Mobile object control device and mobile object control method

Abstract

To improve delivery efficiency of a plurality of drones.SOLUTION: A mobile object control device according to an embodiment of the present invention includes an acquisition unit and an instruction unit. The acquisition unit acquires battery information indicating the battery remaining amount of each of a plurality of drones delivering articles. Based on the battery information acquired by the acquisition unit, the instruction unit outputs an instruction to deliver the article from a delivery source of the article to a relay point located in the middle of a delivery route of the article to the drone, in which the battery remaining amount is less than a predetermined value capable of completing the delivery of the article. The instruction unit also outputs instructions to other drones different from the drone concerned to deliver the articles delivered to the relay point to a delivery destination from the relay point.SELECTED DRAWING: Figure 5

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 conventional technology, among the multiple drones, a drone that has a relatively low remaining battery power and cannot complete the delivery of an item cannot make a delivery until the battery is charged, which may reduce the delivery efficiency of the drones. Thus, the conventional technology has room for improvement in terms of improving the delivery efficiency of multiple drones.

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

[0006] A mobile control device according to one aspect of an embodiment includes an acquisition unit that acquires battery information indicating the remaining battery power of each of a plurality of drones that delivers goods, and an instruction unit that, based on the battery information acquired by the acquisition unit, outputs an instruction to a drone whose remaining battery power is less than a predetermined value sufficient to complete delivery of the goods, to deliver the goods from the delivery source of the goods to a relay point located midway along the delivery route of the goods, and outputs an instruction to another drone other than the drone to deliver the goods that have been delivered to the relay point from the relay point to a delivery destination. Effect of the Invention

[0007] According to one aspect of the embodiment, the efficiency of delivery by multiple drones 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 showing a configuration example of the mobile object control device according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of demand information. [Figure 4] FIG. 4 is a diagram illustrating an example of drone information. [Diagram 5] FIG. 5 is a diagram for explaining the process executed by the instruction unit. [Figure 6] FIG. 6 is a flowchart illustrating the processing of the mobile object control device according to the embodiment. [Figure 7] FIG. 7 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 body. The drone 20 is a multicopter equipped with multiple (for example, four) rotor propellers, and performs unmanned autonomous flight. The drone 20 is powered by a battery (secondary battery). The drone 20 transmits information indicating the battery state to the moving body control device 10. In detail, the drone 20 transmits battery information indicating the remaining battery power to the moving body control device 10 via the network N.

[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] The drone 20 includes a communication module for wireless communication via the network N. The drone 20 also includes various sensors, such as an acceleration sensor, a gyro sensor, and an optical sensor (camera). The drone 20 also includes a computer (e.g., a microcomputer) that executes a positioning function for measuring its own position and an attitude control function for controlling its attitude. The drone 20 also includes a positioning device for measuring its own position. 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 drone 20 transmits current position information indicating its current position to the mobile object control device 10 via the network N. The drone 20 also includes a computer (e.g., a microcomputer) that executes a flight control function and an attitude control function for controlling its attitude.

[0020] 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.

[0021] 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. 3 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), etc.

[0022] The mobile control device 10 outputs an instruction signal to the drone 20 and controls the drone 20. The drone 20 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).

[0023] Incidentally, among the multiple drones 20, there may be a drone 20 whose remaining battery charge is relatively low and which is unable to complete the delivery of the goods. Specifically, there may be a drone 20 whose remaining battery charge is less than a predetermined value that allows the delivery of the goods to be completed. Completion of the delivery of the goods means, but is not limited to, that the drone 20 moves from its current position (e.g., a waiting station) to the delivery source to receive the goods, delivers the received goods to the delivery destination, and returns from the delivery destination to a predetermined location (e.g., a station that is a waiting position).

[0024] In conventional technology, a drone 20 with a remaining battery charge below a predetermined value cannot make a delivery until the battery is charged, which may reduce the delivery efficiency of the drone 20.

[0025] Therefore, in the mobile object control device 10 according to this embodiment, it is possible to improve the delivery efficiency of multiple drones 20.

[0026] The mobile object control device 10 according to this embodiment will be described in detail with reference to Fig. 2 onwards. Fig. 2 is a functional block diagram showing an example of the configuration of the mobile object control device 10 according to the embodiment.

[0027] As shown in FIG. 2, the mobile object control device 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0028] 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.

[0029] The storage unit 12 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), or an optical disk. The storage unit 12 stores various programs and various data. The storage unit 12 stores demand information 121 and drone information 122.

[0030] 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.

[0031] Fig. 3 is a diagram showing an example of demand information. Demand information 121 can be visualized as a heat map as shown in Fig. 3. Fig. 3 shows a grid superimposed on a geographic map of the service area.

[0032] 3 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.

[0033] 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 column B, row 3 where station 31 is located in Figure 3, is cell B3.

[0034] 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 3 is represented as A1:E6.

[0035] 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. Alternatively, the magnitude of demand may 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.

[0036] In Fig. 3, 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.

[0037] The range A1:E6 in Figure 3 has a higher demand than the other cells. Within the range A1:E6, the range B2:D5 has an even higher demand.

[0038] Returning to the explanation of Fig. 2, the drone information 122 is information related to the drone 20. The drone information 122 will be explained with reference to Fig. 4. Fig. 4 is a diagram showing an example of the drone information 122.

[0039] As shown in FIG. 4, the drone information 122 includes information such as "drone ID," "standby position," "current position," "remaining battery level," "first destination," and "second destination."

[0040] 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.

[0041] "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. Note that in the example shown in FIG. 4, for convenience, the "current location" may be expressed abstractly as "B01", but it is assumed that specific information is stored in "B01". Below, other information may also be expressed abstractly.

[0042] "Battery remaining capacity" is information indicating the battery status of the drone 20, specifically, information indicating the remaining capacity of the battery.

[0043] The "first destination" and "second destination" are information indicating the location of the destination of the drone 20. The "first destination" is, for example, information indicating the location of the destination to which the drone 20 will first head from its current location. The "first destination" is set, for example, with location information of the delivery source of the goods ("C01" and "C11" in FIG. 4) or location information of a relay point ("C02" in FIG. 4) described later.

[0044] The "second destination" is, for example, information indicating the location of the next destination to which the drone 20 will head after arriving at the first destination. For example, the location information of the delivery destination of the goods ("C03" or "C12" in FIG. 4) or the location information of the relay point ("C02" in FIG. 4) is set in the "second destination".

[0045] In the example of FIG. 4, the drone 20 identified by the drone ID "A01" indicates that the standby position and current position are "Station 31", the battery remaining amount is "30%,", the first destination is "C01" indicating the position information of the delivery origin, and the second destination is "C02" indicating the position information of the relay point. The drone 20 identified by the drone ID "A02" indicates that the standby position and current position are "Station 31", the battery remaining amount is "35%,", the first destination is "C02" indicating the position information of the relay point, and the second destination is "C03" indicating the position information of the delivery destination. The drone 20 identified by the drone ID "A03" indicates that the standby position is "Station 31", the current position is "B01", the battery remaining amount is "80%,", the first destination is "C11" indicating the position information of the delivery origin, and the second destination is "C12" indicating the position information of the delivery destination.

[0046] 2, the control unit 13 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 13 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 13 includes a determination unit 131, an acquisition unit 132, and an instruction unit 133.

[0047] 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.

[0048] 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.

[0049] 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 133.

[0050] 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 133 and registers the acquired current location information and battery information in the drone information 122 of the storage unit 12.

[0051] The instruction unit 133 executes a process of instructing the drone 20 to deliver an item. Specifically, the instruction unit 133 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, information indicating the location of the destination of the drone 20 (for example, location information indicating the first destination and the second destination), and the like.

[0052] Here, the generation and transmission of the instruction signal will be described in detail. When delivery information of an item is input, the instruction unit 133 calculates the remaining battery power required for the drone 20 to move from the current position (e.g., a waiting station) to the delivery source, receive the item, deliver the received item to the delivery destination, and return from the delivery destination to a predetermined location (e.g., a station that is a waiting position). In other words, the instruction unit 133 calculates the remaining battery power required for completing the delivery of the item (hereinafter sometimes referred to as a "predetermined value") according to the flight distance, flight time, and flight speed required to complete the delivery of the item, which are obtained from the delivery information, and preset battery performance.

[0053] The instruction unit 133 determines whether or not there is a drone 20 among the multiple drones 20 whose remaining battery charge is equal to or greater than a predetermined value, based on the battery information of the multiple drones 20. In other words, the instruction unit 133 determines whether or not there is a drone 20 among the multiple drones 20 that can complete the delivery of an item by itself.

[0054] When there is a drone 20 whose remaining battery charge is equal to or greater than a predetermined value, the instruction unit 133 generates an instruction signal for the drone 20 and transmits the generated instruction signal to the drone 20. In this instruction signal, the information indicating the location of the destination includes information indicating that the first destination is the "origin" and that the second destination is the "destination". Therefore, the drone 20 to which such an instruction signal is transmitted (for example, the drone with drone ID "A03" in FIG. 4) moves to the origin (C11), receives an item, delivers the received item to the destination (C12), and returns from the destination to the station (station 32) which is the waiting position.

[0055] Furthermore, when there is no drone 20 whose remaining battery charge is equal to or greater than the predetermined value, the instruction unit 133 according to the present embodiment executes a process of completing delivery using multiple drones 20 whose remaining battery charge is less than the predetermined value. This process will be described with reference to FIG. 5.

[0056] FIG. 5 is a diagram for explaining the process executed by the instruction unit 133. In FIG. 5, 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 and the second drone 20b are both assumed to have a battery remaining amount less than a predetermined value, that is, they are assumed to be unable to complete the delivery of the goods by themselves. The first drone 20a corresponds to the drone with the drone ID "A01" in FIG. 4, and the second drone 20b corresponds to the drone with the drone ID "A02". In FIG. 5, the delivery source of the goods is indicated by the reference symbol 41, and the delivery destination is indicated by the reference symbol 42.

[0057] As shown in FIG. 5, the instruction unit 133 outputs an instruction to a drone 20 (here, the first drone 20a) whose remaining battery charge is less than a predetermined value that allows the delivery of the goods to be completed, to deliver the goods from the delivery origin 41 of the goods to a relay point 51 located on the delivery route of the goods. In detail, the instruction unit 133 selects, from among the multiple drones 20, a drone 20 (the first drone 20a) whose remaining battery charge is less than a predetermined value but is equal to or greater than the value that allows the drone 20 to deliver the goods to the relay point 51 on the delivery route and return from the relay point 51 to a waiting position. Then, the instruction unit 133 generates an instruction signal for the first drone 20a and transmits the generated instruction signal to the first drone 20a. In this instruction signal, the information indicating the location of the destination includes information indicating that the first destination is the "delivery origin" and that the second destination is the "relay point". Therefore, the first drone 20a (e.g., the drone with drone ID "A01" in FIG. 4) that received the instruction signal moves from the waiting position to the delivery source 41 (C01) to receive the goods (see arrow Da1), and delivers the received goods to the relay point 51 (C02) (see arrow Da2). The first drone 20a drops off the goods at the relay point 51, and returns from the relay point 51 to the station (station 31) that is the waiting position (see arrow Da3).

[0058] The instruction unit 133 also executes a process of delivering the goods delivered to the relay point 51 to the delivery destination. For example, the instruction unit 133 outputs an instruction to another drone (here, the second drone 20b) different from the first drone 20a to deliver the goods delivered to the relay point 51 from the relay point 51 to the delivery destination. In detail, the instruction unit 133 selects a drone 20 (the second drone 20b) among the multiple drones 20 whose remaining battery power is less than a predetermined value but is equal to or greater than the value that allows the drone 20 to deliver the goods from the relay point 51 to the delivery destination and return from the delivery destination to the waiting position. Then, the instruction unit 133 generates an instruction signal for the second drone 20b and transmits the generated instruction signal to the second drone 20b. In this instruction signal, the information indicating the location of the destination includes information indicating that the first destination is the "relay point" and that the second destination is the "delivery destination". Therefore, the second drone 20b (for example, the drone with drone ID "A02" in FIG. 4) to which the instruction signal is sent moves from the waiting position to the relay point 51 (C02) to receive the goods (see arrow Db1). The second drone 20b delivers the received goods to the delivery destination 42 (C03) (see arrow Db2) and returns from the delivery destination 42 to the station (station 31) which is the waiting position (see arrow Db3).

[0059] In this manner, the instruction unit 133 according to this embodiment outputs an instruction to the first drone 20a whose remaining battery charge is less than a predetermined value to deliver an item from the delivery origin 41 of the item to a relay point 51 located midway along the delivery route of the item. The instruction unit 133 outputs an instruction to the second drone 20b, which is different from the first drone 20a, to deliver the item, which has been delivered to the relay point 51, from the relay point 51 to the delivery destination 42. This makes it possible to use, among the multiple drones 20, a drone 20 (for example, the first drone 20a) that has a relatively low remaining battery charge and is unable to complete delivery of the item for delivery, thereby improving the delivery efficiency of the multiple drones 20.

[0060] The instruction unit 133 is also configured to select the second drone 20b whose remaining battery charge is equal to or greater than the value that allows the drone to travel from the relay point 51 to the delivery destination 42 and is less than a predetermined value, as the drone 20 that will deliver from the relay point 51 to the delivery destination 42. In other words, the instruction unit 133 is configured to output an instruction to deliver the item from the relay point 51 to the delivery destination 42 to another drone (here, the second drone 20b) whose remaining battery charge is equal to or greater than the value that allows the drone to travel from the relay point 51 to the delivery destination 42 and is less than the predetermined value.

[0061] This makes it possible to use, among the multiple drones 20, a drone 20 (e.g., the second drone 20b) that has a relatively low remaining battery power and is unable to complete delivery of the item for delivery, thereby improving the delivery efficiency of the multiple drones 20.

[0062] The instruction unit 133 also sets the relay point 51 based on the battery information. More specifically, the instruction unit 133 sets the relay point 51 within the range E in which the drone 20 (for example, the first drone 20a) can move from the delivery origin 41 based on the battery information. As an example, when there are multiple relay points 51, 52 within the range in which the drone 20 is responsible for delivery, the instruction unit 133 sets (selects) the relay point for delivering the goods based on the battery information. Specifically, the instruction unit 133 sets (selects) the relay point 51 that exists within the range E in which the drone 20 can move from the delivery origin 41 with the current remaining battery power, out of the multiple relay points 51, 52, as the relay point for delivering the goods. This allows the first drone 20a to reliably deliver the goods from the delivery origin to the relay point 51.

[0063] The instruction unit 133 may also predict the time when the first drone 20a will arrive at the relay point 51 and launch the second drone 20b so that the second drone 20b will arrive at the relay point 51 before the predicted time. Specifically, the instruction unit 133 calculates the predicted arrival time of the first drone 20a at the relay point 51 based on the time when the first drone 20a starts moving, the flight distance and flight speed until the first drone 20a arrives at the delivery origin 41, the time when the first drone 20a receives the goods at the delivery origin 41, the flight distance and flight speed until the first drone 20a arrives at the relay point 51, and the like. Then, the instruction unit 133 outputs an instruction to the second drone 20b to wait at the relay point 51 before the predicted arrival time. That is, the instruction unit 133 generates and outputs an instruction signal to launch the second drone 20b so that the second drone 20b will arrive at the relay point 51 before the predicted arrival time.

[0064] As a result, the second drone 20b waits at the relay point 51 before the first drone 20a arrives at the relay point 51. Therefore, it becomes possible to quickly hand over the goods from the first drone 20a to the second drone 20b at the relay point 51, thereby shortening the delivery time of the goods.

[0065] Next, the flow of processing of the mobile body control device 10 will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating processing of the mobile body control device according to the embodiment.

[0066] 6, the mobile object control device 10 acquires delivery information of an item (step S10). Next, the mobile object control device 10 acquires battery information of the multiple drones 20 (step S11).

[0067] Next, the mobile object control device 10 determines whether or not there is a drone 20 among the multiple drones 20 that can complete the delivery of the item by itself (step S12). For example, the mobile object control device 10 calculates a predetermined value indicating the remaining battery power required to complete the delivery of the item based on the delivery information and the battery information, and determines whether or not there is a drone 20 whose remaining battery power is equal to or greater than the predetermined value.

[0068] When it is determined that the remaining battery charge of the drones 20 is less than a predetermined value and there is no drone 20 that can complete the delivery of the goods by itself (step S12, No), the mobile object control device 10 selects a relay point (step S13). For example, the mobile object control device 10 selects a relay point that is in a position where delivery is possible based on the battery information.

[0069] After selecting the relay point, the mobile object control device 10 then selects a drone 20 to be used for delivery from among the multiple drones 20. For example, the mobile object control device 10 selects a drone 20 (e.g., the first and second drones 20a and 20b) whose remaining battery charge is less than a predetermined value that allows the delivery of the goods to be completed based on the battery information (step S14). As an example, the mobile object control device 10 selects the first drone 20a whose remaining battery charge is equal to or greater than the value that allows the drone to travel from the delivery origin to the relay point and is less than the predetermined value. The mobile object control device 10 also selects the second drone 20b whose remaining battery charge is equal to or greater than the value that allows the drone to travel from the relay point to the delivery destination and is less than the predetermined value.

[0070] The mobile control device 10 may select the first drone 20a whose remaining battery charge is equal to or greater than the value required to move from the current location to the relay point via the delivery source, and from the relay point to the waiting position, and is less than a predetermined value. The mobile control device 10 may also select the second drone 20b whose remaining battery charge is equal to or greater than the value required to move from the current location to the relay point, and from the relay point to the waiting position via the delivery destination, and is less than a predetermined value.

[0071] On the other hand, if the mobile control device 10 determines that there is a drone 20 among the multiple drones 20 that can complete the delivery of an item by itself (step S12, Yes), it selects that drone 20 as the drone 20 to be used for delivery.

[0072] Next, the mobile object control device 10 generates an instruction signal for the selected drone 20 (step S15). Then, the mobile object control device 10 outputs the generated instruction signal to the drone 20 selected in step S14 (step S16).

[0073] As described above, the mobile control device 10 includes an acquisition unit 132 and an instruction unit 133. The acquisition unit 132 acquires battery information indicating the remaining battery charge of each of the multiple drones 20 that deliver the goods. Based on the battery information acquired by the acquisition unit 132, the instruction unit 133 outputs an instruction to a drone 20 (e.g., the first drone 20a) whose remaining battery charge is less than a predetermined value that allows the delivery of the goods to be completed, to deliver the goods from the delivery source of the goods to a relay point that exists on the way of the delivery route of the goods. In addition, the instruction unit outputs an instruction to another drone (e.g., the second drone 20b) different from the drone to deliver the goods that have been delivered to the relay point from the relay point to the delivery destination. This can improve the delivery efficiency of the multiple drones 20.

[0074] 7 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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]

[0090] 10 Mobile control device 11 Communications Department 12 Storage section 13 Control section 132 Acquisition Department 133 Instruction section

Claims

1. An acquisition unit that acquires battery information indicating a remaining battery level of each of a plurality of drones that delivers an item; an instruction unit that outputs, based on the battery information acquired by the acquisition unit, an instruction to the drone whose remaining battery charge is less than a predetermined value at which the delivery of the item can be completed, to deliver the item from the delivery origin of the item to a relay point present on the way of the delivery route of the item, and outputs an instruction to another drone different from the drone to deliver the item that has been delivered to the relay point from the relay point to a delivery destination; A mobile control device comprising:

2. The instruction unit is outputting an instruction to the other drone whose remaining battery charge is equal to or greater than a value enabling the drone to travel from the relay point to the delivery destination and is less than the predetermined value, to deliver the item from the relay point to the delivery destination; The mobile object control device according to claim 1 .

3. The instruction unit is Calculating an estimated time of arrival of the drone at the relay point, and outputting an instruction to the other drone to wait at the relay point before the estimated time of arrival. The mobile object control device according to claim 1 .

4. The instruction unit is Based on the battery information, the relay point is set within a range in which the drone can move from the delivery origin. The mobile object control device according to claim 1 .

5. A mobile object control method executed by a mobile object control device, comprising: An acquisition step of acquiring battery information indicating a remaining battery level of each of a plurality of drones that delivers an item; an instruction process of outputting an instruction to the drone whose remaining battery charge is less than a predetermined value capable of completing the delivery of the item based on the battery information acquired by the acquisition process, to deliver the item from the delivery origin of the item to a relay point present on the delivery route of the item, and outputting an instruction to another drone different from the drone to deliver the item delivered to the relay point from the relay point to a delivery destination; A mobile object control method comprising:

Images