Relay point determination apparatus, and relay point determination method

Abstract

To provide a rely point determination apparatus and a relay point determination method which can properly determine a position of a relay point where a baggage is transferred to a flying body for use in a baggage delivery system.SOLUTION: A relay point determination apparatus according to the present invention includes: a ground feature information recording unit 111 for recording ground feature information 111A including a geography and a structure installed on a ground; an airframe information recording unit 112 for recording airframe information of a flying body; a ground feature influence calculating unit 102 for, based on performance relating to taking off and landing of the flying body and included in the airframe information recorded in the airframe information recording unit 112, extracting a plurality of possible landing points from the ground feature information 111A recorded in the ground feature recording unit 111 and for, based on a predetermined environmental condition, selecting the relay point among the plurality of possible landing points; and a user interface 101 for outputting the position of the relay point selected by the ground feature influence calculating unit 102.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an apparatus and method for determining the position of a relay point for handing over a package to an air vehicle used in a package delivery system. [Background technology]

[0002] In recent years, small unmanned aerial vehicles known as drones have been widely adopted in society. As a result, drones are being considered for use in delivering packages. Drones can deliver packages by flying between designated locations, so they are expected to help reduce the number of people required for package delivery and solve problems such as the shortage of truck drivers.

[0003] Here, a necessary element for parcel delivery using drones is a relay point where parcels are delivered to and from other parcel delivery means on the ground. Drones are charged and loaded with parcels at this relay point. By setting up relay points in various locations, it is possible to expand the area where parcel delivery using drones is possible. For example, Patent Document 1 describes a method for quickly determining a parcel delivery route in multiple logistics including drones. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-11334 A Summary of the Invention [Problem to be solved by the invention]

[0005] In order to efficiently implement a parcel delivery system using drones and other flying objects in society, it is necessary to appropriately design the locations of relay points.

[0006] If relay points with similar functions are placed in close proximity, the delivery areas will overlap, reducing the efficiency of parcel delivery at each relay point. On the other hand, if relay points are placed far apart, the distance between relay points may exceed the flight range of the delivery aircraft depending on the placement. Therefore, when multiple relay points are installed, the distance between each relay point should be set appropriately.

[0007] It is also necessary to take into account factors in the surrounding environment that affect the performance of the relay point itself, such as the population of the area near the relay point, the presence or absence of facilities where people are always present, areas where public facilities should be avoided, transportation routes and their base stations for receiving and sending packages with other delivery systems, and base stations for communication lines.

[0008] Meanwhile, there was no method for considering these factors and specifically locating new relay points for a parcel delivery system using an air vehicle.

[0009] The present invention has been made in consideration of the above-mentioned problems, and its object is to provide a relay point determination device and a relay point determination method that can appropriately determine the location of a relay point where luggage is handed over to an aircraft used in a luggage delivery system. [Means for solving the problem]

[0010] In order to achieve the above-mentioned object, the present invention provides a relay point determination device for determining the position of a relay point where luggage is handed over to an aircraft used in a luggage delivery system, the device comprising: a ground feature recording unit for recording ground feature information including topography and buildings installed on the ground; an aircraft information recording unit for recording aircraft information of the aircraft; a ground feature influence calculation unit for extracting a plurality of possible landing points from the ground feature information recorded in the ground feature recording unit based on the performance related to takeoff and landing of the aircraft contained in the aircraft information recorded in the aircraft information recording unit, and selecting the relay point from among the plurality of possible landing points based on specified environmental conditions; and a user interface for outputting the positions of the relay points selected by the ground feature influence calculation unit.

[0011] The present invention also provides a method for determining the location of a relay point where a package is handed over to an aircraft used in a package delivery system, comprising a first step of extracting a plurality of possible landing points from ground feature information including topography and buildings installed on the ground based on performance related to takeoff and landing of the aircraft, and a second step of selecting the relay point from the plurality of possible landing points based on predetermined environmental conditions. Effect of the Invention

[0012] According to the present invention, it is possible to appropriately determine the position of a relay point where a package is handed over to an aircraft used in a package delivery system. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a configuration diagram of a relay point determination device according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a flow chart showing the processing of a ground feature influence calculation unit in the first embodiment of the present invention. [Diagram 3] 13 is an example showing the layout of newly installed relay points presented to a user in the first embodiment of the present invention. [Figure 4] FIG. 11 is a configuration diagram of a relay point determination device according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals are used to denote the same elements, and duplicated description will be omitted as appropriate. EXAMPLES

[0015] In the first embodiment of the present invention, the present invention is applied to a parcel delivery system using a drone as an example of an air vehicle. In this embodiment, the positions of relay points required to realize parcel delivery by a parcel delivery system using a drone within a certain area are determined using the drone's aircraft performance and information on the physical area where it can take off and land, the stability of communication lines, the power line network, and delivery route information of other parcel delivery systems.

[0016] 1 is a configuration diagram of a relay point determination device in Example 1. The relay point determination device 100 includes a user interface 101 that inputs information from a user and outputs information from the relay point determination device 100, a ground feature influence calculation unit 102 that calculates the influence of features existing on the ground, a ground feature recording unit 111 that records various ground features, and an aircraft information recording unit 112 that records the aircraft performance of a drone used for delivery.

[0017] The user interface 101 sends an area 101A for calculating the ground feature influence to the ground feature influence calculation unit 102, and sends aircraft performance 101B of the drone used in delivery to the aircraft information recording unit 112. The ground feature influence calculation unit 102 sends the position 102A of the relay point to the user interface 101. The ground feature recording unit 111 sends ground feature information 111A to the ground feature influence calculation unit 102. The aircraft information recording unit 112 sends aircraft information 112A to the ground feature influence calculation unit 102.

[0018] An example of the configuration of the user interface 101 is a display that projects information. An example of the configuration of the ground feature influence calculation unit 102 is a computer installed on the ground. An example of the configuration of the ground feature recording unit 111 and the aircraft information recording unit 112 is a data recording device such as a hard disk.

[0019] FIG. 2 is a flow diagram showing the processing of the ground object influence calculation unit 102.

[0020] First, the ground feature information 111A within the area 101A obtained from the user interface 101 is extracted from the ground feature record unit 111 (process 201).

[0021] Next, based on the drone's takeoff and landing performance included in the aircraft information 112A, possible landing sites are extracted from the ground feature information 111A (process 202).

[0022] Next, the influence of the ground object at each point extracted in process 202 is calculated using formula a (process 203).

[0023] In the first embodiment, the following formula (1) is used as the formula a.

[0024]

number

[0025] Here, the gain for each term on the right side of equation (1) may be interactively set by the user, or a fixed value may be used within the system.

[0026] Next, the point with the highest value of formula a is set as the initial value, and 1 is added to the number of newly installed relay points (process 204). The initial value of the number of relay points is 1. If the number of relay points exceeds the upper limit when 1 is added to the number of relay points, a message such as "This area cannot be covered" is displayed to the user.

[0027] Next, among the points extracted in process 202, the point with the highest value of the evaluation function using formula b is set as a new relay point (process 205).

[0028] In the first embodiment, the following formula (2) is used as the formula b.

[0029]

number

[0030] Here, the gain for each term on the right side of equation (2) may be interactively set by the user, or a fixed value may be used within the system.

[0031] In addition, in process 205, if the drone's reach from the added relay point overlaps with another relay point, it is determined that the added relay point is unnecessary, and a relay point is set up at another location.

[0032] Next, it is determined whether it is possible to reach any point within the area 101A from one or more relay points using a drone (process 206). If it is possible to reach any point, the process proceeds to process 207, and if it is not possible to reach any point, the process returns to process 204.

[0033] Finally, the layout of the new relay points is presented to the user via the user interface 101 (process 207).

[0034] Fig. 3 is an example showing the layout of newly installed relay points presented to the user. Area 301 shows area 101A (shown in Fig. 1) obtained from user interface 101. Points 310 and 311 show relay points that have already been set. Points 320, 321, and 322 show relay points that are newly installed by the process shown in Fig. 2. Areas 310A, 311A, 320A, 321A, and 322A show the ranges (cruising distance ranges) that can be reached by using a drone from relay points 310, 311, 320, 321, and 322, respectively.

[0035] 2, the newly installed relay points are placed in more effective locations taking into account the surrounding environment. In addition, all points in the area 301 are within a range reachable by a drone from at least one relay point.

[0036] (summary) In Example 1, a relay point determination device that determines the position of a relay point where a package is handed over to a drone used in a package delivery system includes a ground feature recording unit 111 that records ground feature information 111A including topography and buildings installed on the ground, an aircraft information recording unit 112 that records aircraft information of the drone, a ground feature influence calculation unit 102 that extracts a plurality of possible landing points from the ground feature information 111A recorded in the ground feature recording unit 111 based on the performance related to take-off and landing of the drone contained in the aircraft information recorded in the aircraft information recording unit 112, and selects the relay point from the plurality of possible landing points based on specified environmental conditions, and a user interface 101 that outputs the position of the relay point selected by the ground feature influence calculation unit 102.

[0037] In addition, in Example 1, a relay point determination method for determining the position of a relay point where a package is handed over to a drone used in a package delivery system includes a first step (process 202) of extracting a plurality of possible landing points from ground feature information 111A including topography and buildings installed on the ground based on performance related to takeoff and landing of the drone, and a second step (process 205) of selecting the relay point from the plurality of possible landing points based on predetermined environmental conditions.

[0038] According to the first embodiment configured as described above, it is possible to appropriately determine the position of a relay point where a package is handed over to a drone used in a package delivery system.

[0039] The predetermined environmental conditions in the first embodiment include the stability of communication lines at the multiple possible landing points, the distances from the multiple possible landing points to a power line network, and the distances from the multiple possible landing points to delivery routes of other luggage delivery systems. This makes it possible to determine the location of a relay point in consideration of the stability of communication lines, the distances to the power line network, and the distances to delivery routes of other luggage delivery systems.

[0040] In addition, when a facility that can be installed as a relay port exists within a predetermined range (near the relay point) from the relay point selected in the second step (processing 205), the ground object influence calculation unit 102 in the first embodiment may reselect the position of the facility as the relay point. This makes it possible to preferentially select a facility that can be installed as a relay port as a relay point. EXAMPLES

[0041] In the second embodiment of the present invention, the location of the relay point is determined by taking into consideration information about the vicinity of the relay point, thereby improving the cost and operation efficiency when actually setting up the relay point. The information about the vicinity of the relay point includes the presence or absence of facilities (convenience stores, post offices, parks, etc.) where people can stay near the relay point, the population near the relay point, and information about buildings and facilities where flight should be avoided.

[0042] The difference between the first and second embodiments is the content of the formula a used in the process 203 in Fig. 2. While the first embodiment uses formula (1) as the formula a, the second embodiment uses the following formula (3).

[0043]

number

[0044] Here, the gain for each term on the right side of equation (3) may be interactively set by the user, or a fixed value may be used within the system. By using equation (3), it is possible to set the relay point at a position that takes into consideration the influence of ground features.

[0045] (summary) In the second embodiment, the specified environmental conditions that the ground feature influence calculation unit 102 takes into consideration when selecting a relay point from among a plurality of possible landing points include the population around the plurality of possible landing points, the number of facilities around the plurality of possible landing points where people can stay, and the number of facilities around the plurality of possible landing points where flight should be avoided.

[0046] According to the second embodiment configured as described above, it is possible to determine a relay point taking into consideration the surrounding population, the presence or absence of facilities where people can stay, and the presence or absence of facilities where flight should be avoided. EXAMPLES

[0047] Example 3 of the present invention is a modification of Example 1 or 2, in which the costs of delivery using means other than drones (other means) between relay points or between package delivery centers are compared for each point, and points where the costs of delivery using other means are higher are preferentially selected as relay points.

[0048] A configuration diagram of a relay point determination device in the third embodiment is shown in Fig. 4. The difference from the configuration in the first and second embodiments (shown in Fig. 1) is that a ground delivery route cost recording unit 411 is added, and a ground delivery route cost 411A is sent from the ground delivery route cost recording unit 411 to the ground feature influence calculation unit 102. Here, the ground delivery route cost 411A is a cost incurred per unit length when various ground parcel delivery means are used.

[0049] In the third embodiment, the content of the formula b used in the process 205 in Fig. 2 is different from that in the first and second embodiments. In the first and second embodiments, the formula (2) is used as the formula b, but in the third embodiment, the following formula (4) is used.

[0050]

number

[0051] Here, C gnd indicates the route with the lowest delivery cost among multiple ground delivery routes between relay points. The gains for each term on the right side of equation (4) may be interactively set by the user, or fixed values ​​may be used within the system. By using equation (4), relay points can be set at locations with high ground delivery route costs.

[0052] (summary) In Example 3, the predetermined environmental conditions that the ground feature influence calculation unit 102 takes into consideration when selecting a relay point from among a plurality of possible landing points include the cost of delivery using means other than drones at the plurality of possible landing points.

[0053] According to the third embodiment configured as described above, it is possible to determine the location of the relay point taking into consideration the costs associated with delivery using means other than drones.

[0054] The present invention is not limited to the above-described embodiment, but includes various modified examples. For example, the above-described embodiment is shown to easily explain the present invention, and is not necessarily limited to those including all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0055] 100... relay point determination device, 101... user interface, 101A... area, 101B... aircraft performance, 102... ground feature influence calculation unit, 102A... position, 111... ground feature recording unit, 111A... ground feature information, 112... aircraft information recording unit, 112A... aircraft information, 201 to 207... processing, 301... area, 310, 311, 320, 321, 322... relay points, 310A, 311A, 320A, 321A, 322A... range, 411... ground delivery route cost recording unit, 411A... ground delivery route cost.

Claims

1. A relay point determination device for determining a relay point for delivering a package to an aircraft used in a package delivery system, comprising: a ground feature recording unit for recording ground feature information including topography and buildings installed on the ground; An aircraft information recording unit that records aircraft information of the aircraft; a ground feature influence calculation unit that extracts a plurality of possible landing points from the ground feature information recorded in the ground feature recording unit based on performance related to takeoff and landing of the aircraft, which is included in the aircraft information recorded in the aircraft information recording unit, and selects the relay point from among the plurality of possible landing points based on predetermined environmental conditions; a user interface for outputting the positions of the relay points selected by the ground feature influence calculation unit; A relay point determination device comprising:

2. 2. The relay point determination device according to claim 1, The predetermined environmental conditions include the stability of communication lines at the plurality of possible landing points, the distance from the plurality of possible landing points to a power line network, and the distance from the plurality of possible landing points to a delivery route of another baggage delivery system. A relay point determination device comprising:

3. 3. The relay point determination device according to claim 2, The predetermined environmental conditions include the population around the plurality of possible landing sites, the number of facilities around the plurality of possible landing sites where people can stay, and the number of facilities around the plurality of possible landing sites where flight should be avoided. A relay point determination device comprising:

4. 4. The relay point determination device according to claim 3, The predetermined environmental conditions include a cost of delivery using a means other than the air vehicle at the plurality of possible landing locations. A relay point determination device comprising:

5. 2. The relay point determination device according to claim 1, When a facility that can be installed as a relay port is present within a predetermined range from the selected relay point, the ground object influence calculation unit reselects the position of the facility as the relay point. A relay point determination device comprising:

6. A method for determining a relay point for delivering a package to an aircraft used in a package delivery system, comprising: A first step of extracting a plurality of possible landing sites from ground feature information including a topography and buildings installed on the ground based on performance related to takeoff and landing of the aircraft; and a second step of selecting the intermediate landing site from among the plurality of possible landing sites based on predetermined environmental conditions. A method for determining a relay point.

7. 7. The method for determining a relay point according to claim 6, The predetermined environmental conditions include the stability of communication lines at the plurality of possible landing points, the distance from the plurality of possible landing points to a power line network, and the distance from the plurality of possible landing points to a delivery route of another baggage delivery system. A method for determining a relay point.

8. The method for determining a relay point according to claim 7, The predetermined environmental conditions include the population around the plurality of possible landing sites, the number of facilities around the plurality of possible landing sites where people can stay, and the number of facilities around the plurality of possible landing sites where flight should be avoided. A method for determining a relay point.

9. The method for determining a relay point according to claim 8, The predetermined environmental conditions include a cost of delivery using a means other than the air vehicle at the plurality of possible landing locations. A method for determining a relay point.

10. 7. The method for determining a relay point according to claim 6, If a facility that can be installed as a relay port is present within a predetermined range from the relay point selected in the second step, the location of the facility is reselected as the relay point. A method for determining a relay point.

Images