and delivery destination 15 to other candidates in steps S099 and S116. Note that the reason it is determined in step S098 that the delivery route cannot be reached is, for example, when it is determined that autonomous navigation to the delivery destination 15 is impossible due to a change in weather, an obstacle, or a change in the congestion level of the route.

[0146] Specifically, if the autonomous moving body 12 is an unmanned aerial vehicle, there may be cases where autonomous navigation is difficult due to rain or strong winds, or there may be many pedestrians along the planned delivery route and it may be determined that flying directly above them should be avoided from a safety standpoint.

[0147] In steps S099 and S116, the autonomous mobile body 12 notifies the autonomous mobile body control device 11 by the CPU that the delivery could not be made together with the reason for the failure to deliver. At this time, the autonomous mobile body 12 may contact the autonomous mobile body control device 11 by returning to the vicinity of the autonomous mobile body control device 11, or may contact the autonomous mobile body 12 remotely by the network connection unit 12-5 at a location where it has been determined that autonomous navigation is not possible.

[0148] After processing steps S099 and S116, the process returns to steps S094 and S112, and the autonomous mobile object control device 11, via the CPU, again checks the conversion information storage device 13 to obtain information on the current space from the autonomous mobile object waiting area 16 to the delivery destination 15.

[0149] Based on that information, the CPU determines the delivery destination 15 and delivery route in steps S095 and S113, and transmits them to the autonomous moving body 12 in steps S096 and S114.

[0150] In steps S100 and S117, the CPU determines whether the autonomous moving body 12 that has reached the delivery destination 15 can place a package at the delivery destination 15. Specifically, the information from the camera or the like of the detection unit 12-1 of the autonomous moving body 12 is compared with previously acquired information about objects present in the space, such as walls and obstacles, and the control unit 12-2 makes the determination.

[0151] If it is determined in steps S100 and S117 that the package can be placed without any problem, the process proceeds to step S101, and the CPU causes the autonomous moving body 12 to place the package directly at the delivery destination 15. If it is determined in steps S100 and S117 that the package cannot be placed, the process proceeds to S099 and S116, and as described above, the CPU changes the delivery destination 15 to another candidate.

[0152] Here, it is determined that the package cannot be placed if, for example, it is determined that it is impossible to place the package at the delivery destination 15 due to a change in the position of an obstacle around the delivery destination 15 or the like.

[0153] In steps S102 and S118, when the CPU confirms that the autonomous mobile body 12, which has delivered the package to the delivery destination 15, has returned to the autonomous mobile body waiting area 16, the process proceeds to steps S103 and S119. In steps S103 and S119, the autonomous mobile body control device 11 notifies the delivery system control device 10 of delivery completion information, i.e., information on what package was delivered, by what means, where, and when, by the CPU.

[0154] Furthermore, the delivery system control device 10 may also contact the delivery company or the resident (recipient) of the delivery destination 15 to inform them of the completion of delivery.

[0155] In steps S104 and S120, the CPU causes the autonomous mobile body control device 11 to acquire information acquired during delivery, i.e., information on obstacles on the delivery route acquired during delivery, from the autonomous mobile body 12 and communicate this to the conversion information storage device 13.

[0156] The information acquired during delivery includes at least one of the following: the latest weather information, information that delivery was not possible due to obstacles or congestion on the delivery route, and information that the package could not be placed due to obstacles around the delivery destination 15.

[0157] As described above, in this embodiment, the autonomous moving body 12 has a detection means for detecting the spatial state around the autonomous moving body, and the storage means updates and stores the spatial state information based on the spatial state detected by the detection means.

[0158] This allows the spatial information used to determine the delivery route to be updated in a timely manner, reducing the number of cases where the autonomous mobile body 12 is unable to deliver the package to the delivery destination 15 and has to redeliver it, thereby improving delivery efficiency.

[0159] Although the present invention has been described in detail based on the preferred embodiments, the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and are not excluded from the scope of the present invention. The present invention includes the following combinations.

[0160] (Configuration 1) An autonomous mobile body control device for controlling an autonomous mobile body that delivers luggage, comprising: a control means for determining a delivery position of the autonomous mobile body using a format that identifies information regarding the state and time of an object present in a space defined in an arbitrary reference system that represents a position in three-dimensional space using a unique identifier; and a spatial state information acquisition means for acquiring spatial state information regarding the state of an object present in the space, wherein the control means determines a predetermined delivery position from among a plurality of delivery position candidates based on the spatial state information acquired by the spatial state information acquisition means and predetermined requirements.

[0161] (Configuration 2) The autonomous mobile body control device according to configuration 1, characterized in that the control means also determines a movement route for the autonomous mobile body when determining a delivery position for the autonomous mobile body.

[0162] (Configuration 3) The autonomous mobile object control device according to configuration 1 or 2, characterized in that the plurality of delivery location candidates can be set by a recipient of the package.

[0163] (Configuration 4) The autonomous mobile object control device according to any one of configurations 1 to 3, characterized in that the plurality of delivery destination candidates can be set by prioritizing them according to the recipient of the package destination.

[0164] (Configuration 5) An autonomous mobile body control device described in any one of configurations 1 to 4, characterized in that the control means determines a predetermined delivery location from among a plurality of delivery location candidate information based on the spatial state information acquired by the spatial state information acquisition means before departure of the autonomous mobile body.

[0165] (Configuration 6) An autonomous mobile control device as described in any one of configurations 1 to 5, characterized in that the spatial state information acquired by the spatial state information acquisition means includes information regarding the state of objects present in the route space to the delivery position.

[0166] (Configuration 7) An autonomous mobile control device as described in any one of configurations 1 to 6, characterized in that the specified requirements include at least one of priority information set by the recipient of the package, weather information, obstacle information in the vicinity of the candidate delivery location, information on obstacles or the degree of congestion of pedestrians on the delivery route, and delivery history information on whether delivery has been made to the candidate delivery location in the past.

[0167] (Configuration 8) An autonomous mobile body control device according to any one of configurations 1 to 7, characterized in that the autonomous mobile body has a detection means for detecting a spatial condition around the autonomous mobile body, and the delivery position or delivery route determined by the control means is corrected based on the detection output by the detection means.

[0168] (Configuration 9) A storage means for storing the spatial state information, The autonomous moving body has a detection means for detecting a spatial state around the autonomous moving body, 9. The autonomous mobile control device according to any one of configurations 1 to 8, wherein the retaining means updates and retains the spatial state information based on the spatial state detected by the detecting means.

[0169] (Configuration 10) The autonomous mobile object control device according to any one of configurations 1 to 9, characterized in that the control means delivers the parcel received from an external delivery person at a reception desk to the delivery location by the autonomous mobile object.

[0170] (Configuration 11) The autonomous mobile body control device described in any one of configurations 1 to 10, characterized in that the control means delivers the package received from an external delivery person at a reception desk of an apartment building to the delivery location specified by a resident of the apartment building by the autonomous mobile body.

[0171] (Configuration 12) The autonomous mobile object control device according to any one of configurations 1 to 11, wherein the spatial state information is acquired from an imaging device, a measuring device, or an external server via a network.

[0172] (Configuration 13) The autonomous mobile object control device according to any one of configurations 1 to 12, characterized in that the control means determines a predetermined delivery location from among a plurality of candidate delivery locations after the package arrives near the delivery location.

[0173] (Method) An autonomous mobile body control method for controlling an autonomous mobile body that delivers luggage, comprising: a control step of determining a delivery position of the autonomous mobile body using a format that uses a unique identifier to identify information regarding the state and time of an object existing in a space defined in an arbitrary reference system that represents a position in three-dimensional space; and a spatial state information acquisition step of acquiring spatial state information regarding the state of an object existing in the space, wherein the control step determines a specified delivery position from among a plurality of delivery position candidate information based on the spatial state information acquired by the spatial state information acquisition step and specified requirements.

[0174] (Program) A computer program for controlling each means of the autonomous mobile object control device according to any one of configurations 1 to 13 by a computer.

[0175] In order to realize a part or all of the control in the above-mentioned embodiment, a computer program that realizes the functions of the above-mentioned embodiment may be supplied to an autonomous mobile control device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the autonomous mobile control device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0176] 10: Distribution system control device 11: Autonomous mobile control device 12: Autonomous mobile object 13: Conversion information storage device 14: Reception desk 15: Delivery destination (delivery position) 16: Autonomous mobile waiting area 21: User Interface

Claims

1. An autonomous mobile object control device for controlling an autonomous mobile object that delivers luggage, A control means for determining a delivery position of the autonomous moving body using a format that identifies information about a state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space using a unique identifier; a space state information acquisition means for acquiring space state information relating to a state of an object existing in the space, The control means determines a predetermined delivery location from among a plurality of delivery location candidates based on the spatial state information acquired by the spatial state information acquisition means and predetermined requirements.

2. The autonomous mobile object control device according to claim 1 , wherein the control means also determines a moving route of the autonomous mobile object when determining a delivery position of the autonomous mobile object.

3. The autonomous mobile control device according to claim 1 , wherein the plurality of delivery location candidates can be set by a recipient of the package.

4. The autonomous mobile control device according to claim 1 , wherein the plurality of delivery destination candidates can be set by prioritizing them according to the recipient of the package.

5. The autonomous mobile body control device according to claim 1, characterized in that the control means determines a predetermined delivery position from among a plurality of delivery position candidate information based on the spatial state information acquired by the spatial state information acquisition means before departure of the autonomous mobile body.

6. The autonomous mobile control device according to claim 1 , wherein the spatial state information acquired by the spatial state information acquisition means includes information regarding the state of an object present in a route space to the delivery position.

7. The specified requirements are: Priority information set by the recipient of the package; Weather information, Obstacle information around the delivery location candidate; Information on obstacles or congestion of pedestrians on the delivery route; 2. The autonomous mobile control device according to claim 1, further comprising at least one of the following: a delivery history information indicating whether delivery to the delivery location candidate has been successful in the past;

8. The autonomous mobile body control device according to claim 1, characterized in that the autonomous mobile body has a detection means for detecting a spatial condition around the autonomous mobile body, and the delivery position or delivery route determined by the control means is corrected based on the detection output by the detection means.

9. A storage means for storing the spatial state information, The autonomous moving body has a detection means for detecting a spatial state around the autonomous moving body, The autonomous mobile control device according to claim 1 , wherein the storage means updates and stores the spatial state information based on the spatial state detected by the detection means.

10. 2. The autonomous mobile object control device according to claim 1, wherein the control means delivers the parcel received from an external delivery person at a reception desk to the delivery location by the autonomous mobile object.

11. The autonomous mobile object control device according to claim 1, characterized in that the control means delivers the package received from an external delivery person at a reception desk of the apartment building to the delivery location specified by a resident of the apartment building by the autonomous mobile object.

12. The autonomous mobile control device according to claim 1 , wherein the spatial state information is acquired from an imaging device, a measuring device, or an external server via a network.

13. The autonomous mobile object control device according to configuration 1, characterized in that the control means determines a predetermined delivery position from among a plurality of delivery position candidates after the package arrives in the vicinity of the delivery position.

14. An autonomous mobile object control method for controlling an autonomous mobile object that delivers luggage, comprising: A control step of determining a delivery position of the autonomous moving body using a format that identifies information about a state and time of an object existing in a space defined in an arbitrary reference system that represents a position in three-dimensional space using a unique identifier; and acquiring space state information relating to a state of an object existing in the space, The autonomous mobile object control method is characterized in that the control step determines a predetermined delivery location from among a plurality of delivery location candidate information based on the spatial state information acquired by the spatial state information acquisition step and predetermined requirements.

15. A computer program for controlling each means of the autonomous mobile control device according to any one of claims 1 to 13 by a computer.

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