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

Abstract

To provide an autonomous mobile body control system that can move an autonomous mobile body with high accuracy.SOLUTION: An autonomous mobile body control system has: acquisition means that acquires information on the position of a designated destination, and information on the position of a first object that is near the destination and stored in linkage with a first space identified by a unique identifier; recognition means that recognizes the position of the first object on the basis of an image picked up by imaging means provided on the autonomous mobile body; and moving means that moves the autonomous mobile body to the destination on the basis of the information on the position of the first object and the information on the position of the destination acquired by the acquisition means and the position of the first object recognized by the recognition means.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present specification relates to an autonomous mobile object control system, an autonomous mobile object control method, a computer program, and the like. [Background technology]

[0002] In the field of parcel delivery, delivery using unmanned aerial vehicles such as drones, and delivery using autonomous mobile objects such as small robots within a specific site are being considered. For example, Patent Document 1 describes a flight system in which a display device is provided on a takeoff and landing pad, and a camera mounted on the unmanned aerial vehicle recognizes landing environment information displayed on the display device and performs landing control.

[0003] Patent document 2 also describes a device that provides a rectangular area at a landing section where a rotorcraft lands, places infrared cameras at the center and diagonals of the rectangular area, and remotely controls the rotorcraft to land based on the position of the rotorcraft detected by the infrared camera. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-149640 A [Patent Document 2] Patent No. 6402876 Summary of the Invention [Problem to be solved by the invention]

[0005] On the other hand, when it comes to deliveries within an apartment complex, users need to be able to freely specify the delivery location. Typical delivery destinations are in front of the entrance or in a delivery box, or in the vicinity of the entrance where people enter and exit. However, if delivery is made by a mobile vehicle that can move through space, such as an unmanned aerial vehicle, it will be possible to approach each room from outside the apartment complex.

[0006] Furthermore, there are cases where the delivery location needs to be freely changed depending on the temperature, weather, and delivery destination of the day. For example, when the location where the target indicating the delivery destination is located is far from the entrance of a room, there are cases where the delivery location needs to be changed to a location with a canopy near the entrance during rainy weather. However, the above conventional example could not meet such needs.

[0007] Therefore, an object of the present invention is to provide an autonomous mobile object control system capable of moving an autonomous mobile object with high accuracy. [Means for solving the problem]

[0008] An autonomous mobile control system according to one aspect of the present invention comprises: An acquisition means for acquiring location information of a specified destination and location information of a first object that is associated with a first space identified by a unique identifier and stored in the vicinity of the destination; A recognition means for recognizing a position of the first object based on an image captured by an imaging means provided in the autonomous moving body; a moving means for moving the autonomous moving body to the destination based on the position information of the first object and the position information of the destination acquired by the acquisition means and the position of the first object recognized by the recognition means; The present invention is characterized by having the following. Effect of the Invention

[0009] According to the present invention, it is possible to realize an autonomous mobile object control system capable of moving an autonomous mobile object with high accuracy. [Brief description of the drawings]

[0010] [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 an autonomous moving body 12 and a user interface 21 in FIG. 1. [Diagram 3]FIG. 2 is a perspective view showing a configuration example of an autonomous moving body 12 according to the embodiment. [Figure 4] 1A and 1B are diagrams for explaining a three-dimensional map used by an autonomous moving body according to an embodiment. [Diagram 5] FIG. 2(A) is a diagram showing latitude / longitude information of the earth, and FIG. 2(B) is a perspective view showing a predetermined space 100 of FIG. 2(A). [Figure 6] 1 is a diagram showing a schematic diagram of spatial information within a space 100. FIG. [Figure 7] 1A to 1C are diagrams showing examples of the display screen of the user interface 21. [Figure 8] 10 is a flowchart showing an example of a control method for controlling an autonomous moving body 12 according to an embodiment to a delivery destination 15. [Figure 9] 11A to 11C are diagrams for explaining an operation in which the autonomous moving body 12 according to the embodiment recognizes a delivery destination as a target and moves by an offset amount. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 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.

[0012] 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 to securely assist an external deliverer (delivery company) 30 who delivers a package, a recipient 20, and a delivery destination (destination) 15. The delivery system according to this embodiment also has an autonomous mobile unit 12 deliver the package delivered by the external deliverer to a predetermined delivery location.

[0013] 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.

[0014] The reception desk 14 is a place where the manager of the apartment complex 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 or space within the apartment complex.

[0015] 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.

[0016] As mentioned above, the package may be received by the manager of the apartment complex, or a robot or a dedicated reception device may automatically receive the package, verify it, and notify the recipient.

[0017] The autonomous mobile body waiting location 16 is a location where the autonomous mobile body 12 for parcel delivery, which will be described later, waits. As with the reception location 14, the autonomous mobile body waiting location 16 is depicted in FIG. 1 as a building outside the apartment building, but it may be a room or space inside the apartment building. Here, based on instructions from the autonomous mobile body control device 11, which will be described later, a task of loading parcels received from a delivery company at the reception location 14 onto the autonomous mobile body 12, which will be described later, is performed.

[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 (a destination designated by a resident) of a residence in the apartment complex 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 location 16. Although the reception location 14 and the autonomous mobile body waiting location 16 are depicted separately in FIG. 1, they may be in the same location.

[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). 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 detailed request for a delivery destination from the recipient 20, the autonomous mobile object control device 11 selects an autonomous mobile object 12 that can fulfill the request. Furthermore, the autonomous mobile object control device 11 generates a route for the autonomous mobile object 12 to travel, 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 the apartment complex, 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 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 user interface 21. Information is transmitted and received between the above components via the Internet or other network systems such as a LAN (Local Area Network).

[0029] Next, the autonomous moving body 12 and the user interface 21 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 autonomous moving body 12 and the user interface 21 in Fig. 1.

[0030] Some of the functional blocks shown in FIG. 2 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 these may be realized by hardware. For the hardware, a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP) may be used. Furthermore, each functional block shown in Fig. 2 does 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 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.

[0033] 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.

[0034] The recipient 20 can select a service, input information, and confirm the information via the 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] The user interface 21 in this embodiment displays candidates for floor plans and delivery destinations on the browser screen of the display unit 21-3, and can accept inputs by the user regarding delivery locations and other delivery-related information. Note that the delivery system control device 10 itself may also function as the user interface 21.

[0039] The delivery system control device 10 acquires delivery location information designated by the recipient 20 and transmits the delivery location information to the autonomous mobile control device 11. Then, the delivery system control device 10 acquires route information to the delivery location generated by the autonomous mobile control device 11 and transmits the route information to the conversion information storage device 13.

[0040] Then, route information in which the route to the delivery position is expressed by the unique identifier is obtained by the conversion information holding device 13. Then, the route information expressed by the obtained unique identifier is transmitted to the autonomous mobile object control device 11.

[0041] Next, we will explain the management format of the three-dimensional space managed in the conversion information storage device 13. The above format assigns an identifier (hereinafter, unique identifier) ​​to a space starting from a specific position, and manages the space in association with the unique identifier, and can obtain the corresponding unique identifier and information within the space based on specific position information.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] That is, the autonomous mobile body control device 11 of this embodiment determines the destination of the autonomous mobile body 12 by using a format that uses a unique identifier to identify information about 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. In this embodiment, an autonomous mobile body control system is configured by at least the autonomous mobile body control device 11, the autonomous mobile body 12, etc.

[0046] The conversion information storage device 13 manages the information about the space acquired by the external devices, apparatuses, and networks connected to itself by linking it to the unique identifier, and provides the unique identifier and the information about the space linked thereto to the external devices, apparatuses, and networks connected to itself.

[0047] 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.

[0048] In FIG. 2, the autonomous moving object 12 is a moving device including 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The control unit 12-2 can detect objects from the captured image acquired by the detection unit 12-1 by storing learning result data obtained by performing machine learning or the like in the information storage unit 12-4, for example.

[0058] 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.

[0059] 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.

[0060] The autonomous mobile body 12 can generate a route that maintains a certain distance from the surrounding terrain, buildings, obstacles, and objects by reflecting the self-position, detection information, and object detection information in the 3D map, and can perform autonomous traveling. In other words, the autonomous mobile body 12 can correct the destination or delivery route determined by the control means based on the detection result by the detection unit 12-1 as a detection means while moving.

[0061] That is, the route generation performed by the autonomous mobile body control device 11 generates a rough route mainly based on three-dimensional information of the inside 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.

[0062] Next, the main body configuration of the autonomous mobile body 12 in this embodiment will be described with reference to Fig. 3. Fig. 3 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.

[0063] 2, the autonomous moving body 12 includes the above-mentioned detection unit 12-1, control unit 12-2, direction control unit 12-3, information storage unit (memory / HD) 12-4, network connection unit 12-5, and drive unit 12-6. The drive unit 12-6 includes a propeller, and the autonomous moving body 12 is provided with at least two or more drive units 12-6.

[0064] 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. 5 is just one example and is not limited to this, and any structure that can achieve the same effect may be used.

[0065] 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.

[0066] 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.

[0067] The 3D map of the cyberspace used in this embodiment will be described in detail below with reference to Figures 4(A) and 4(B). Figures 4(A) and 4(B) are diagrams for explaining the 3D map used by the autonomous mobile body according to the embodiment, and Figure 4(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.

[0068] 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.

[0069] Also, for example, the position of the pillar 99 is specified 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.

[0070] In Fig. 4(A), if 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. 4(B).

[0071] 4(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. In other words, 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.

[0072] 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.

[0073] 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.

[0074] 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. 4, the autonomous mobile body 12 and the pillar 99 are represented on a 3D map in cyberspace, but it goes without saying that multiple objects can be handled in the same way.

[0075] 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.

[0076] 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. 5(A), (B) and 6. Fig. 5(A) is a diagram showing the latitude / longitude information of the Earth, and Fig. 5(B) is a perspective view showing a predetermined space 100 in Fig. 6(A). In Fig. 5(B), the center of the predetermined space 100 is defined as center 101. Fig. 6 is a diagram showing the spatial information within space 100 in schematic form.

[0077] As shown in Figures 5(A) and 5(B), the format divides the Earth's space into three-dimensional spaces determined by ranges starting from latitude / longitude / altitude, and links each space to a unique identifier to make it possible to manage it.

[0078] 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.

[0079] For convenience, only space 100 is shown in FIG. 5(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.

[0080] 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.

[0081] 5B, 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.

[0082] 6, 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.

[0083] 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).

[0084] The spatial information can be updated based on information input from an external system communicably 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 LiDAR, or an external server via a network.

[0085] The spatial state information may be acquired from a measuring device such as an imaging device or LiDAR 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] Returning to FIG. 1, the delivery destination 15 is the destination of the package and is a specific area designated by the resident who is the recipient of the package, such as in front of the entrance door of the residence or a specific area on the veranda (balcony).

[0090] The location of this delivery destination 15 is specified by a recipient such as a resident using a user interface 21 described later, and is managed as a unique identifier of spatial information in the conversion information storage device 13. By setting multiple delivery destinations 15, the autonomous mobile object 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.

[0091] In this embodiment, the recipient can set the delivery priorities for the multiple delivery destinations 15. 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.

[0092] The delivery destination 15 can be set by the 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. Furthermore, the recipient of the package destination can be allowed to set the priority for each package individually.

[0093] Next, a display screen image of the user interface 21 will be described with reference to Fig. 7. Figs. 7(A) to (C) are diagrams showing examples of the display screen of the user interface 21. Floor plan information of the recipient's residence is displayed on the display unit 21-3 in Fig. 7(A).

[0094] 7(A), the recipient touches the delivery destination 15 from the floor plan information displayed on the display unit 21-3. The user interface 21 highlights the touched area as shown by the shaded area.

[0095] The recipient confirms that the touched location is highlighted with a diagonal line and presses the decision button 21-6. At the same time as pressing the decision button 21-6, the user interface 21 sends spatial information of the specified delivery destination 15 to the delivery system control device 10.

[0096] As a display method of the display unit 21-3, the spatial information defined by the unique identifier and the floor plan information as a map may be superimposed and displayed as shown in Fig. 7(B). That is, the location information of the destination may be specified using a GUI that displays a map (floor plan, etc.) and a space identified by a unique identifier superimposed on each other.

[0097] The above map is not limited to the layout, but includes a map of the location where the autonomous moving object delivers the package. Also, as shown in FIG. 7(C), the delivery list 21-7 may be displayed as a pull-down list, and the delivery destination 15 may be selected and determined from the list.

[0098] As a display method for the display unit 21-3, the color or brightness of the areas where delivery is possible may be made prominent so that the recipient can easily see and select them, or conversely, the brightness or saturation of the areas where delivery is not possible may be lowered so that it is clearly indicated that they cannot be selected.

[0099] As described above, the user interface 21 is, for example, a device such as a smartphone, and is configured to display information required by the user on the display unit 21-3 and to receive operations by the user from the operation unit 21-1.

[0100] Next, a control method of the autonomous mobile body control device 11 and the autonomous mobile body 12 for moving the autonomous mobile body to the delivery destination will be described with reference to the flowchart of Fig. 8 and the schematic diagram of Fig. 9. Fig. 8 is a flowchart showing an example of a control method for controlling the autonomous mobile body 12 according to the embodiment to the delivery destination 15, and Figs. 9(A) to (C) are diagrams for explaining the operation of the autonomous mobile body 12 according to the embodiment recognizing the delivery destination as a target and moving by an offset amount.

[0101] The CPU serving as a computer in the control unit of each device executes a computer program stored in the memory, thereby sequentially performing the operations of each step in the sequence of FIG.

[0102] 8, the CPU of the autonomous mobile object control device 11 acquires information on the delivery destination 15 designated by the recipient using the user interface 21. In addition, if a target 81 (first object) shown in FIG. 9(A) is present in the space (area) near the designated delivery destination 15, the CPU also acquires the position information of the first object.

[0103] Here, step S801 functions as an acquisition step (acquisition means) that acquires location information of a specified destination and location information of a first object that is stored in association with a first space identified by a unique identifier in the vicinity of the destination.

[0104] In the next step S802, the CPU of the autonomous mobile device control device 11 determines whether or not the target 81 shown in Figure 9 (A) is present in the space (area) of the delivery destination 15 specified in step S801, and records the result of the determination in the information memory unit 12-4 of the autonomous mobile device 12.

[0105] The target 81 is a target having image features, and the position of the object can be identified by photographing it using a camera that is one of the detection units 12-1 in the autonomous mobile body 12. If the target 81 is in the area of ​​the delivery destination 15, the result of step S802 is determined as Yes, and in step S803, the CPU of the autonomous mobile body control device 11 sets the specified position as the delivery destination and calculates a route using a unique identifier representing the delivery destination 15.

[0106] On the other hand, if the target 81 is not present at the delivery destination 15, the result of step S802 is determined as No, and the process proceeds to step S804. In step S804, the CPU of the autonomous mobile object control device 11 sets a unique identifier that defines a space in which the target 81 is located near the delivery destination 15 as the delivery destination, and calculates a route.

[0107] After that, in step S805, the CPU of the autonomous mobile object controlling device 11 causes the autonomous mobile object 12 to perform autonomous navigation using the route information calculated using the unique identifier in step S803 or step S804.

[0108] Furthermore, in step S805, the CPU of the autonomous moving body 12 continuously captures images to recognize the target 81 using the detection unit 12-1 (imaging means) during autonomous navigation. Here, step S805 functions as a recognition step (recognition means) that recognizes the position of the first object based on an image captured by the imaging means provided in the autonomous moving body.

[0109] Next, in step S806, the CPU of the autonomous moving body 12 continues navigation until it can recognize the target 81 (first object) using the detection unit 12-1 during autonomous navigation. That is, the autonomous moving body is moved using the position information of the first object acquired in the acquisition step (acquisition means) until the position of the first object is recognized by the recognition means.

[0110] At this time, the CPU of the autonomous mobile object control device 11 may determine that the current autonomous mobile object 12 has approached the vicinity of the delivery destination 15, and start the process of recognizing the target 81 in step S806.

[0111] In step S806, when the autonomous mobile body 12 recognizes the target 81, the CPU of the autonomous mobile body 12 notifies the autonomous mobile body control device 11 of that fact. In step S807, the CPU of the autonomous mobile body control device 11 that has received the notification again determines whether the target 81 is present in the space of the delivery destination 15.

[0112] In this embodiment, delivery is started when the recipient specifies the delivery destination 15 in step S801, but the recipient can change the delivery destination 15 even during delivery via the user interface 21. Therefore, assuming that the delivery destination 15 may be changed during delivery, it is confirmed again whether the target 81 is included in the delivery destination 15 in step S807 immediately before arriving at the delivery destination 15, that is, when the target 81 is recognized.

[0113] In step S807, if the target 81 is included in the area of ​​the delivery destination 15, the result is determined as Yes, and the process proceeds to step S808. In step S808, the CPU of the autonomous mobile body 12 uses the detection unit 12-1 to identify the position information of the target 81 by image processing, and transmits the result to the autonomous mobile body control device 11. The CPU of the autonomous mobile body control device 11 then calculates a route to the identified position of the target 81, and moves the autonomous mobile body 12 to the position of the target 81.

[0114] On the other hand, if the target 81 is not included in the area of ​​the delivery destination 15, it is determined as No in step S807 and the process proceeds to step S809. In step S809, the CPU of the autonomous mobile body 12 identifies the position of the target 81 in the vicinity of the delivery destination 15 based on an image captured by the camera of the detection unit 12-1 in the autonomous mobile body 12, and transmits the result to the autonomous mobile body control device 11.

[0115] Then, in step S809, the CPU of the autonomous mobile body controlling device 11 moves the autonomous mobile body 12 toward the target based on the recognized target position and the position difference between the delivery destination and the target. That is, the CPU of the autonomous mobile body controlling device 11 calculates the distance between the target 81 and the current autonomous mobile body 12.

[0116] Then, a route to the delivery destination 15 is calculated based on the calculated distance and the position difference between the delivery destination 15 and the area in which the target 81 near the delivery destination is installed, and the autonomous mobile body 12 is moved toward the target along the route.

[0117] The process of step S809 will be described in detail with reference to Fig. 9. Fig. 9(A) is a conceptual diagram showing the processes of steps S805 and S806, and 12-10 indicates the field of view that can be recognized by the detection unit 12-1 mounted on the autonomous moving body 12.

[0118] Furthermore, the unique identifier associated with the area where the target 81 is installed is denoted as P21, and the three-dimensional position information of the unique identifier P21 is denoted as (X21, Y21, Z21). P22 is a unique identifier associated with the area designated by the recipient as the delivery destination 15, and the three-dimensional position information of the unique identifier P22 is denoted as (X22, Y22, Z22).

[0119] Here, the difference in spatial position between P22 indicating the delivery destination 15 and P21 which is the area where the target 81 is installed is defined as P_offset, and the three-dimensional position information of the difference is defined as (Xos, Yos, Zos).

[0120] 9A, since there is a shielding wall 91 between the autonomous mobile unit 12 and the target 81, the target 81 cannot be recognized in the field of view 12-10. Therefore, the autonomous mobile unit 12 autonomously navigates toward the target 81 using position information defined by the unique identifier P21.

[0121] 9(B) shows a state in which a target 81 has entered and been recognized within the field of view 12-10 of the autonomous mobile body 12. Here, the current position of the autonomous mobile body 12 at the point where the autonomous mobile body 12 recognized the target 81 is P20, and the three-dimensional position information of P20 is (X20, Y20, Z20).

[0122] Here, the autonomous mobile body 12 recognizes the target 81 with the detection unit 12-1, identifies its position using image processing, and transmits the result to the autonomous mobile body control device 11. The autonomous mobile body control device 11 acquires three-dimensional position information (X21', Y21', Z21') of the current accurate position P21' of the target P81.

[0123] Then, in order to move to the location of the delivery destination 15 shown in Figure 9 (C), the autonomous mobile device control device 11 calculates a route using the position P21' of the target 81, the current position P20 of the autonomous mobile device 12, and the difference P_offset between the spatial positions of the delivery destination 15 and the target 81.

[0124] Thereafter, the autonomous mobile body 12 moves using the route calculated by the autonomous mobile body control device 11. In this embodiment, the autonomous mobile body 12 calculates and moves a route based on both the difference (relative distance) between the current position at the time when the target is recognized and the spatial position of the target, and the difference between the spatial positions of the delivery destination 15 and the target 81.

[0125] That is, the autonomous moving body 12 is moved using the relative distance between the autonomous moving body and the first object at the time when the target is recognized, and the difference information between the position information of the first object acquired in the acquisition step and the position information of the destination. However, the route may be changed while moving. This makes it possible to further shorten the travel time.

[0126] Here, step S809 functions as a moving step (moving means) that moves the autonomous moving body to the destination based on the position information of the first object and the position information of the destination acquired in the acquisition step, and the position of the first object recognized in the recognition step.

[0127] Also, as described above, in step S809, after the position of the first object (target 81) is recognized in the recognition step, the autonomous moving body is moved using differential information between the position information of the first object acquired in the acquisition step and the position information of the destination.

[0128] Next, in step S810, the CPU of the autonomous mobile body 12 recognizes that the autonomous mobile body 12 has landed by the detection unit 12-1. Next, in step S811, the CPU of the autonomous mobile body 12 notifies the autonomous mobile body control device 11 that the autonomous mobile body 12 has arrived at the delivery destination 15, and the CPU of the autonomous mobile body control device 11 notifies the delivery system control device 10 that delivery has been completed, thereby completing the delivery.

[0129] Here, the presence or absence of landing may be recognized using various sensors such as a GPS, IMU, and camera attached to the autonomous mobile body 12, or it may be determined by a camera installed at the delivery destination, or the recipient at the delivery destination may input the fact that delivery has been made from a terminal.

[0130] In this embodiment, the route of the autonomous moving body 12 is calculated by the autonomous moving body control device 11, but the route may be calculated by the control unit 12-2 in the autonomous moving body 12 depending on the distance to the destination.

[0131] The present invention has been described in detail above as a preferred embodiment of a delivery system within an apartment building. However, the present invention is not limited to these specific embodiments, and various forms that do not deviate from the gist of the present invention are also included in the present invention.

[0132] The present invention can be applied to, for example, delivery to offices, factories, etc. using unmanned aerial vehicles. The present invention can also be applied to the inspection of buildings, bridges, tunnels, etc. using autonomous mobile objects such as unmanned aerial vehicles.

[0133] The present invention also includes cases where a software program that realizes the functions of the above-mentioned embodiments is supplied to a system or device having a computer capable of executing the program directly from a recording medium or via wired / wireless communication, and the program is executed.

[0134] Therefore, the program code itself that is supplied to and installed in a computer to realize the functional processing of the present invention also realizes the present invention. In other words, the computer program itself for realizing the functional processing of the present invention is also included in the present invention.

[0135] In this case, so long as the program has the functions, the form of the program does not matter, such as object code, a program executed by an interpreter, script data supplied to an OS, etc. The recording medium for supplying the program may be, for example, a hard disk, a magnetic recording medium such as a magnetic tape, an optical / magneto-optical storage medium, or a non-volatile semiconductor memory.

[0136] The method of supplying the program also includes a method in which a server on a computer network stores the computer program forming the present invention, and a connected client computer downloads the computer program. The present invention also includes the following combinations.

[0137] (Configuration 1) An autonomous mobile body control system comprising: an acquisition means for acquiring position information of a specified destination and position information of a first object that is stored in association with a first space identified by a unique identifier near the destination; a recognition means for recognizing the position of the first object based on an image captured by an imaging means provided in the autonomous mobile body; and a moving means for moving the autonomous mobile body to the destination based on the position information of the first object and the position information of the destination acquired by the acquisition means, and the position of the first object recognized by the recognition means.

[0138] (Configuration 2) The autonomous mobile object control system according to configuration 1, characterized in that the autonomous mobile object is moved using the position information of the first object acquired by the acquisition means until the position of the first object is recognized by the recognition means.

[0139] (Configuration 3) An autonomous mobile object control system as described in configuration 1 or 2, characterized in that after the position of the first object is recognized by the recognition means, the autonomous mobile object is moved using difference information between the position information of the first object acquired by the acquisition means and the position information of the destination.

[0140] (Configuration 4) The autonomous mobile body control system according to configuration 3, characterized in that the autonomous mobile body is moved using a relative distance between the autonomous mobile body and the first object and difference information between the position information of the first object acquired by the acquisition means and the position information of the destination.

[0141] (Configuration 5) An autonomous mobile control system according to any one of configurations 1 to 4, characterized in that the location information of the destination is specified using a GUI that displays a map and a space identified by the unique identifier superimposed thereon.

[0142] (Configuration 6) The autonomous mobile object control system according to configuration 5, wherein the map includes a map of a location to which the autonomous mobile object delivers packages.

[0143] (Configuration 7) The autonomous mobile object control system according to any one of configurations 1 to 6, wherein the autonomous mobile object is an unmanned aerial vehicle.

[0144] (Method) An autonomous mobile body control method comprising: an acquisition step of acquiring position information of a specified destination and position information of a first object near the destination and stored in association with a first space identified by a unique identifier; a recognition step of recognizing the position of the first object based on an image captured by an imaging means provided in the autonomous mobile body; and a moving step of moving the autonomous mobile body to the destination based on the position information of the first object and the position information of the destination acquired by the acquisition step, and the position of the first object recognized by the recognition step.

[0145] (Program) A computer program for controlling each means of the autonomous mobile control system according to any one of configurations 1 to 7 by a computer. [Explanation of symbols]

[0146] 10: Distribution system control device 11: Autonomous mobile control device 12: Autonomous mobile object 13: Conversion information storage device 14: Reception desk 15:Shipping destination 16: Autonomous mobile waiting area 21: User Interface

Claims

1. An acquisition means for acquiring location information of a specified destination and location information of a first object that is associated with a first space identified by a unique identifier and stored in the vicinity of the destination; a recognition means for recognizing a position of the first object based on an image captured by an imaging means provided in the autonomous moving body; a moving means for moving the autonomous moving body to the destination based on the position information of the first object and the position information of the destination acquired by the acquisition means and the position of the first object recognized by the recognition means; An autonomous mobile control system comprising:

2. The autonomous mobile object control system according to claim 1, characterized in that the autonomous mobile object is moved using the position information of the first object acquired by the acquisition means until the position of the first object is recognized by the recognition means.

3. 2. The autonomous mobile object control system according to claim 1, characterized in that after the position of the first object is recognized by the recognition means, the autonomous mobile object is moved using difference information between the position information of the first object acquired by the acquisition means and the position information of the destination.

4. 4. The autonomous mobile body control system according to claim 3, wherein the autonomous mobile body is moved using a relative distance between the autonomous mobile body and the first object and difference information between the position information of the first object acquired by the acquisition means and the position information of the destination.

5. The autonomous mobile control system according to claim 1 , wherein the location information of the destination is specified using a GUI that displays a map and a space identified by the unique identifier superimposed thereon.

6. 6. The autonomous mobile control system according to claim 5, wherein the map includes a map of a location to which the autonomous mobile unit delivers packages.

7. The autonomous mobile object control system according to claim 1 , wherein the autonomous mobile object is an unmanned aerial vehicle.

8. An acquisition step of acquiring location information of a specified destination and location information of a first object that is associated with a first space identified by a unique identifier and stored in the vicinity of the destination; a recognition step of recognizing a position of the first object based on an image captured by an imaging means provided in the autonomous moving body; a moving step of moving the autonomous moving body to the destination based on the position information of the first object and the position information of the destination acquired by the acquiring step and the position of the first object recognized by the recognizing step; An autonomous mobile object control method comprising the steps of:

9. A computer program for controlling each unit of the autonomous mobile control system according to any one of claims 1 to 7 by a computer.

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