Moving body controller and moving body control method

Abstract

To upgrade the efficiency in delivering plural drones.SOLUTION: A moving body controller in accordance with an embodiment includes a receiving unit and instructing unit. The receiving unit receives low battery notification, which signifies that a battery capacity has run out, from a drone which moves along a delivery route of an article. The instruction unit dispatches another drone, which is different from the drone, toward the position of the drone that received the low battery notification by the receiving unit.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The disclosed embodiments relate to a mobile object control device and a mobile object control method. [Background technology]

[0002] Conventionally, a system for controlling multiple drones that deliver goods is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-131332 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of drones according to the conventional technology, when the remaining battery power is relatively low and delivery of the goods cannot be completed, delivery cannot be made until the battery is charged, which may reduce the delivery efficiency of the drone. Thus, the conventional technology has room for improvement in terms of improving the delivery efficiency of drones.

[0005] The present invention has been made in consideration of the above, and aims to improve the delivery efficiency of drones. [Means for solving the problem]

[0006] A mobile control device according to one aspect of an embodiment includes a reception unit that receives shortage information indicating a low battery level from a drone moving along a delivery route for goods, and an instruction unit that launches another drone, different from the drone, toward the location of the drone for which the shortage information was received by the reception unit. Effect of the Invention

[0007] According to one aspect of the embodiment, the efficiency of drone delivery can be improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an outline of a mobile object control system according to an embodiment. [Diagram 2] FIG. 2 is a functional block diagram illustrating an example of the configuration of a drone according to an embodiment. [Diagram 3] FIG. 3 is a functional block diagram showing a configuration example of the mobile object control device according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of demand information. [Diagram 5] FIG. 5 is a diagram illustrating an example of drone information. [Figure 6] FIG. 6 is a diagram for explaining the process executed by the instruction unit. [Figure 7] FIG. 7 is a flowchart illustrating the processing of the mobile object control device according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of a computer hardware configuration that functions as a mobile object control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The present invention will be described below through embodiments, but the following embodiments do not limit the scope of the invention according to the claims. In addition, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0010] A mobile object control system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an overview of the mobile object control system according to an embodiment.

[0011] As shown in FIG. 1, the mobile object control system 1 includes a mobile object control device 10 and multiple drones 20. In the following, among the multiple drones 20, drone 20a may be referred to as the "first drone 20a," drone 20b as the "second drone 20b," and drone 20c as the "third drone 20c." When the drones 20a to 20c are not to be particularly distinguished from one another, they are referred to as "drones 20." The number of drones 20 included in the mobile object control system 1 is not limited to that shown in the figure.

[0012] The mobile object control device 10 is connected to the drone 20 via a network N. The network N is a mobile communication network such as LTE (Long Term Evolution) or 5G.

[0013] The mobile control system 1 according to this embodiment is used to provide a delivery service of goods using a drone 20. For example, the delivery service includes a food delivery service that delivers food to a user. In such a case, the goods are food, and the delivery source of the goods is a store that provides the food. The delivery service also includes a transportation (logistics) service that delivers parcels to a user. In such a case, the goods are parcels, and the delivery source of the goods is a location (such as a store or a home) to which the parcels are sent. Note that the types of delivery services described above are merely examples and are not limiting.

[0014] Here, a delivery service has a designated service area, and the drone 20 delivers items to users within the service area.

[0015] Furthermore, a station is provided within the provision area or in the vicinity of the provision area. The station is a facility where the drone 20 can land and take off. The station may be a flat surface on which multiple drones 20 can be placed. Furthermore, the number of stations provided within the provision area may be one or multiple.

[0016] The drone 20 can deliver goods. For example, the drone 20 waits at a station. Then, when a delivery instruction is given, the drone 20 takes off from the station and moves to the delivery source of the goods. After receiving the goods at the delivery source, the drone 20 moves to the delivery destination. The drone 20 then returns from the delivery destination to the station and waits until the next instruction is given. Note that, although an example has been given above in which the station where the drone 20 waits and the delivery source are separate locations, this is not limiting and they may be the same location (integrated).

[0017] The drone 20 is an example of a moving object. The drone 20 is a multicopter equipped with multiple (for example, four) rotor propellers, and performs unmanned autonomous flight. The drone 20 is also powered by a battery.

[0018] The drone 20 has a mechanism for holding an item (such as a box, a basket, or a robot arm). The drone 20 also delivers the held item to a specified delivery destination.

[0019] In addition, a charging station for charging the battery of the drone 20 is provided at the same location as the station where the drone 20 waits or at a different location. For example, the battery of the drone 20 is charged by the drone 20 entering a dock provided in the charging station. In addition, the battery of the drone 20 may be replaced with a charged battery at the charging station.

[0020] Also, it is assumed that the range within which the drone 20 launched from each station can receive and deliver goods at the delivery source is determined in advance (see ranges 311, 321, and 331 in FIG. 4 described later). For example, the range is represented by a circle of a predetermined radius centered on the station. The range and the location of the stations are determined based on the number of residents who are the target of the delivery service, the flight range of the drone 20, the tolerance for deterioration of the quality of goods over time (e.g., deterioration of food), and the like.

[0021] Here, a configuration example of the drone 20 according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a functional block diagram showing a configuration example of the drone 20 according to the embodiment.

[0022] As shown in FIG. 2, the drone 20 includes a communication unit 21, various sensors 22, a battery 23, a charging unit 24, a memory unit 25, and a control unit 26.

[0023] The communication unit 21 is a communication module for performing wireless communication via the network N. The communication unit 21 transmits and receives information to and from the mobile object control device 10 via the network N.

[0024] The various sensors 22 include sensors necessary for flight control and attitude control of the drone 20, such as an acceleration sensor, a gyro sensor, and an optical sensor (camera). The various sensors 22 output detected information to the control unit 26. The battery 23 stores power for driving the drone 20. As the battery 23, for example, a secondary battery that can be repeatedly charged and discharged can be used.

[0025] The charging unit 24 is used when charging the battery 23. For example, when the battery 23 is charged by connection, the charging unit 24 is a connection member such as a connector or plug for charging. When the battery 23 is charged by a non-contact method, the charging unit 24 is a member such as a coil for charging. The charging unit 24 is electrically connected to a charging device (not shown) in the above-mentioned charging station, for example, and charges the battery 23. The charging unit 24 can be electrically connected to the charging unit 24 of another drone 20. When the charging unit 24 is connected to the charging unit 24 of the other drone 20, the charging unit 24 can charge the battery 23 of the other drone 20, for example, using the power of the battery 23 of the charging unit 24. Conversely, when the charging unit 24 is connected to the charging unit 24 of the other drone 20, the charging unit 24 can charge the battery 23 of the other drone 20, for example, using the power of the battery 23 of the charging unit 24 of the other drone 20.

[0026] The storage unit 25 is realized by, for example, a semiconductor memory element such as a random access memory (RAM) or a flash memory, or a storage device such as a hard disk drive (HDD), a solid state drive (SSD), an optical disk, etc. The storage unit 25 stores various programs and various data.

[0027] The control unit 26 is a controller, and includes, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM, an input / output port, and various other circuits. The control unit 26 is realized by executing a program stored in the storage unit 25. The control unit 26 may also be configured with hardware, such as an integrated circuit, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control unit 26 includes a processing unit 261.

[0028] The processing unit 261 executes processing to control the entire drone 20. For example, the processing unit 261 executes flight control of the drone 20 and attitude control for controlling the attitude based on the output from the various sensors 22. The processing unit 261 also executes positioning processing to measure the position of the drone 20 based on the output of a positioning device mounted on the drone 20. The positioning device is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from navigation satellites orbiting in the sky to perform positioning and timing. The processing unit 261 transmits current position information indicating the current position of the drone 20 to the mobile object control device 10 via the network N.

[0029] Furthermore, the processing unit 261 executes a process of monitoring the battery 23. For example, the processing unit 261 monitors the state of the battery 23, and transmits information indicating the state of the battery to the mobile body control device 10. In detail, the processing unit 261 transmits battery information indicating the remaining amount of the battery to the mobile body control device 10 via the communication unit 21 and the network N.

[0030] Furthermore, the processing unit 261 according to this embodiment can transmit insufficient information indicating that the battery level is insufficient to the mobile body control device 10. For example, among the multiple drones 20, there are cases where the battery level is insufficient during delivery of an item, and delivery of the item cannot be completed. Note that completion of delivery of an item means, but is not limited to, that the drone 20 moves from the current position (e.g., a waiting station) to the delivery source to receive the item, delivers the received item to the delivery destination, and returns from the delivery destination to a predetermined location (e.g., a station that is a waiting position).

[0031] In detail, among the multiple drones 20, while returning to the station after delivering the goods to the delivery destination, or while delivering the goods to the delivery destination, the remaining battery power may drop to a value close to the point where flight is impossible, making it difficult to fly any further. In such a case, the processing unit 261 lands the drone 20 at a safe location before it becomes unable to fly, and transmits shortage information indicating that the remaining battery power is insufficient at the landing location to the mobile body control device 10. Therefore, the shortage information is information indicating that the remaining battery power is insufficient while moving along the delivery route of the goods. The shortage information may include information indicating the current position of the drone 20, in other words, the position information of the landing location.

[0032] Returning to the explanation of FIG. 1, the mobile control device 10 outputs an instruction signal to the drone 20 and controls the drone 20. The drone 20 (more precisely, the control unit 26) sets a destination and flies based on the instruction signal. The instruction signal includes, for example, position information of the station where the drone 20 waits, position information of the delivery source (e.g., a store) where the drone 20 receives the goods, and position information of the destination (e.g., position information of the delivery destination where the drone 20 delivers the goods).

[0033] The mobile object control device 10 will be described in detail with reference to Fig. 3 onwards. Fig. 3 is a functional block diagram showing an example of the configuration of the mobile object control device 10 according to the embodiment.

[0034] As shown in FIG. 3, the mobile object control device 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0035] The communication unit 11 is connected to the network N by wire or wirelessly. The communication unit 11 transmits and receives information to and from the drone 20 via the network N. The communication unit 11 also transmits and receives information to and from a terminal (not shown) that requests delivery of an item via the network N. Such a terminal is a terminal of a delivery source (e.g., a store) that requests delivery of an item, or a terminal of a user that requests delivery of an item, but is not limited to these.

[0036] The storage unit 12 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as a HDD, an SSD, an optical disk, etc. The storage unit 12 stores various programs and various data, etc. The storage unit 12 stores demand information 121 and drone information 122.

[0037] Demand information 121 is information showing the demand for delivery services at each location within the service area. Demand information 121 shows the demand for each cell obtained by dividing a geographical map of the service area into a grid. Demand is, for example, the frequency with which locations designated as delivery destinations are included in each cell.

[0038] Fig. 4 is a diagram showing an example of demand information. Demand information 121 can be visualized as a heat map as shown in Fig. 4. Fig. 4 shows a grid superimposed on a geographic map of the service area.

[0039] 4 also shows stations 31, 32, and 33. Ranges 311, 321, and 331 are ranges in which drones 20 launched from stations 31, 32, and 33, respectively, can deliver goods.

[0040] The columns of the grid are assigned letters. The rows of the grid are assigned numbers. The cells of the grid are represented by a combination of letters and numbers. For example, the cell in the third row of column B where station 31 is located in Figure 4 is cell B3.

[0041] The range of a rectangle is represented by the cell at the top left corner and the cell at the bottom right corner of the rectangle. For example, the range of the rectangle with the pattern in Figure 4 is represented as A1:E6.

[0042] Here, the demand information 121 is a numerical representation of the magnitude of demand in each cell. The magnitude of demand may be the sum of the actual values ​​of the number of times each cell was designated as a delivery destination in a certain period of time in the past. The magnitude of demand may also be the number of times each cell will be designated as a delivery destination in a certain period of time, predicted based on explanatory variables such as the past actual values, the number of residents, weather, and time of day. The prediction is performed, for example, by a machine learning model.

[0043] In Fig. 4, a pattern is applied to each cell according to the amount of demand. For example, a cell with a higher demand is filled with a darker color or a denser pattern.

[0044] The range A1:E6 in Figure 4 has a higher demand than the other cells. Within the range A1:E6, the range B2:D5 has an even higher demand.

[0045] Returning to the explanation of Fig. 3, the drone information 122 is information related to the drone 20. The drone information 122 will be explained with reference to Fig. 5. Fig. 5 is a diagram showing an example of the drone information 122.

[0046] As shown in FIG. 5, the drone information 122 includes information such as "drone ID," "standby position," "current position," "remaining battery level," "destination," and "missing information."

[0047] The "drone ID" is an identifier that identifies the drone 20. The "standby position" is information that indicates the position where the drone 20 waits. This position where the drone 20 waits can also be said to be the initial position of the drone 20. For example, a station is set as the "standby position." Note that the "standby position" is information that is set in advance according to, for example, the demand information 121, but is not limited to this.

[0048] The "current location" is information indicating the current location of the drone 20. For example, when the drone 20 is waiting at a waiting location, the "current location" is information indicating the waiting location, and when the drone 20 is flying, the "current location" is information indicating the flying location. Also, as described above, when the battery level is insufficient and the drone 20 lands at a location along the delivery route of the goods, the "current location" is location information of the landing location. Note that in the example shown in FIG. 5, for convenience, the "current location" may be expressed abstractly as "B01", but specific information is stored in "B01". Also, "B01" is location information of the landing location.

[0049] "Battery remaining capacity" is information indicating the battery status of the drone 20, specifically, information indicating the remaining capacity of the battery.

[0050] "Destination" is information indicating the location of the destination of the drone 20. For example, when the drone 20 travels from the current location to the delivery source, the location information of the delivery source of the goods is set in "destination". When the drone 20 travels from the delivery source to the delivery destination, the location information of the delivery destination of the goods is set in "destination". When the drone 20 travels (returns) from the delivery destination to the waiting location, the location information of the waiting location (e.g., station 31) is set in "destination".

[0051] The "shortage information" is information indicating the presence or absence of shortage information indicating that the remaining battery charge is insufficient. That is, the "shortage information" is set to "absent" in the initial state, and when shortage information transmitted from the drone 20 is received, the "shortage information" is set to "present."

[0052] 5, the drone 20 identified by the drone ID "A01" indicates that the waiting position is "Station 31", the current position is "B01", the battery level is "20%," the destination is "Station 31", and the missing information is "present." In other words, the drone 20 with the drone ID "A01" landed at location "B01" on the way back from the delivery destination to the waiting position, Station 31, and received the missing information transmitted at location "B01."

[0053] The drone 20 identified by the drone ID "A02" indicates that its standby position and current position are "Station 31", its battery level is "80%," its destination is "B01", and there is "no" missing information. In other words, the drone 20 with the drone ID "A02" indicates that it will depart from its current position, Station 31, with "B01", the location of the drone 20 that received the missing information, as its destination.

[0054] 3, the control unit 13 is a controller and includes, for example, a microcomputer having a CPU, a ROM, a RAM, an input / output port, and various other circuits. The control unit 13 may also be configured with hardware such as an integrated circuit, for example, an ASIC or an FPGA. The control unit 13 includes a determination unit 131, an acquisition unit 132, a reception unit 133, and an instruction unit 134.

[0055] The determination unit 131 determines the drones 20 to be placed at multiple stations. Specifically, the determination unit 131 determines the stations at which the drones 20 are to be placed based on the demand forecast included in the demand information 121. For example, the determination unit 131 determines the placement of the drones 20 so that many drones 20 are placed at stations where demand is high, that is, where many drones 20 are predicted to be launched. The determined stations become waiting positions for the drones 20. This prevents a shortage of the number of waiting drones 20 at stations with high demand. Furthermore, the drones 20 are efficiently placed at each station.

[0056] The determination unit 131 generates a placement signal including placement information of the drone 20, and transmits the generated placement signal to the drone 20 via the communication unit 11. The drone 20 is placed (standby) at the determined station based on the placement signal. The determination unit 131 registers information on the determined station, in other words, information on the standby position, in the drone information 122 of the storage unit 12.

[0057] The acquisition unit 132 acquires delivery information from a terminal (not shown) that requests delivery of an item via the communication unit 11. The delivery information is information related to delivery, and includes, for example, location information of the delivery origin, location information of the delivery destination, and information related to the item to be delivered. The information related to the item includes, for example, the name and number of the item, but these are examples and are not limited thereto, and may include other information such as the weight of the item. Note that, for example, if a time is specified for delivery, the delivery information may include information related to the delivery time, such as the time to arrive at the delivery origin and the time to arrive at the delivery destination. The delivery information may include other information related to delivery in addition to or instead of the information described above. The acquisition unit 132 outputs the acquired delivery information to the instruction unit 134.

[0058] The acquisition unit 132 acquires information about the drone 20 from the drone 20 via the communication unit 11. For example, the acquisition unit 132 acquires current location information of the drone 20 and battery information indicating the remaining battery power from each of the multiple drones 20. The acquisition unit 132 outputs the acquired current location information and battery information to the instruction unit 134 and registers the acquired current location information and battery information in the drone information 122 of the storage unit 12.

[0059] The reception unit 133 receives shortage information from the drone 20 via the communication unit 11. For example, the reception unit 133 receives shortage information indicating that the remaining battery charge is insufficient from the drone 20 moving along the delivery route of the goods. When the reception unit 133 receives the shortage information, the reception unit 133 outputs information indicating that the shortage information has been received to the instruction unit 134 and registers the information in the drone information 122 in the memory unit 12.

[0060] The instruction unit 134 executes a process of instructing the drone 20 to deliver an item. Specifically, it generates an instruction signal for the drone 20 and transmits the generated instruction signal to the drone 20 via the communication unit 11. The instruction signal includes information about the item to be delivered by the drone 20 and information indicating the location of the destination of the drone 20. The drone 20 to which the instruction signal is transmitted moves to the delivery source to receive the item, delivers the received item to the delivery destination, and returns from the delivery destination to the station, which is a waiting position.

[0061] Furthermore, when the instruction unit 134 receives shortage information indicating that the remaining battery power is insufficient, the instruction unit 134 executes a process of launching another drone 20 different from the drone 20 for which the shortage information has been received, toward the position of the drone 20. This process will be described with reference to FIG. 6 as well.

[0062] 6 is a diagram for explaining the processing executed by the instruction unit 134. In FIG. 6, the first drone 20a and the second drone 20b are waiting at the station 31, with the station 31 set as the waiting position. The first drone 20a corresponds to the drone with the drone ID "A01" in FIG. 5, and the second drone 20b corresponds to the drone with the drone ID "A02". In FIG. 6, the delivery source of the goods is indicated by the reference symbol 41, the delivery destination is indicated by the reference symbol 42, and the place where the goods landed due to insufficient battery power is indicated by the reference symbol 51.

[0063] As shown in Fig. 6, the instruction unit 134 outputs an instruction to the first drone 20a to deliver an item from the delivery origin 41 to the delivery destination 42. In detail, the instruction unit 134 generates an instruction signal for the first drone 20a based on the delivery information, and transmits the generated instruction signal to the first drone 20a. The first drone 20a, to which the instruction signal is transmitted, moves from the station 31 to the delivery origin 41, picks up the item (see arrow Da1), and delivers the received item to the delivery destination 42 (see arrow Da2).

[0064] Then, the first drone 20a runs out of battery power while returning from the delivery destination 42 to the station 31, which is the waiting position, and lands at position 51 to transmit information about the battery shortage to the mobile object control device 10 (see arrow Da3).

[0065] When the instruction unit 134 receives the shortage information, it launches the second drone 20b, which is different from the first drone 20a, toward the position 51 of the first drone 20a that received the shortage information. In detail, the instruction unit 134 generates an instruction signal for the second drone 20b based on the position information of the first drone 20a and transmits the generated instruction signal to the second drone 20b. Specifically, the second drone 20b moves from the station 31 to the position 51 (see arrow Db1). Then, the second drone 20b charges the first drone 20a at the position 51 of the first drone 20a. For example, the second drone 20b electrically connects its own charging unit 24 (see FIG. 2) to the charging unit 24 of the first drone 20a, and charges the battery 23 of the first drone 20a using the power of its own battery 23 (see FIG. 2).

[0066] In the above, the second drone 20b uses the power of its own battery 23 to charge the battery 23 of the first drone 20a, but this is not limited to the example. For example, the second drone 20b may carry a charged battery and install it on the first drone 20a or replace it, thereby charging the first drone 20a.

[0067] The second drone 20b, which has completed charging, returns from the position 51 of the first drone 20a to the station 31 (see arrow Db2) in response to a command signal from the command unit 134. The first drone 20a, which has completed charging, also returns from the position 51 to the station 31 in response to a command signal from the command unit 134 (see arrow Da4).

[0068] In this way, the instruction unit 134 according to this embodiment launches the second drone 20b toward the position of the first drone 20a for which the shortage information has been received, and charges the first drone 20a.

[0069] This makes it possible to use for delivery, among the multiple drones 20, a drone 20 that has a relatively low remaining battery power and is unable to complete delivery of an item, thereby improving the delivery efficiency of the multiple drones 20. In detail, even a drone 20 (here, the first drone 20a) that runs out of battery power while moving along a delivery route for an item can be used for delivery, and as a result, the delivery efficiency of the multiple drones 20 can be improved.

[0070] In the above, the instruction unit 134 has shown an example in which the second drone 20b charges the first drone 20a, but the present invention is not limited to this. That is, the instruction unit 134 may cause the second drone 20b to retrieve the first drone 20a at the position of the first drone 20a for which the shortage information has been received. For example, the second drone 20b may retrieve the first drone 20a using a mechanism for holding an item (such as a box, a basket, or a robot arm), or may retrieve the first drone 20a using a mechanism dedicated to retrieving drones (such as a robot arm). Then, the second drone 20b returns to the station 31 from the position 51 together with the retrieved first drone 20a in response to an instruction signal from the instruction unit 134.

[0071] In this way, even when the second drone 20b is configured to retrieve the first drone 20a, it is possible to use for delivery a drone 20 among the multiple drones 20 that has a relatively low remaining battery power and is unable to complete delivery of the goods, thereby improving the delivery efficiency of the multiple drones 20. In detail, even a drone 20 (here, the first drone 20a) that runs out of battery power while moving along the delivery route of the goods, for example, can be used for delivery, thereby improving the delivery efficiency of the multiple drones 20.

[0072] Next, the flow of processing of the mobile body control device 10 will be described with reference to Fig. 7. Fig. 7 is a flowchart illustrating processing of the mobile body control device according to the embodiment.

[0073] 7, the mobile object control device 10 acquires delivery information of an item (step S10). Next, the mobile object control device 10 generates an instruction signal for the drone 20 based on the delivery information (step S11). Then, the mobile object control device 10 outputs the generated instruction signal to the drone 20 (step S12).

[0074] Next, the mobile object control device 10 determines whether or not it has received shortage information indicating that the remaining battery power is insufficient from the drone 20 (step S13). When it is determined that the shortage information has not been received (step S13, No), the mobile object control device 10 skips the subsequent processing.

[0075] When the mobile object control device 10 determines that the missing information has been received (step S13, Yes), it selects a drone 20 (e.g., the second drone 20b) different from the drone 20 (e.g., the first drone 20a) that received the missing information (step S14). Next, the mobile object control device 10 generates an instruction signal for the second drone 20b (step S15). In detail, the mobile object control device 10 generates an instruction signal to launch and charge the drone 20 that received the missing information toward the position of the drone 20. The mobile object control device 10 outputs the generated instruction signal to the second drone 20b (step S16).

[0076] As described above, the mobile object control device 10 includes the reception unit 133 and the instruction unit 134. The reception unit 133 receives shortage information indicating a shortage of battery power from a drone 20 (e.g., the first drone 20a) moving along a delivery route of an item. The acquisition unit 132 launches another drone 20 (e.g., the second drone 20b) different from the drone 20 (the first drone 20a) about which the reception unit 133 has received the shortage information, toward the position of the drone 20. This can improve the delivery efficiency of the multiple drones 20.

[0077] 8 is a diagram showing an example of a computer hardware configuration functioning as a mobile control device. A program installed in the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or cause the computer 1200 to execute operations or one or more "parts" associated with the device according to the present embodiment, and / or cause the computer 1200 to execute a process or steps of the process according to the present embodiment. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

[0078] The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive, a solid state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0079] The CPU 1212 operates according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 retrieves image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and causes the image data to be displayed on the display device 1218.

[0080] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0081] The ROM 1230 stores therein a boot program and the like that is executed by the computer 1200 upon activation, and / or a program that depends on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

[0082] The programs are provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing operations or processing of information according to the use of the computer 1200.

[0083] For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded in RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to a network, or writes reception data received from the network to a reception buffer area or the like provided on the recording medium.

[0084] Furthermore, the CPU 1212 may cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

[0085] Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium and undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and write back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0086] The above-mentioned programs or software modules may be stored in a computer-readable storage medium on the computer 1200 or in the vicinity of the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

[0087] The blocks in the flowcharts and block diagrams in this embodiment may represent stages of a process in which an operation is performed or "parts" of an apparatus responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like, including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements.

[0088] A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

[0089] The computer readable instructions may include either assembler instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages, such as the “C” programming language or similar programming languages.

[0090] Computer readable instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN), such as the Internet, etc., to cause the processor of the general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, to execute the computer readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0091] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications or improvements can also be included in the technical scope of the present invention.

[0092] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and that the process may be performed in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," and the like for convenience, this does not mean that the process must be performed in this order. [Explanation of symbols]

[0093] 10 Mobile control device 11 Communications Department 12 Storage section 13 Control section 132 Acquisition Department 133 Reception 134 Instruction Department

Claims

1. A reception unit that receives shortage information indicating a shortage of battery power from a drone moving along a delivery route of an item; an instruction unit that launches another drone different from the drone for which the receiving unit has received the missing information toward the position of the drone; A mobile control device comprising:

2. The other drones are: charging a battery of the drone at the location of the drone; The mobile object control device according to claim 1 .

3. The other drones are: recovering the drone at the location of the drone; The mobile object control device according to claim 1 .

4. A mobile object control method executed by a mobile object control device, comprising: A receiving step of receiving shortage information indicating that a battery level is low from a drone moving along a delivery route of an item; an instruction step of launching another drone different from the drone for which the missing information has been received by the receiving step toward the position of the drone; A mobile object control method comprising:

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