Delivery route setting device, delivery route setting method, and program

Abstract

To provide a delivery route setting device, a delivery route setting method and a program which can efficiently set a delivery route while avoiding a position where position-measurement accuracy is low in a delivery possible time zone for goods.SOLUTION: A delivery control server 2 obtains a delivery possible time zone for target goods to be delivered to a delivery destination by an UAV1; obtains satellite information concerning position-measurement satellites which can be captured at a plurality of positions between a delivery hub for the target goods and the delivery destination, in the delivery possible time zone; and sets a delivery route while avoiding a position where position-measurement accuracy is relatively low in the delivery possible time zone, of the plurality of positions in an area between the delivery hub for the target goods and the delivery destination, on the basis of the satellite information.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to the technical field of systems for delivering goods using unmanned vehicles capable of autonomous movement by receiving radio waves from positioning satellites. [Background technology]

[0002] Conventionally, autonomous movement using satellite positioning systems has been the mainstream for unmanned vehicles such as drones. For example, in the technology disclosed in Patent Document 1, a mobile object that detects its current position using positioning information from a satellite positioning system can accurately determine its current position even when traveling in an area where map information is not registered and satellite radio wave reception is poor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-188806 A Summary of the Invention

[0004] However, because the positioning satellites used in satellite positioning systems move around the Earth, the number of positioning satellites that a drone can capture may change depending on the time of day, especially in places with many obstructions, even if the drone is flying the same delivery route. In particular, in urban areas where drone delivery is expected to be used in the future, buildings (e.g., high-rise buildings) are expected to be built in large numbers, and the number of positioning satellites that can be captured may decrease depending on the flight time, which may reduce the positioning accuracy. In addition, the positioning accuracy may also decrease if the positioning satellites' configuration changes depending on the flight time. There are concerns that such a decrease in positioning accuracy may affect the safety of the aircraft and deliveries.

[0005] Therefore, an example of an objective of the present invention is to provide a delivery route setting device, a delivery route setting method, and a program that can efficiently set a delivery route so as to avoid locations with low positioning accuracy during a time period when an item can be delivered. [Means for solving the problem]

[0006] (Application Example 1) In order to solve the above problem, the delivery route setting device of this application example is characterized in that it includes a first acquisition unit that acquires a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of moving autonomously by receiving radio waves from a positioning satellite, a second acquisition unit that acquires satellite information regarding positioning satellites that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery time period, and a setting unit that sets a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time period.

[0007] (Application Example 2) A delivery route setting method according to this application example is a delivery route setting method executed by a computer, and is characterized in that it includes the steps of: acquiring a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of receiving radio waves from a positioning satellite and moving autonomously; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery time period; and setting a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time period.

[0008] (Application Example 3) The program related to this application example is characterized in that it causes a computer to execute the steps of: acquiring a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of moving autonomously by receiving radio waves from a positioning satellite; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery time period; and setting a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time period. Effect of the Invention

[0009] According to the present invention, a delivery route can be efficiently set so as to avoid locations with low positioning accuracy during a time period when an item can be delivered. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of a schematic configuration of a delivery system S. [Diagram 2] A diagram showing an example of the general configuration of UAV1. [Diagram 3] FIG. 2 is a diagram illustrating an example of a schematic configuration of a delivery control server 2. [Figure 4] FIG. 2 is a diagram showing an example of functional blocks in a control unit 23. [Diagram 5] FIG. 11 is a conceptual diagram showing an image of a candidate route from a delivery base to a delivery destination from a horizontal perspective. [Figure 6] FIG. 11 is a conceptual diagram showing an image of a candidate route from a delivery base to a delivery destination, viewed from above. [Figure 7] FIG. 13 is a diagram showing an example of the capture number and DOP for a candidate route for each possible delivery time slot. [Figure 8] 10 is a flowchart showing an example of a delivery route setting process executed by a control unit 23 of the delivery control server 2 in the first embodiment. [Figure 9] FIG. 13 is a diagram showing a delivery time slot selection screen (example 1) displayed on the user terminal UT. [Figure 10] 13 is a flowchart showing an example of a delivery route setting process executed by a control unit 23 of the delivery control server 2 in the second embodiment. [Figure 11] FIG. 13 is a diagram showing a delivery time slot selection screen (example 2) displayed on the user terminal UT. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present invention will be described below with reference to the drawings. The embodiment described below is an embodiment in which the present invention is applied to a delivery system for delivering goods using a drone capable of receiving radio waves from a positioning satellite and moving autonomously. Note that in this embodiment, an unmanned aerial vehicle (hereinafter referred to as "UAV (Unmanned Aerial Vehicle)") will be described as an example of the drone. The UAV may be an unmanned flying robot.

[0012] [ 1. Overview of the configuration and operation of the distribution system S ] First, referring to FIG. 1, the configuration and operation of the delivery system S according to the present embodiment will be described. FIG. 1 is a diagram showing an example of the schematic configuration of the delivery system S. As shown in FIG. 1, the delivery system S includes a UAV 1 and a delivery control server 2 (an example of a delivery route setting device). The UAV 1 is also called a drone or a multicopter. In the example of FIG. 1, one UAV 1 is shown, but in reality, there are multiple UAVs 1. The delivery control server 2 is a server that controls and manages the delivery of items to be delivered as luggage (cargo). The UAV 1 and the delivery control server 2 are each connected to a communication network NW. The communication network NW is composed of, for example, the Internet, a mobile communication network, and its wireless base station. The delivery control server 2 is accessible by a user terminal UT via the communication network NW. The user terminal UT is a terminal (for example, a personal computer or a smartphone) used by a user who is a delivery requester.

[0013] The UAV1 is capable of flying autonomously in the air (an example of autonomous movement) from a distribution base of the goods to a destination. The distribution base is the source or intermediate point of the goods, and has, for example, a facility that handles the goods (for example, a store that sells goods). A facility for storing the goods (for example, a warehouse) may be installed at the distribution base. The delivery destination is a location selected (specified) by the user, and may be near an entrance / exit of a building (for example, the entrance of a detached house, or the first floor entrance of a collective housing such as an apartment building) or a rooftop of a building, but is not particularly limited thereto. The goods to be delivered are, for example, goods ordered by a user on an EC (Electronic commerce) site or the like. The goods to be delivered may be parcels delivered to a home.

[0014] The user can select the item to be delivered, the delivery base, and the delivery destination on a screen (e.g., a web page) displayed on the user terminal UT by accessing an EC site or the like from the user terminal UT. In addition, the user terminal UT can display available delivery time slots (candidates) provided by the delivery control server 2 in a selectable manner. This allows the user to select available delivery time slots (desired delivery time slots from the user's perspective). Here, the available delivery time slot is a time slot that includes the scheduled arrival time of the UAV1 carrying the item at the delivery destination. Alternatively, the available delivery time slot is a time slot that includes the scheduled time of the UAV1 arriving at the delivery destination and being able to hand over the item. The available delivery time slot may include the scheduled departure time of the UAV1 departing from the delivery base. The time may be expressed as a year, month, day, and hour (same below).

[0015] [ 1-1. UAV1 configuration and functions ] Next, the configuration and functions of the UAV 1 will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of a schematic configuration of the UAV 1. As shown in FIG. 2, the UAV 1 includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, a storage unit 15, and a control unit 16, and includes a battery (not shown) that supplies power to each of these units. As shown in FIG. 1, the UAV 1 includes a rotor (propeller) 1a that is a horizontal rotor, and a holding member 1b that holds one or more items to be loaded. The holding member 1b may hold a storage box that stores the items. The drive unit 11 includes a motor, a rotating shaft, and the like. The drive unit 11 rotates the multiple rotors 1a using the motor, the rotating shaft, and the like that are driven in accordance with a control signal output from the control unit 16.

[0016] The positioning unit 12 includes a radio receiver and the like. The positioning unit 12 receives radio waves transmitted from a positioning satellite of the Global Navigation Satellite System (GNSS) using a radio receiver, and detects the current position of the UAV1 based on the radio waves. The current position of the UAV1 may be represented by the latitude and longitude of the UAV1 (i.e., two-dimensional coordinates), or may be represented by the latitude, longitude, and altitude of the UAV1 (i.e., three-dimensional coordinates). The positioning satellite may include satellites used by multiple satellite positioning systems, such as a Global Positioning System (GPS) satellite, a Michibiki satellite, and a Galileo satellite. Position information indicating the current position detected by the positioning unit 12 is output to the control unit 16. The communication unit 13 includes a wireless communication function, and is responsible for controlling communication performed via a communication network NW.

[0017] The sensor unit 14 includes various sensors used for flight control of the UAV 1. The various sensors include, for example, an optical sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor, and a geomagnetic sensor. The optical sensor includes a camera (for example, an RGB camera or an infrared camera) and continuously captures images of the real space within the angle of view of the camera. The optical sensor may include a LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) sensor that measures the shape of features and the distance to the features. Sensing information detected by the sensor unit 14 is output to the control unit 16.

[0018] The storage unit 15 is composed of a non-volatile memory and stores various programs (program code groups) and data. The storage unit 15 also stores the aircraft ID of the UAV 1. The aircraft ID of the UAV 1 is identification information for identifying the UAV 1. The control unit 16 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and executes various controls according to the programs stored in the ROM (or the storage unit 15). The various controls include flight control (including takeoff control and landing control). In such flight control, the control unit 16 uses the position information acquired from the positioning unit 12 and the sensing information acquired from the sensor unit 14, and the like, to control the number of rotations of the rotor 1a, the position, attitude, and direction of travel of the UAV 1.

[0019] In addition, in the above flight control, delivery control information provided by the delivery control server 2 is used. The delivery control information includes, for example, a delivery route and a delivery schedule. The delivery route indicates a flight route from a delivery base to a delivery destination of the item to be delivered. The delivery route (in other words, each position on the delivery route) may be expressed by latitude and longitude, or may be expressed by latitude, longitude, and altitude. The delivery schedule includes, for example, a scheduled departure time when the UAV1 departs from the delivery base and a scheduled arrival time when the UAV1 arrives at the delivery destination, and may also include a scheduled passing time when the UAV1 passes through each position on the delivery route.

[0020] [ 1-2. Configuration and functions of the distribution control server 2 ] Next, the configuration and functions of the delivery control server 2 will be described with reference to FIG. 3. FIG. 3 is a diagram showing an example of a schematic configuration of the delivery control server 2. As shown in FIG. 3, the delivery control server 2 includes a communication unit 21, a storage unit 22, a control unit 23, and the like. The communication unit 21 is responsible for controlling communication performed via the communication network NW. This allows the delivery control server 2 to communicate with the UAV 1 and the user terminal UT. Furthermore, the delivery control server 2 is capable of communicating with a satellite orbit management server (not shown) that manages the orbits of a plurality of positioning satellites moving around the earth via the communication network NW. This allows the delivery control server 2 to receive orbit information indicating the orbits of the plurality of positioning satellites from the satellite orbit management server. The orbit information indicates the satellite position on the orbit of the positioning satellite and the time predicted, for example, 24 to 48 hours in advance. Such a satellite position is a satellite position at a future time, and is expressed, for example, by latitude, longitude, and altitude.

[0021] The storage unit 22 is composed of, for example, a hard disk drive, and stores various programs including an operating system and applications. Here, the applications include a program for executing a delivery route setting method. The storage unit 22 also stores map data of a delivery area including delivery bases and delivery destinations. The map data includes location information indicating the location of artificial objects such as buildings installed in the delivery area, and structure information indicating the structure of the artificial objects. The location of the artificial object may be expressed by latitude and longitude, or may be expressed by latitude, longitude, and altitude. The structure of the artificial object indicates, for example, the size (planar area) and height of the artificial object. The map data may include location information indicating the location of natural objects such as trees, mountains, and hills existing in the delivery area, and structure information indicating the structure of the natural objects.

[0022] Furthermore, in the memory unit 22, an item management database (DB) 221, a delivery management database (DB) 222, and an aircraft management database (DB) 223 are constructed. The item management database 221 is a database for managing information related to items. In the item management database 221, for example, an item ID (e.g., product ID), item information of an item, delivery base information of a delivery base that handles the item, and an inventory status of the item at the delivery base are stored (registered) in association with each item. Here, the item ID is identification information for identifying an item (e.g., a product). The item information includes the item name, specifications, price, etc. of the item to be delivered. The delivery base information indicates, for example, the address, latitude, and longitude of the delivery base (e.g., a facility).

[0023] The delivery management database 222 is a database for managing information related to deliveries. For example, the delivery management database 222 stores a delivery ID (e.g., an order ID), an item ID of an item selected by a user, delivery base information of a delivery base that handles the item, delivery destination information of a delivery destination selected by a user, a delivery route, a delivery schedule, and the like, in association with each delivery. Here, the delivery ID is identification information for identifying a delivery (e.g., an order). The delivery destination information indicates, for example, the address, latitude, and longitude of the delivery destination.

[0024] The aircraft management database 223 is a database for managing information related to the UAV 1. For example, the aircraft ID, delivery base information of the delivery base where the UAV 1 is deployed, the operation status of the UAV 1, and the available time period of the UAV 1 are stored in the aircraft management database 223 in association with each UAV 1. Here, the operation status of the UAV 1 indicates whether it is in operation (e.g., moving to prepare for delivery, being used for delivery, returning) or on standby, and is updated as appropriate. The available time period of the UAV 1 indicates the date and time period during which the UAV 1 can be used for delivery.

[0025] The control unit 23 includes a CPU, a ROM, and a RAM. The CPU may be a general-purpose processor, a special-purpose processor, or a processor including transistors and other integrated circuits (electrical circuits or electronic circuits). FIG. 4 is a diagram showing an example of a functional block in the control unit 23. The control unit 23 (CPU) functions as a delivery procedure request acceptance unit 231, a delivery possible time zone acquisition unit 232 (an example of a first acquisition unit), a presentation control unit 233, a candidate route identification unit 234 (an example of an identification unit), a satellite information acquisition unit 235 (an example of a second acquisition unit), and a delivery route setting unit 236 (an example of a setting unit) in accordance with a program (a group of program codes) stored in the ROM or the storage unit 22, as shown in FIG. 4.

[0026] The delivery procedure request receiving unit 231 receives a delivery procedure request indicating an item selected by the user as a delivery target on a screen displayed by an application (or browser) of the user terminal UT (hereinafter referred to as a "target item"), a delivery base, and a delivery destination from the user terminal UT via the communication network NW and the communication unit 21. The delivery procedure request includes, for example, an item ID of the target item, delivery base information, and delivery destination information. The control unit 23 may search the item management database 221 for a delivery base that handles the item selected by the user. In this case, the user does not need to select a delivery base.

[0027] The delivery time zone acquisition unit 232 acquires a delivery time zone for the target item to be delivered to the delivery destination by the UAV 1. For example, the delivery time zone acquisition unit 232 acquires a plurality of different delivery time zones, which are pre-classified, as time zone candidates selectable by the user. The width (length) of the delivery time zone can be set arbitrarily, and may be set to, for example, about two hours, or may be set to a shorter or longer time.

[0028] The presentation control unit 233 presents one or more available delivery time slots acquired by the available delivery time slot acquisition unit 232 to the user in a selectable manner. For example, the presentation control unit 233 transmits presentation information indicating the acquired one or more available delivery time slots to the user terminal UT, thereby causing the user terminal UT to display the available delivery time slots in a selectable manner. Then, the presentation control unit 233 receives selection information indicating the available delivery time slot selected by the user from the user terminal UT via the communication network NW and the communication unit 21. Note that the available delivery time slots acquired by the available delivery time slot acquisition unit 232 may be used for setting a delivery route without being presented to the user.

[0029] The candidate route specifying unit 234 specifies a plurality of candidate routes that are candidates for the delivery route from the delivery base to the delivery destination of the target item. For example, the candidate route specifying unit 234 may specify a plurality of candidate routes that lead from the delivery base to the delivery destination while avoiding man-made objects, etc., on a map represented by map data stored in the storage unit 22. Note that the candidate routes (in other words, each position on the candidate route) may be represented by latitude and longitude, or may be represented by latitude, longitude, and altitude.

[0030] 5 and 6 are conceptual diagrams showing the image of the candidate routes from the delivery base to the delivery destination. FIG. 5 depicts each of the candidate routes R1 to R4 from the side, while FIG. 6 depicts each of the candidate routes R1 to R4 from above. Table 1 in FIG. 5 and FIG. 6 shows the required time (required travel time) and total flight distance (required travel distance) of each of the candidate routes R1 to R4. Here, the candidate route R1 is the shortest route that passes between the buildings B, so the required time and total flight distance are the shortest. On the other hand, the candidate route R4 is a route that bypasses the building B, so the required time and total flight distance are the longest. On the other hand, the candidate routes R2 and R3 are not the shortest routes, but they bypass some of the buildings B, so the required time and total flight distance are longer than the candidate route R1 and shorter than the candidate route R4.

[0031] The satellite information acquisition unit 235 acquires satellite information related to positioning satellites that can be captured at each of a plurality of positions between the delivery base and the delivery destination of the target item during the available delivery time period acquired by the available delivery time period acquisition unit 232. When a plurality of available delivery time periods are acquired by the available delivery time period acquisition unit 232, the satellite information acquisition unit 235 acquires satellite information related to positioning satellites that can be captured at each of a plurality of positions between the delivery base and the delivery destination of the target item during each available delivery time period. The satellite information for each available delivery time period may be different from each other or may be the same.

[0032] Here, "during the delivery time period" may be any one of the delivery time periods (e.g., 10:00) or multiple delivery time periods (e.g., 9:00, 9:30, 10:00, 10:30, 10:59). When the candidate route is specified by the candidate route specification unit 234, the "multiple positions" may be multiple positions on the candidate route (e.g., on a line of a predetermined width representing the candidate route). However, when the candidate route is not specified, the "multiple positions" may be multiple positions set (e.g., randomly set) within the area between the delivery base and the delivery destination. In addition, each position may be represented by latitude and longitude (two-dimensional coordinates), or may be represented by latitude, longitude, and altitude (three-dimensional coordinates).

[0033] The satellite information on the positioning satellite includes, as an example, the number of captures of the positioning satellite that can be captured at the coordinates (hereinafter, simply referred to as the "capture number"). The higher the capture number, the higher the positioning accuracy. The capture number can be calculated by a capture number calculation algorithm that inputs the coordinates, orbit information (e.g., the satellite position at any time during the delivery possible time period) acquired from a satellite orbit management server, and data of artificial objects and / or natural objects (e.g., position information and structure information of artificial objects, etc.) present in the surrounding area of ​​the coordinates. In particular, in a situation where buildings (e.g., high-rise buildings) are built in a haphazard manner in an urban area, the calculation accuracy of the capture number can be improved by using data of buildings present in the surrounding area of ​​the coordinates. A program that specifies such a capture number calculation algorithm may be installed and executed in the control unit 23. In addition, a publicly known program may be applied to such a program. In addition, such a program may be configured by a learned model that inputs the coordinates, orbit information of the positioning satellite, and data of the artificial objects, and outputs the capture number.

[0034] In this way, the number of captures at any time during the delivery time slot at the above coordinates can be acquired as satellite information. Here, when the number of captures at each of any multiple arbitrary times during the delivery time slot is calculated, for example, the minimum value (or average value) of these capture numbers may be acquired as satellite information. Furthermore, a predetermined information collection device may collect the number of captures of positioning satellites actually captured by the positioning unit 12 during the flight of the UAV 1 (which may be a test flight), the position (two-dimensional coordinates or three-dimensional coordinates) at the time of capture, and the time. In this case, the set information of the number of captures and the position and time at the time of capture collected by the information collection device can be used by a program (e.g., a learned model) that specifies the capture number calculation algorithm. This can further improve the calculation accuracy of the capture number at the above coordinates.

[0035] The satellite information on the positioning satellite may include the dilution of positioning accuracy at the coordinates (hereinafter referred to as "DOP (Dilution of Precision)"). The DOP depends on the positioning satellite's arrangement (e.g., bias), and the smaller the DOP, the higher the positioning accuracy. The DOP can be calculated by substituting the altitude angle and direction angle of the positioning satellite at any time during the delivery possible time slot from the coordinates into a predetermined matrix. The altitude angle and direction angle of the positioning satellite can be calculated from the coordinates and orbit information (i.e., the satellite position at any time during the delivery possible time slot) acquired from the satellite orbit management server. When the DOP at each of any multiple arbitrary times during the delivery possible time slot is calculated, for example, the maximum value (or average value) of these DOPs may be acquired as the satellite information. In this case, data on artificial objects and / or natural objects present in the surrounding area of ​​the coordinates may also be used. In addition, DOP includes HDOP, which indicates the rate of decrease in positioning accuracy in the horizontal direction, and VDOP, which indicates the rate of decrease in positioning accuracy in the vertical direction, and both or either one of HDOP and VDOP is used. When both HDOP and VDOP are used, for example, the maximum value of HDOP and VDOP (or the average value of HDOP and VDOP) may be used as DOP.

[0036] Based on the acquired satellite information, the delivery route setting unit 236 sets a delivery route from the delivery base to the delivery destination so as to avoid positions with relatively low positioning accuracy in the acquired delivery possible time period (for example, the delivery possible time period selected by the user) among a plurality of positions between the delivery base and the delivery destination of the target item. Here, "setting so as to avoid" does not necessarily mean setting so as to avoid the position reliably, but may mean setting so as to avoid the position as much as possible. In addition, a position with relatively low positioning accuracy is, for example, a position where the number of captures is less than a first threshold (for example, 5) (is expected to be so). Alternatively, a position with relatively low positioning accuracy may be a position where the DOP is greater than a second threshold (for example, 3). Alternatively, a position with relatively low positioning accuracy may be a position where the number of captures is less than the first threshold and the DOP is greater than the second threshold. The first threshold and the second threshold are set in advance by a system administrator or the like.

[0037] The delivery route setting unit 236 may set a delivery route that passes through a position having a relatively high (e.g., highest) positioning accuracy in the delivery possible time zone among the plurality of positions based on the satellite information, for example. In this case, the delivery route setting unit 236 may set a delivery route that passes through a position where the capture number is equal to or greater than a first threshold. This allows the delivery route to be set efficiently so as to avoid positions with low positioning accuracy with higher accuracy in the delivery possible time zone of the target item. Alternatively, the delivery route setting unit 236 may set a delivery route that passes through a position where the DOP is equal to or less than a second threshold. This also allows the delivery route to be set efficiently so as to avoid positions with low positioning accuracy with higher accuracy in the delivery possible time zone of the target item. Alternatively, the delivery route setting unit 236 may set a delivery route that passes through a position where the capture number is equal to or greater than the first threshold and a position where the DOP is equal to or less than a second threshold. This allows the delivery route to be set efficiently so as to avoid positions with low positioning accuracy with higher accuracy in the delivery possible time zone of the target item.

[0038] In addition, the delivery route setting unit 236 may set a delivery route that passes through a position where the required time or total flight distance from the delivery base of the target item to the delivery destination is relatively short, rather than passing through a position where the positioning accuracy is relatively high during the delivery possible time period. This makes it possible to efficiently set a delivery route that can deliver the target item to the delivery destination more quickly while avoiding positions where the positioning accuracy is low during the delivery possible time period of the target item. In addition, it is possible to efficiently set a delivery route that can reduce (save) the power consumption of the battery of the UAV1 while avoiding positions where the positioning accuracy is low during the delivery possible time period of the target item. For example, if the required time of the delivery route R10 that passes through a position where the capture number is "4" is 5 minutes and the required time of the delivery route R11 that passes through a position where the capture number is "6" is 15 minutes, the delivery route R11 is set from the viewpoint of high positioning accuracy, but the delivery route R10 that has the relatively short required time is determined preferentially. Such a process may be performed, in particular, when the delivery route R11 is a detour, when the delivery route R11 is too detour and cannot be delivered within the delivery time slot, or when there is not enough time. Here, whether the delivery route R11 is a detour may be determined, for example, by whether the distance difference or time difference between the delivery route R11 and other delivery routes is equal to or greater than a predetermined value (that is, if the distance difference or time difference is equal to or greater than a predetermined value, it is determined to be a detour). In addition, the remaining battery charge of the UAV1 may be taken into consideration when determining whether the delivery route R11 is a detour. For example, even if the distance difference or time difference is equal to or greater than a predetermined value, if the remaining battery charge of the UAV1 is equal to or greater than a predetermined amount, it is determined not to be a detour.

[0039] Furthermore, when multiple candidate routes are identified by the candidate route identification unit 234, the delivery route setting unit 236 sets, as a delivery route, a candidate route among the multiple candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery possible time period, based on satellite information acquired at each of multiple positions on the identified candidate route (hereinafter referred to as "satellite information of the candidate route"). This allows the delivery route to be set more quickly so as to avoid positions with low positioning accuracy during the delivery possible time period of the target item. Here, a candidate route whose positioning accuracy satisfies a predetermined condition is, for example, a candidate route that passes through multiple positions where the capture number is equal to or greater than a first threshold. Alternatively, a candidate route whose positioning accuracy satisfies a predetermined condition may be a candidate route that passes through multiple positions where the DOP is equal to or less than a second threshold. Note that a candidate route whose positioning accuracy satisfies a predetermined condition corresponds to a candidate route that does not pass through positions where the positioning accuracy is relatively low.

[0040] Furthermore, when there are multiple candidate routes among the multiple candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time period, the delivery route setting unit 236 may set the candidate route that passes through a position with the highest positioning accuracy among the multiple candidate routes as the delivery route. This makes it possible to set the delivery route so as to more accurately avoid candidate routes that pass through positions with low positioning accuracy during the delivery time period of the target item. Here, the position with the highest positioning accuracy among the multiple candidate routes is, for example, the position with the highest capture number or the position with the lowest DOP.

[0041] Alternatively, the delivery route setting unit 236 may set, as a delivery route, a candidate route that passes through more positions with a positioning accuracy higher than a reference value among the plurality of candidate routes. This also makes it possible to set a delivery route so as to more accurately avoid candidate routes that pass through positions with low positioning accuracy during the delivery possible time period of the target item. Here, a position with a positioning accuracy higher than the reference value is, for example, a position where the capture number is higher than a third threshold (e.g., 6) that is higher than a first threshold (e.g., 5), or a position where the DOP is lower than a fourth threshold (e.g., 2) that is lower than a second threshold (e.g., 3). Note that the third threshold and the fourth threshold are set in advance by a system administrator or the like. In addition, the delivery route setting unit 236 may estimate the delivery completion time of the target item to the delivery destination for each candidate route, and set a delivery route by excluding a candidate route where the delivery completion time is not included in the delivery possible time period (i.e., the target item does not arrive within the delivery possible time period) among the plurality of candidate routes. As a result, even if a candidate route has a relatively high positioning accuracy, if the candidate route is too detoured, the candidate route can be excluded from the delivery route.

[0042] Furthermore, the delivery route setting unit 236 may determine whether or not there is a candidate route whose positioning accuracy satisfies a predetermined condition for each available delivery time slot, based on the satellite information of the candidate route, before the available delivery time slots are presented to the user by the presentation control unit 233. In this case, the presentation control unit 233 performs control (selection exclusion control) so that the user cannot select the available delivery time slot for which it is determined that there is no candidate route whose positioning accuracy satisfies the predetermined condition. This allows the delivery route to be set efficiently so as to avoid positions with low positioning accuracy during the available delivery time slot of the target item. In this case, the delivery route setting unit 236 sets a delivery route for the available delivery time slot selected by the user from the available delivery time slots other than the available delivery time slots to be selected and excluded. For example, the presentation control unit 233 performs selection exclusion control by not including the available delivery time slots to be selected and excluded in the presented information. Alternatively, the presentation control unit 233 may perform selection exclusion control by including the available delivery time slots to be selected and information indicating that the available delivery time slots to be selected and excluded are not selectable (for example, by graying out the selection button) in the presented information.

[0043] FIG. 7 is a diagram showing an example of the number of captures and DOP on the candidate route for each delivery possible time slot. Here, the number of captures on the candidate route is, for example, the minimum value (or may be the average value) of the number of captures acquired at each of the multiple positions on the candidate route. The DOP on the candidate route is, for example, the maximum value (or may be the average value) of the DOP acquired at each of the multiple positions on the candidate route. In the example of FIG. 7, the number of captures and DOP on each of the candidate routes R1 to R4 are shown for each delivery possible time slot. When it is determined whether there is a candidate route whose positioning accuracy satisfies a predetermined condition based on the number of captures on the candidate route and the first threshold is set to "5", in the delivery possible time slot "9:00 to 10:59", the number of captures on all of the candidate routes R1 to R4 is less than the first threshold, so it is determined that there is no candidate route whose positioning accuracy satisfies the predetermined condition. On the other hand, in the deliverable time slot "11:00 to 12:59", the number of captures for each of the candidate routes R2 to R4 is equal to or greater than the first threshold, so it is determined that there is a candidate route whose positioning accuracy satisfies the predetermined condition.

[0044] In addition, in FIG. 7, when determining whether or not there is a candidate route based on the DOP of the candidate route, when the second threshold is set to "3", in the delivery possible time slot "9:00-10:59", since the DOP of the candidate route R4 is equal to or less than the second threshold, it is determined that there is a candidate route whose positioning accuracy satisfies the predetermined condition. On the other hand, in the delivery possible time slot "11:00-12:59", since all the DOPs of the candidate routes R1-R4 are greater than the second threshold, it is determined that there is no candidate route whose positioning accuracy satisfies the predetermined condition. It may also be determined whether or not there is a candidate route whose positioning accuracy satisfies the predetermined condition based on the combination of the number of captures and the DOP on the candidate route. In this case, for example, a candidate route whose number of captures is equal to or more than the first threshold and whose DOP is equal to or less than the second threshold is determined to be a candidate route whose positioning accuracy satisfies the predetermined condition.

[0045] [ 2. Operation of the distribution system S ] Next, the operation of the delivery system S according to this embodiment will be described in two parts: Example 1 and Example 2. In Example 1 and Example 2, a delivery procedure request indicating a target item, a delivery base, a delivery destination, and the like selected by a user on a screen displayed on the user terminal UT is transmitted to the delivery control server 2.

[0046] Example 1 First, the operation of the delivery system S according to the first embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of a delivery route setting process executed by the control unit 23 of the delivery control server 2 in the first embodiment. The process shown in Fig. 8 is started, for example, when a delivery procedure request from a user terminal UT is accepted by the delivery request acceptance unit 231. When the process shown in Fig. 8 is started, the control unit 23 acquires the item ID, delivery base information, and delivery destination information of the target item from the delivery procedure request (step S1). The item ID, delivery base information, and delivery destination information acquired in this way are used in the following process.

[0047] Next, the control unit 23 (available delivery time slot acquisition unit 232) acquires multiple available delivery time slots (candidates) for the target item (step S2). At this time, the available delivery time slot acquisition unit 232 may determine the available delivery time slot during which the UAV1 can be used based on the usage status and available time slot of the UAV1 deployed at the delivery base. Next, the control unit 23 (presentation control unit 233) transmits presentation information indicating the multiple available delivery time slots acquired in step S2 to the user terminal UT via the communication unit 21 (step S3). As a result, the available delivery time slots are displayed on the user terminal UT so that they can be selected.

[0048] FIG. 9 is a diagram showing a delivery time slot selection screen (example 1) displayed on the user terminal UT. The delivery time slot selection screen (example 1) shown in FIG. 9 displays "7:00-8:59", "9:00-10:59", "11:00-12:59", "13:00-14:59", and "15:00-16:59" as delivery time slots (desired delivery time slots from the user's perspective). For example, when the "Select" button B1 associated with "9:00-10:59" is selected by the user, the button B1 changes to "Selected". Then, selection information indicating the delivery time slot selected by the user is transmitted from the user terminal UT to the delivery control server 2. Such selection information may include an item ID. Note that "7:00-8:59" shown in FIG. 9 cannot be selected because acceptance has been closed.

[0049] Next, when the communication unit 21 receives the selection information from the user terminal UT (step S4), the control unit 23 (candidate route identification unit 234) identifies a plurality of candidate routes that are candidates for the delivery route from the delivery base of the target item to the delivery destination as described above (step S5). At this time, the candidate route identification unit 234 may calculate (estimate) the required time or total flight distance from the delivery base of the target item to the delivery destination. Next, the control unit 23 (satellite information acquisition unit 235) acquires satellite information for each candidate route identified in step S5 during the delivery possible time period indicated by the selection information received in step S4 (step S6). Such satellite information includes both or either of the capture number and DOP calculated as described above.

[0050] Next, the control unit 23 (delivery route setting unit 236) sets, as a delivery route, a candidate route whose positioning accuracy satisfies a predetermined condition so as to avoid positions whose positioning accuracy is relatively low during the delivery possible time period among the multiple candidate routes based on the satellite information acquired in step S6 (i.e., satellite information for each candidate route) (step S7). For example, the delivery route setting unit 236 sets, as a delivery route, a candidate route that passes through multiple positions where the number of captures included in the satellite information is equal to or greater than a first threshold value (e.g., 5), or a candidate route that passes through multiple positions where the DOP included in the satellite information is equal to or less than a second threshold value (e.g., 3). Alternatively, the delivery route setting unit 236 may set, as a delivery route, a candidate route that passes through the most positions where the number of captures included in the satellite information is higher than a third threshold value (e.g., 6) that is greater than the first threshold value (e.g., 5), or a position where the DOP is lower than a fourth threshold value (e.g., 2) that is smaller than the second threshold value (e.g., 3).

[0051] In addition, when a plurality of candidate routes whose positioning accuracy satisfies a predetermined condition are identified, the delivery route setting unit 236 may compare the required time or total flight distance of these candidate routes. In this case, the delivery route setting unit 236 sets the candidate route whose required time or total flight distance is the shortest among the compared candidate routes as the delivery route. This allows a candidate route whose required time or total flight distance is relatively short to be set preferentially rather than passing through a position whose positioning accuracy is relatively high. Note that the process of giving priority to a candidate route whose required time or total flight distance is relatively short may be performed only when the difference between the number of captures or DOP of each of the compared candidate routes is small (for example, is equal to or less than a threshold value (for example, 1)).

[0052] As another example, when multiple candidate routes whose positioning accuracy meets a predetermined condition are identified, the delivery route setting unit 236 may estimate the delivery completion time of the target item to the delivery destination (e.g., the estimated time when the target item is provided to the recipient) for each candidate route. In this case, the delivery route setting unit 236 sets a delivery route by excluding, from among the multiple candidate routes, a candidate route whose delivery completion time is not included in the available delivery time slot. Alternatively, the delivery route setting unit 236 may set a delivery route by excluding, from among the multiple candidate routes, a candidate route whose time difference between the delivery completion time and the end point of the available delivery time slot is small and there is no time margin (e.g., the time difference is 5 minutes or less).

[0053] Next, the control unit 23 (delivery route setting unit 236) determines a delivery schedule including the scheduled departure time of the UAV1 determined as the drone that will deliver the target item and the scheduled arrival time of the UAV1 (step S8), and ends the process shown in Fig. 8. When the delivery schedule is determined in this manner, a delivery ID is assigned to the item ID of the target item, the delivery base information, the delivery destination information, the delivery route, the delivery schedule, etc., and they are registered in the delivery management database 222. Then, delivery control information including the above-mentioned set delivery route, the delivery schedule, etc. is transmitted from the delivery control server 2 to the UAV1. As a result, when the scheduled departure time of the UAV1 arrives, the UAV1 holding the target item departs (starts flying) from the delivery base.

[0054] Example 2 Next, the operation of the delivery system S according to the second embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of a delivery route setting process executed by the control unit 23 of the delivery control server 2 in the second embodiment. The process shown in Fig. 10 is started, for example, when a delivery procedure request from a user terminal UT is accepted by the delivery request acceptance unit 231. When the process shown in Fig. 10 is started, the control unit 23 acquires the item ID of the target item, delivery base information, and delivery destination information from the delivery procedure request, similar to step S1 (step S11).

[0055] Next, the control unit 23 (delivery time slot acquisition unit 232) acquires multiple delivery time slots for the target item, similar to step S2 (step S12). Next, the control unit 23 (candidate route identification unit 234) identifies multiple candidate routes that are candidates for the delivery route from the delivery base of the target item to the delivery destination, similar to step S5 (step S13). Next, the control unit 23 selects one delivery time slot from the multiple delivery time slots acquired in step S12 (step S14).

[0056] Next, the control unit 23 (satellite information acquisition unit 235) acquires satellite information for each of the candidate routes identified in step S13 during the delivery time slot selected in step S14 (step S15). Next, the control unit 23 (delivery route setting unit 236) determines whether the multiple candidate routes include one or more candidate routes whose positioning accuracy satisfies a predetermined condition based on the satellite information for each candidate route acquired in step S15 (step S16).

[0057] For example, it is determined whether the multiple candidate routes include one or more candidate routes whose acquisition number is equal to or greater than a first threshold, or whose DOP is equal to or less than a second threshold. Alternatively, it is determined whether the multiple candidate routes include one or more candidate routes whose acquisition number is equal to or greater than a first threshold and whose DOP is equal to or less than a second threshold. If it is determined that the multiple candidate routes include one or more candidate routes whose positioning accuracy satisfies a predetermined condition (step S16: YES), the process proceeds to step S18. On the other hand, if it is determined that the multiple candidate routes do not include a candidate route whose positioning accuracy satisfies a predetermined condition (step S16: NO), the delivery possible time slot selected in step S14 is stored as a selection exclusion target (step S17), and the process proceeds to step S18.

[0058] In step S18, the control unit 23 determines whether or not there is an available delivery time slot that has not yet been selected among the multiple available delivery time slots acquired in step S12. If it is determined that there is an available delivery time slot that has not yet been selected (step S18: YES), the process returns to step S14, where one available delivery time slot that has not yet been selected is selected from the multiple available delivery time slots, and the above process is repeated. On the other hand, if it is determined that there is no available delivery time slot that has not yet been selected (step S18: NO), the process proceeds to step S19.

[0059] In step S19, the control unit 23 (presentation control unit 233) transmits presentation information indicating the multiple available delivery time slots acquired in step S12 to the user terminal UT via the communication unit 21. If any available delivery time slots to be excluded from selection are stored in step S17, the presentation information indicates the available delivery time slots to be excluded from selection. As a result, available delivery time slots other than those to be excluded from selection are displayed on the user terminal UT so that they can be selected.

[0060] FIG. 11 is a diagram showing a delivery time slot selection screen (example 2) displayed on the user terminal UT. The delivery time slot selection screen (example 2) shown in FIG. 11 displays the following delivery time slots: "7:00-8:59", "9:00-10:59", "11:00-12:59", "13:00-14:59", and "15:00-16:59". Among these, "9:00-10:59" is a delivery time slot that cannot be selected, and the "Select" button B2 is grayed out so that the user cannot select it. Note that delivery time slots that cannot be selected may be configured not to be displayed on the delivery time slot selection screen (example 2). Then, selection information indicating the delivery time slot selected by the user is transmitted from the user terminal UT to the delivery control server 2. Note that "7:00-8:59" shown in FIG. 11 cannot be selected because acceptance has been closed.

[0061] When the communication unit 21 receives the selection information from the user terminal UT (step S20), the control unit 23 (candidate route identification unit 234) sets, as a delivery route, a candidate route whose positioning accuracy satisfies a predetermined condition from among the multiple candidate routes, in accordance with the processing result in step S16 so as to avoid positions with relatively low positioning accuracy in the delivery possible time period selected by the user (step S21). Next, the control unit 23 (delivery route setting unit 236) determines a delivery schedule including the scheduled departure time of the UAV1 determined as the drone that delivers the target item and the scheduled arrival time of the UAV1 (step S22), and ends the processing shown in FIG. 10. The subsequent processing is the same as that of the first embodiment.

[0062] As described above, according to the above embodiment, the delivery control server 2 acquires the delivery time period of the target item to be delivered to the delivery destination by the UAV1, acquires satellite information on the positioning satellite that can be captured at each of the multiple positions between the delivery base of the target item and the delivery destination during the delivery time period, and sets a delivery route based on the satellite information so as to avoid positions with relatively low positioning accuracy during the delivery time period among the multiple positions in the area between the delivery base of the target item and the delivery destination. By configuring in this way, it is possible to efficiently set a delivery route so as to avoid positions with low positioning accuracy during the delivery time period of the target item, and thus it is possible to prevent unexpected situations and delivery delays of the target item due to the UAV1 flying in an unexpected direction or stopping on the spot due to insufficient capture of the positioning satellite. In particular, in urban areas where buildings (high-rise buildings) are crowded together, it is expected that the number of positioning satellites captured will be relatively low (or the DOP will be relatively high) depending on the flight time and flight position of UAV1. However, even in such cases, according to the above embodiment, it is possible to more effectively prevent unexpected situations and delays in delivery of the target items.

[0063] The above embodiment is an embodiment of the present invention, and the present invention is not limited to the above embodiment. Various configurations and the like may be modified from the above embodiment without departing from the gist of the present invention, and such modifications are also included in the technical scope of the present invention. In the above embodiment, in a case where a candidate route is not specified, the delivery control server 2 may set a delivery route by sequentially tracing a plurality of positions where the capture number is equal to or greater than a first threshold and / or a plurality of positions where the DOP is equal to or less than a second threshold from the delivery base to the delivery destination. In the above embodiment, the capture number and DOP of the positioning satellites are described as examples of parameters related to positioning accuracy, but the delivery route may be configured to avoid positions where the positioning accuracy is relatively low during a delivery possible time period based on other parameters related to positioning accuracy. In the above embodiment, a UAV is described as an example of an unmanned aircraft, but the present invention is also applicable to an unmanned ground vehicle (UGV) that can run autonomously on the ground without a human.

[0064] <Additional Notes> [1] A delivery route setting device according to the present disclosure is characterized by comprising: a first acquisition unit that acquires a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of autonomously moving by receiving radio waves from a positioning satellite; a second acquisition unit that acquires satellite information related to a positioning satellite that can be captured at each of a plurality of positions between a delivery base of the item and the delivery destination during the delivery time period; and a setting unit that sets a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time period. This makes it possible to efficiently set a delivery route so as to avoid positions with low positioning accuracy during the delivery time period for the item.

[0065] [2] In the delivery route setting device described in [1] above, the setting unit sets the delivery route to pass through a location among the plurality of locations that has a relatively high positioning accuracy during the delivery time period based on the satellite information. This makes it possible to efficiently set the delivery route so as to more accurately avoid locations with low positioning accuracy during the delivery time period of the item.

[0066] [3] In the delivery route setting device described in [2] above, the satellite information includes the number of captures of positioning satellites that can be captured at each of the locations, and the setting unit sets the delivery route to pass through a location where the number of captures is equal to or greater than a first threshold. This makes it possible to efficiently set a delivery route to more accurately avoid locations with low positioning accuracy during a time period when the item can be delivered.

[0067] [4] In the delivery route setting device described in [2] above, the satellite information includes a rate of decrease in positioning accuracy at each of the locations, and the setting unit sets the delivery route to pass through locations where the rate of decrease is equal to or less than a second threshold. This makes it possible to efficiently set a delivery route to more accurately avoid locations with low positioning accuracy during a time period when the item can be delivered.

[0068] [5] In the delivery route setting device described in [2] above, the satellite information includes the number of captured positioning satellites that can be captured at each of the locations and a rate of decline in positioning accuracy at each of the locations, and the setting unit sets the delivery route to pass through a location where the number of captured satellites is equal to or greater than a first threshold and where the rate of decline is equal to or less than a second threshold. This makes it possible to efficiently set a delivery route to more accurately avoid locations with low positioning accuracy during a time period when the item can be delivered.

[0069] [6] In the delivery route setting device described in any one of [2] to [5] above, the setting unit is characterized in that it sets the delivery route by giving priority to passing through positions where the required travel time or required travel distance from the delivery base to the delivery destination is relatively short, rather than passing through positions where the positioning accuracy is relatively high during the delivery possible time period. This makes it possible to efficiently set a delivery route that can deliver the item to the delivery destination more quickly while avoiding positions where the positioning accuracy is low during the delivery possible time period of the item.

[0070] [7] The delivery route setting device according to any one of [1] to [6] above further comprises a specifying unit that specifies one or more candidate routes that are candidates for the delivery route, and a presentation control unit that controls the presentation of a selectable number of different delivery time slots to the delivery requester of the item, wherein the second acquisition unit acquires satellite information on a positioning satellite that can be captured at each of the multiple positions on the candidate route during each of the delivery time slots, the setting unit determines whether or not there is a candidate route whose positioning accuracy satisfies a predetermined condition for each of the delivery time slots based on the satellite information, the presentation control unit controls the delivery requester not to select the delivery time slot for which it is determined that there is no candidate route whose positioning accuracy satisfies the predetermined condition, and the setting unit sets the delivery route for the delivery time slot selected by the delivery requester from the delivery time slots presented by the presentation control unit. This allows the delivery route to be set efficiently so as to avoid locations with low positioning accuracy during the delivery time slot of the item.

[0071] [8] The delivery route setting device according to any one of [1] to [7] above, further comprising an identifying unit that identifies a plurality of candidate routes that are candidates for the delivery route, wherein the second acquiring unit acquires, for each of the candidate routes, satellite information related to a positioning satellite that can be captured at each of the plurality of positions on the candidate route during the delivery time slot, and the setting unit sets, as the delivery route, the candidate route among the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time slot based on the satellite information. This makes it possible to more quickly set a delivery route so as to avoid positions with low positioning accuracy during the delivery time slot of the item.

[0072] [9] In the delivery route setting device described in [8] above, the setting unit is characterized in that, when there are a plurality of candidate routes among the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time period, the setting unit sets the candidate route among the plurality of candidate routes that passes through a position with the highest positioning accuracy as the delivery route. This makes it possible to set a delivery route that more accurately avoids candidate routes that pass through positions with low positioning accuracy during the delivery time period of the item.

[0073]

[10] In the delivery route setting device described in [8] or [9] above, when there are a plurality of candidate routes among the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time period, the setting unit sets the candidate route among the plurality of candidate routes that passes through more positions whose positioning accuracy is higher than a reference value as the delivery route. This makes it possible to set a delivery route that more accurately avoids candidate routes that pass through positions whose positioning accuracy is low during the delivery time period of the item.

[0074]

[11] In the delivery route setting device described in any one of [8] to

[10] above, the setting unit estimates a delivery completion time to the delivery destination for each of the candidate routes, and sets the delivery route by excluding a candidate route whose delivery completion time is not included in the delivery available time slot among the plurality of candidate routes. In this way, even if a candidate route has a relatively high positioning accuracy, the candidate route can be excluded from the delivery route if it is too detour.

[0075]

[12] A delivery route setting method according to the present disclosure is a delivery route setting method executed by a computer, comprising the steps of: acquiring a delivery time slot for an item to be delivered to a delivery destination by an unmanned vehicle capable of autonomously moving by receiving radio waves from a positioning satellite; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between a delivery base for the item and the delivery destination during the delivery time slot; and setting a delivery route from the delivery base to the delivery destination based on the satellite information, so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time slot.

[0076]

[13] The program disclosed herein is characterized in that it causes a computer to execute the steps of: acquiring a delivery time slot for an item to be delivered to a destination by an unmanned vehicle capable of autonomously moving by receiving radio waves from a positioning satellite; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between a delivery base for the item and the delivery destination during the delivery time slot; and setting a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have relatively low positioning accuracy during the delivery time slot. [Explanation of symbols]

[0077] 1 UAV 2. Delivery control server 11 Drive unit 12 Positioning unit 13. Communications Department 14 Sensor section 15 Storage section 16 Control section 21 Communications Department 22 Memory section 23 Control Unit 231 Delivery Procedure Request Reception Department 232 Delivery time zone acquisition section 233 Presentation control unit 234 Candidate Route Identification Section 235 Satellite information acquisition section 236 Delivery Route Setting Section UT User Terminal S Delivery System NW Communication network

Claims

1. a first acquisition unit that acquires a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle that is capable of autonomously moving by receiving radio waves from a positioning satellite; a second acquisition unit that acquires satellite information regarding a positioning satellite that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery possible time period; a setting unit that sets a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid positions among the plurality of positions that have a relatively low positioning accuracy during the delivery possible time period; A delivery route setting device comprising:

2. 2. The delivery route setting device according to claim 1, wherein the setting unit sets the delivery route so as to pass through a location among the plurality of locations that has a relatively high positioning accuracy during the delivery time period, based on the satellite information.

3. The satellite information includes a number of positioning satellites that can be captured at each of the positions, 3. The delivery route setting device according to claim 2, wherein the setting unit sets the delivery route so as to pass through a position where the capture number is equal to or greater than a first threshold value.

4. the satellite information includes a rate of decrease in positioning accuracy at each of the positions; 3. The delivery route setting device according to claim 2, wherein the setting unit sets the delivery route so as to pass through a position where the rate of decrease is equal to or less than a second threshold value.

5. The satellite information includes a number of positioning satellites that can be captured at each of the positions and a rate of decrease in positioning accuracy at each of the positions; The delivery route setting device according to claim 2, characterized in that the setting unit sets the delivery route so as to pass through a position where the capture number is equal to or greater than a first threshold value and where the rate of decline is equal to or less than a second threshold value.

6. 3. The delivery route setting device according to claim 2, wherein the setting unit prioritizes setting the delivery route that passes through positions where a required travel time or a required travel distance from the delivery base to the delivery destination is relatively short, rather than passing through positions where a positioning accuracy is relatively high during the delivery time slot.

7. An identification unit that identifies one or more candidate routes that are candidates for the delivery route; a presentation control unit that controls the presentation of a plurality of different available delivery time periods to a delivery requester of the item in a selectable manner; Further comprising: The second acquisition unit acquires satellite information regarding a positioning satellite that can be captured at each of the plurality of positions on the candidate route during each of the delivery possible time slots, The setting unit determines, for each of the delivery possible time slots, whether or not there is a candidate route whose positioning accuracy satisfies a predetermined condition, based on the satellite information; The presentation control unit performs control so that the delivery requester cannot select the possible delivery time slot for which it is determined that there is no candidate route for which the positioning accuracy satisfies a predetermined condition, 2. The delivery route setting device according to claim 1, wherein the setting unit sets the delivery route for the available delivery time slot selected by the delivery sender from the available delivery time slots presented by the presentation control unit.

8. A specification unit that specifies a plurality of candidate routes that are candidates for the delivery route, The second acquisition unit acquires, for each of the candidate routes, satellite information regarding a positioning satellite that can be captured at each of the multiple positions on the candidate routes during the delivery possible time period; 2. The delivery route setting device according to claim 1, wherein the setting unit sets, as the delivery route, one of the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time zone based on the satellite information.

9. 9. The delivery route setting device according to claim 8, wherein, when there are a plurality of candidate routes among the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time period, the setting unit sets, as the delivery route, the candidate route among the plurality of candidate routes that passes through a position with the highest positioning accuracy.

10. 9. The delivery route setting device according to claim 8, wherein, when there are a plurality of candidate routes among the plurality of candidate routes whose positioning accuracy satisfies a predetermined condition during the delivery time slot, the setting unit sets as the delivery route the candidate route among the plurality of candidate routes that passes through a greater number of positions whose positioning accuracy is higher than a reference value.

11. 9. The delivery route setting device according to claim 8, wherein the setting unit estimates a delivery completion time to the delivery destination for each of the candidate routes, and sets the delivery route by excluding, from among the plurality of candidate routes, a candidate route whose delivery completion time is not included in the delivery available time slot.

12. A computer-implemented method for setting a delivery route, comprising the steps of: A step of acquiring a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of autonomously moving by receiving radio waves from a positioning satellite; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery time period; setting a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid locations among the plurality of locations having relatively low positioning accuracy during the delivery time period; A method for setting a delivery route, comprising:

13. A step of acquiring a delivery time period for an item to be delivered to a delivery destination by an unmanned vehicle capable of autonomously moving by receiving radio waves from a positioning satellite; acquiring satellite information regarding positioning satellites that can be captured at each of a plurality of positions between the delivery base of the item and the delivery destination during the delivery time period; setting a delivery route from the delivery base to the delivery destination based on the satellite information so as to avoid locations among the plurality of locations having relatively low positioning accuracy during the delivery time period; A program characterized by causing a computer to execute the above.

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