Delivery system

Abstract

To provide a delivery system that enables coordinated operation of multiple autonomous mobile bodies and achieves efficient delivery.SOLUTION: A delivery system that controls a first autonomous mobile body and a second autonomous mobile body being coordinated in delivery and performs delivery, comprises: autonomous mobile body control means for issuing control instructions to the first autonomous mobile body and the second autonomous mobile body; and unique identifier conversion means for converting and storing spatial information, which is information about the state and time of an object existing in a space defined by an arbitrary reference system indicating a position in three-dimensional space, into a format that can be identified using a unique identifier. The unique identifier conversion means stores information indicating whether the space is a multiple object presence permitted space that permits the presence of multiple objects in association with the unique identifier. The autonomous mobile body control means controls the first autonomous mobile body and the second autonomous mobile body to coordinate delivery in the multiple object presence permitted space.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to delivery systems. [Background technology]

[0002] When it comes to delivering packages, methods such as using unmanned aerial vehicles like drones and autonomous mobile vehicles such as small robots within specific premises are being considered.

[0003] Technologies have been proposed to allow these unmanned aerial vehicles and autonomous mobile bodies to operate while avoiding collisions with each other and obstacles. For example, a technology has been proposed that utilizes a system in which a virtual space is defined corresponding to a real space including the range of movement of the mobile bodies, and the virtual space is divided into multiple areas of a predetermined three-dimensional shape and managed. Patent Document 1 proposes a technology for changing the movement path of each mobile body when the movement path of each mobile body includes the same divided area during the same time period. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7138758 Summary of the Invention [Problem to be solved by the invention]

[0005] In the delivery of packages, in order to efficiently deliver packages to a destination depending on the layout of buildings, etc., it has been considered to transport packages from the delivery source to a predetermined location using an autonomous mobile vehicle that travels on the ground. Furthermore, a coordinated delivery system has been considered in which packages are transferred from the autonomous mobile vehicle to an unmanned aerial vehicle such as a drone at a predetermined location, and then transported to the destination by the unmanned aerial vehicle. However, in a system such as that described in Patent Document 1, it is not possible to have multiple mobile vehicles at a predetermined location for transferring delivery items. Consequently, it is not possible to build a coordinated delivery system for efficient delivery.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a delivery system that enables coordinated operation of multiple autonomous mobile bodies to achieve efficient delivery. [Means for solving the problem]

[0007] One embodiment of the present invention provides a delivery system that controls a first autonomous mobile body and a second autonomous mobile body that coordinate delivery to perform delivery, and includes an autonomous mobile body control means that issues control instructions to the first autonomous mobile body and the second autonomous mobile body, and a unique identifier conversion means that converts and stores spatial information, which is information regarding the state and time of objects existing in a space defined by an arbitrary reference system that indicates a position in three-dimensional space, into a format that can be identified using a unique identifier, wherein the unique identifier conversion means stores whether or not the space is a multiple object presence permitted space that permits the presence of multiple objects, linked to the unique identifier, and the autonomous mobile body control means controls the first autonomous mobile body and the second autonomous mobile body to coordinate delivery in the multiple object presence permitted space. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a delivery system that enables coordinated operation of multiple autonomous moving bodies and realizes efficient delivery. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the overall configuration of a delivery system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a functional block diagram showing an example of the configuration of the delivery system in FIG. [Figure 3] FIG. 2 is a functional block diagram showing an example of the configuration of the delivery system in FIG. [Figure 4] 1 is a perspective view showing an example of the configuration of an autonomous moving body 12 according to a first embodiment. [Figure 5] 1 is a perspective view showing an example of the configuration of an autonomous moving body 17 according to the first embodiment. [Figure 6]1A and 1B are diagrams illustrating a three-dimensional map used by an autonomous moving body according to an embodiment. [Figure 7] FIG. 7(A) is a diagram showing latitude / longitude information of the earth, and FIG. 7(B) is a perspective view showing a predetermined space 100 of FIG. 7(A). [Figure 8] 1 is a diagram showing a schematic diagram of spatial information within a space 100. FIG. [Figure 9] FIG. 2 is a diagram showing a space according to the first embodiment. [Figure 10] 10 is a flowchart showing the processing of the sensor node 15. [Figure 11] 10 is a flowchart showing the processing of the conversion information storage device 14. [Figure 12] FIG. 2 is a sequence diagram showing the overall flow of the system during delivery according to the first embodiment. [Figure 13] FIG. 2 is a sequence diagram showing the overall flow of the system during delivery according to the first embodiment. [Figure 14] FIG. 2 is a sequence diagram showing the overall flow of the system during delivery according to the first embodiment. [Figure 15] FIG. 2 is a sequence diagram showing the overall flow of the system during delivery according to the first embodiment. [Figure 16] FIG. 10 is a diagram illustrating an example of the overall configuration of a delivery system according to a second embodiment of the present invention. [Figure 17] FIG. 17 is a functional block diagram showing a configuration example of the delivery system in FIG. 16. [Figure 18] FIG. 17 is a functional block diagram showing a configuration example of the delivery system in FIG. 16. [Figure 19] FIG. 10 is a diagram showing a space according to a second embodiment. [Figure 20] FIG. 10 is a sequence diagram showing the overall flow of the system during delivery according to the second embodiment. [Figure 21] FIG. 10 is a sequence diagram showing the overall flow of the system during delivery according to the second embodiment. [Figure 22] FIG. 10 is a sequence diagram showing the overall flow of the system during delivery according to the second embodiment. [Figure 23]FIG. 10 is a sequence diagram showing the overall flow of the system during delivery according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described using Embodiment 1 with reference to the drawings. However, the present invention is not limited to the following embodiments. In each drawing, the same members or elements are given the same reference numerals, and duplicate descriptions will be omitted or simplified.

[0011] (Embodiment 1) 1 is a diagram showing an example of the overall configuration of a delivery system according to an embodiment of the present invention. The delivery system 1000 according to this embodiment stably delivers packages received from an external deliverer (delivery company) 30 to a predetermined delivery destination (delivery destination) (not shown) using autonomous moving objects 12 and 17. The delivery system 1000 has a delivery system control device 10 that controls the entire system.

[0012] The delivery system control device 10, together with the conversion information storage device 14, functions as an information processing device that manages the entire delivery system 1000. The delivery system control device 10 also receives delivery information from the deliverer 30, manages the delivery status of the delivery item, and manages the desired delivery location. The delivery system control device 10 also communicates with the autonomous mobile body control device 11 and a user interface 21 operated by the recipient via a network. The delivery system control device 10 may be configured to be able to communicate with the autonomous mobile body 12 and the autonomous mobile body 17 via the autonomous mobile body control device 11. The recipient can specify the delivery destination using the GUI of the user interface 21. GUI is an abbreviation for Graphical User Interface.

[0013] The conversion information storage device 14 functions as a storage means for storing information on the position and state of a specific space (space state information) in a predetermined format. The conversion information storage device 14 functions as a point of contact for the delivery system control device 10 when obtaining information on delivery destinations and coordination points between multiple autonomous mobile bodies, which will be described later. The conversion information storage device 14 also provides information and the like that the autonomous mobile body control device 11 uses to determine coordination points and delivery routes to delivery destinations and to transmit the determined information to the autonomous mobile bodies 12 and 17.

[0014] The autonomous mobile body control device 11 is a device that controls the operations of the autonomous mobile body 12 and the autonomous mobile body 17. The autonomous mobile body control device 11 acquires map information or location information of the delivery origin, the linkage point, and the delivery destination from the delivery system control device 10, and acquires spatial information of the delivery origin, the linkage point, and the delivery destination from the conversion information storage device 14.

[0015] Based on the acquired information, the autonomous mobile body control device 11 generates route information for each of the autonomous mobile bodies 12 and 17 so that the autonomous mobile bodies 12 and 17 can work together to deliver the package to the delivery destination. Then, the autonomous mobile body control device 11 notifies the autonomous mobile body 12 and the autonomous mobile body 17 of the generated route information and issues operation instructions to the autonomous mobile bodies 12 and 17.

[0016] Furthermore, the autonomous mobile body control device 11 also has a function of instructing the autonomous mobile body 12 waiting at an autonomous mobile body waiting point (not shown) to head toward the delivery source. The autonomous mobile body control device 11 also has a function of instructing the autonomous mobile body 17 waiting at the autonomous mobile body waiting point to head toward a coordination point.

[0017] Although the delivery system control device 10 and the autonomous mobile object control device 11 are defined as separate devices in FIG. 1, they may be configured as the same device that has the respective roles.

[0018] The autonomous mobile body 12 is a mobile body that travels on the ground, and can carry a delivery item to a predetermined location based on instructions from the autonomous mobile body control device 11. The autonomous mobile body 17 is an autonomous flying object such as a drone, and can carry a delivery item to a predetermined location based on instructions from the autonomous mobile body control device 11. In this way, the autonomous mobile body 12 and the autonomous mobile body 17 are capable of moving based on the control of the autonomous mobile body control device 11 without the need for human operation.

[0019] The building information storage device 13 is a device that stores building information, which is information about structures such as buildings, roads, and squares in this embodiment. The building information stored by the building information storage device 13 is, for example, design drawing information for buildings and structures. Based on this building information, the delivery system 1000 can store information about the status of buildings at specific spatial locations in another device via a network.

[0020] The sensor node 15 is an external system such as a video monitoring system, for example, a roadside unit, and can store information about a predetermined space detected by the sensor node 15 in another device via a network.

[0021] The transmission and reception of information between the above components is performed via the Internet or other network systems such as a LAN, which is an abbreviation for Local Area Network.

[0022] Next, the configuration and function of each device in Fig. 1 will be described in detail with reference to Fig. 2 and Fig. 3. Fig. 3 is a diagram following Fig. 2. Note that some of the functional blocks shown in Fig. 2 and Fig. 3 are realized by causing a CPU or the like serving as a computer (not shown) included in the control unit or the like of each device to execute a computer program stored in a memory (not shown) serving as a storage medium. CPU is an abbreviation for Central Processing Unit.

[0023] However, some or all of the functional blocks shown in Figures 2 and 3 may be implemented by hardware. Examples of hardware that can be used include dedicated circuits (ASICs) and processors (reconfigurable processors, DSPs). ASIC stands for Application Specific Integrated Circuit. DSP stands for Digital Signal Processor.

[0024] Furthermore, the respective functional blocks shown in FIGS. 2 and 3 do not have to be housed in the same housing, and may be configured as separate devices connected to each other via signal paths.

[0025] 3, the delivery company 30 and the user interface 21 are each connected to the delivery system control device 10 via a network or the like. The delivery company 30 also has a terminal device equipped with a CPU as a computer (not shown) and a memory as a storage medium.

[0026] The user interface 21 is a terminal device used by the recipient, and includes an operation unit 21-1, a control unit 21-2, a display unit 21-3, an information storage unit 21-4, and a network connection unit 21-5. The information storage unit 21-4 is a memory or a HDD. HDD is an abbreviation for Hard Disk Drive.

[0027] The operation unit 21-1 is composed of a touch panel, key buttons, etc., and is used for inputting various data. The display unit 21-3 is, for example, a liquid crystal screen, and is used for displaying various data. The recipient can select a service, input information, and check the information via a GUI menu displayed on the display unit 21-3. In other words, the operation unit 21-1 and the display unit 21-3 provide a user interface for the recipient to actually operate the device.

[0028] The control unit 21-2 has a built-in CPU as a computer, and controls the operation of each unit of the user interface 21 based on a computer program stored in an information storage unit 21-4 as a storage medium. That is, the control unit 21-2 controls the processing in the operation unit 21-1, display unit 21-3, information storage unit 21-4, network connection unit 21-5, etc. The information storage unit 21-4 is a database for storing necessary information. The network connection unit 21-5 controls communications performed via the Internet, LAN, wireless LAN, etc.

[0029] The user interface 21 is a terminal such as a smartphone, and is configured to display information required by the user on the display unit 21-3 and to accept operations by the recipient, who is the user, from the operation unit 21-1.

[0030] The user interface 21 in this embodiment can display, for example, candidate delivery destinations on the browser screen of the display unit 21-3 and can accept selective input by the user regarding delivery locations and other delivery-related information. Note that the delivery system control device 10 itself may also function as the user interface 21.

[0031] 3, the delivery system control device 10 includes a control unit 10-2, a location information management unit 10-3, an information storage unit 10-4, a network connection unit 10-8, and an RTC 10-9. The information storage unit 10-4 is a memory or a HDD. RTC is an abbreviation for real-time clock.

[0032] The location information management unit 10-3 holds map information that has consistency between topographical information and latitude / longitude information, and manages predetermined location information acquired through the network connection unit 10-8. Furthermore, the location information management unit 10-3 manages location information related to the delivery.

[0033] The control unit 10-2 has a built-in CPU as a computer, and controls the operation of each unit of the delivery system control device 10 based on a computer program stored in an information storage unit 10-4 as a storage medium. That is, the control unit 10-2 controls communication functions such as location information, and controls the location information management unit 10-3, information storage unit 10-4, network connection unit 10-8, etc.

[0034] The control unit 10-2 also provides a web page to the user interface 21, and transmits predetermined location information acquired from the web page to the autonomous mobile object control device 11. Furthermore, the control unit 10-2 can also acquire predetermined delivery route information from the autonomous mobile object control device 11 and transmit the delivery route information to the user interface 21.

[0035] As described above, the delivery system control device 10 acquires the delivery location information designated by the recipient and transmits the delivery location information to the autonomous mobile object control device 11.

[0036] 2, the autonomous mobile object controlling device 11 includes a unique identifier management unit 11-1, a control unit 11-2, a position / route information management unit 11-3, an information storage unit 11-4, and a network connection unit 11-5. The information storage unit 11-4 is a memory or a HDD.

[0037] The unique identifier management unit 11-1 manages information obtained by converting location information and route information into unique identifiers by the conversion information storage device 14, which will be described later.

[0038] The control unit 11-2 includes a CPU as a computer and a memory as a storage medium for storing computer programs, and controls the processing in each unit within the autonomous mobile control device 11.

[0039] The position / route information management unit 11-3 manages the position information of the autonomous moving body 12 and the autonomous moving body 17 acquired via the network connection unit 11-5, and also manages the route information of each autonomous moving body.

[0040] In accordance with a request from an external system, control unit 11-2 converts the route information managed by position / route information management unit 11-3 into a predetermined data format and transmits it to the external system. In this way, autonomous mobile object control device 11 of this embodiment is configured to search for a route based on delivery position information specified by a user and output route information in a predetermined data format.

[0041] 3, the structure information holding device 13 includes a structure information management unit 13-1, a control unit 13-2, an information storage unit 13-3, and a network connection unit 13-4. The information storage unit 13-3 is a memory or a HDD.

[0042] The building information management unit 13-1 manages information on structures such as buildings, roads, and squares in the application space of the delivery system 1000. This information is, for example, design drawings of the buildings and structures.

[0043] The information storage unit 13-3 is a database for storing necessary information. The network connection unit 13-4 controls communications carried out via the Internet, LAN, wireless LAN, or the like.

[0044] The control unit 13-2 has a built-in CPU as a computer, and controls the operation of each unit of the building information storage device 13 based on a computer program stored in the information storage unit 13-3 as a storage medium. The control unit 13-2 can also transmit the building information stored in the building information management unit 13-1 to an external device or the like via the network connection unit 13-4.

[0045] 2, the conversion information storage device 14 includes a location / route information management unit 14-1, a unique identifier management unit 14-2, a control unit 14-3, a format database 14-4, and an information storage unit 14-5. The information storage unit 14-5 is a memory or a HDD. The conversion information storage device 14 also includes a network connection unit 14-6 and an RTC 14-7.

[0046] The location / route information management unit 14-1 manages predetermined location information acquired through the network connection unit 14-6, and transmits the location information to the control unit 14-3 in response to a request from the control unit 14-3.

[0047] The control unit 14-3 has a built-in CPU as a computer and a memory as a storage medium for storing computer programs, and controls the unique identifier conversion function in the conversion information storage device 14 and controls the processing in each part within the conversion information storage device 14.

[0048] The control unit 14-3 converts the location information obtained from the location / route information management unit 14-1 into a unique identifier based on the format information managed in the format database 14-4, and transmits it to the unique identifier management unit 14-2.

[0049] The above format assigns an identifier (hereinafter referred to as a unique identifier) ​​to a space starting from a specified location, and manages the space by associating it with the unique identifier. Based on specified location information, the corresponding unique identifier and information within the space can be obtained.

[0050] In other words, the above format manages the three-dimensional space that is the delivery range of an autonomous mobile body by dividing it into partitions according to a predetermined standard, and assigning (associating) a unique identifier to each of the partitions. Furthermore, the partitions contain spatial information about objects and other things that exist within the partitions.

[0051] In this embodiment, by managing the three-dimensional space in such a format, for example, the delivery location and route to the delivery location specified by the recipient are identified by a unique identifier associated with the divided space corresponding to the delivery location and the position on the route.

[0052] By transmitting the unique identifier thus identified to the autonomous mobile body control device 11, the autonomous mobile body control device 11 can autonomously move the autonomous mobile body 12 and the autonomous mobile body 17 along the route to the delivery position. Furthermore, the autonomous mobile body control device 11 can search for the optimal route at the current time based on the spatial information contained in each divided space.

[0053] That is, the autonomous mobile body control device 11 of this embodiment uses a format that uses a unique identifier to identify information about the state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space. The autonomous mobile body control device 11 uses this format to determine the movement routes of the autonomous mobile body 12 and the autonomous mobile body 17.

[0054] The unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it to the outside via the network connection unit 14-6.

[0055] The format database 14-4 manages the format information and transmits the format information to the control unit 14-3 in response to a request from the control unit 14-3. The format database 14-4 also manages the information in the space acquired via the network connection unit 14-6 using the format.

[0056] The conversion information storage device 14 manages information about the space acquired from external devices, apparatuses, and networks connected to the device by linking it to the unique identifier. The conversion information storage device 14 provides the unique identifier and information about the space associated with it to the external devices, apparatuses, and networks connected to the device. The control unit 14-3 can also acquire the current time from the RTC 14-7.

[0057] As described above, information about the state and time of an object existing in a space defined by an arbitrary reference system that represents a position in three-dimensional space is stored in the conversion information storage device 14. The conversion information storage device 14 also has the function of collecting unique identifiers and information within the space based on predetermined position information, and managing and providing this information in a state that can be shared by external devices, equipment, and networks connected to it.

[0058] 2, the sensor node 15 includes a detection unit 15-1, a control unit 15-2, an information storage unit 15-3, and a network connection unit 15-4. The information storage unit 15-3 is a memory or a HDD.

[0059] The detection unit 15-1 detects information about a predetermined space. The information storage unit 15-3 is a database for storing necessary information. The network connection unit 15-4 controls communications performed via the Internet, LAN, wireless LAN, etc.

[0060] The control unit 15-2 has a built-in CPU as a computer, and controls the operation of each unit of the building information storage device 13 based on a computer program stored in an information storage unit 15-3 as a storage medium. The control unit 15-2 can also communicate with the conversion information storage unit 14 via a network connection unit 15-4.

[0061] 2, the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit 12-4, a network connection unit 12-5, and a drive unit 12-6. The information storage unit 12-4 is a memory or a HDD.

[0062] The detection unit 12-1 functions as a detection means for detecting the spatial state around the autonomous mobile body 12 by detecting objects present around the autonomous mobile body 12. The detection unit 12-1 has an imaging means such as an image sensor and a ranging function using, for example, multiple image sensors with parallax. The detection unit 12-1 uses the imaging means and the ranging function to acquire detection information (hereinafter, "detection information") regarding obstacles such as the surrounding terrain and building walls. Furthermore, the detection unit 12-1 has a self-position estimation function for estimating its own position from the detection information.

[0063] The above-mentioned ranging function and self-location estimation function may be realized by using a LiDAR installed in the autonomous moving body 12 for ranging and a self-location estimation function based on point cloud information of the object for which the ranging is performed. Alternatively, each function may be realized by using only one of them. LiDAR is an abbreviation for Light Detection and Ranging.

[0064] The detection unit 12-1 also has a self-position detection function such as a GPS and a direction detection function such as a geomagnetic sensor. GPS is an abbreviation for Global Positioning System. The direction detection function may be achieved by measuring angular velocity using an inertial measurement unit such as an IMU, and detecting the direction. IMU is an abbreviation for Inertial Measurement Unit.

[0065] Furthermore, the IMU can estimate its own position by utilizing the amount of movement calculated from the acceleration measurement results and the amount of rotation of the driving unit 12-6. Based on the detection information, self-position estimation information, and direction detection information acquired by the detection unit 12-1, the control unit 12-2 can create a 3D map in cyberspace.

[0066] A 3D map of cyberspace can represent spatial information equivalent to the positions of features in the real world as digital data. Within this 3D map of cyberspace, information about the autonomous mobile body 12 that exists in the real world and its surrounding features is stored as spatially equivalent digital data. Therefore, the autonomous mobile body 12 can move efficiently based on this digital data.

[0067] Furthermore, the autonomous moving body 12 stores learning result data obtained through machine learning, for example, in the information storage unit 12-4, and can detect objects from captured images. The detection information can also be acquired from an external system via the network connection unit 12-5 and reflected in a 3D map.

[0068] The control unit 12-2 incorporates a CPU as a computer and a memory as a storage medium for storing computer programs. The control unit 12-2 also controls the movement, direction changes, and autonomous driving functions of the autonomous mobile body 12. The control unit 12-2 controls the detection unit 12-1, direction control unit 12-3, information storage unit 12-4, network connection unit 12-5, drive unit 12-6, etc.

[0069] The direction control unit 12-3 changes the output of each of the multiple drive units 12-6 to change the moving direction, speed, etc. of the autonomous moving body 12. The drive units 12-6 are made up of drive devices such as motors, and generate propulsive force for the autonomous moving body 12.

[0070] The autonomous mobile body 12 can reflect its own position, detection information, and object detection information in the 3D map, generate a route that maintains a certain distance from surrounding terrain, buildings, obstacles, and objects, and travel autonomously. In other words, the autonomous mobile body 12 can correct the delivery route determined by the control means while moving based on the detection output by the detection unit 12-1 as detection means.

[0071] 2, the autonomous moving body 17 includes a detection unit 17-1, a control unit 17-2, a direction control unit 17-3, an information storage unit 17-4, a network connection unit 17-5, and a drive unit 17-6. The information storage unit 17-4 is a memory or a HDD.

[0072] The detection unit 17-1 functions as a detection means for detecting the spatial state around the autonomous mobile body 17 by detecting objects present around the autonomous mobile body 17. The detection unit 17-1 has an imaging means such as an image sensor and a ranging function using, for example, multiple image sensors with parallax. The detection unit 17-1 uses the imaging means and the ranging function to acquire detection information (hereinafter, "detection information") regarding obstacles such as the surrounding terrain and building walls. Furthermore, the detection unit 17-1 has a self-position estimation function for estimating its own position from the detection information.

[0073] The distance measurement function and the self-location estimation function described above may be realized by using a LiDAR installed in the autonomous moving body 12 to measure distance, or by using a self-location estimation function based on point cloud information of the object whose distance is measured. Alternatively, each function may be realized by using only one of them.

[0074] The detection unit 17-1 also has a self-position detection function such as a GPS and a direction detection function such as a geomagnetic sensor. The direction detection function may be performed by measuring angular velocity using an inertial measurement unit such as an IMU to detect the direction.

[0075] Furthermore, the IMU can estimate its own position by utilizing the amount of movement calculated from the acceleration measurement results and the amount of rotation of the driving unit 17-6. Based on the detection information, self-position estimation information, and direction detection information acquired by the detection unit 17-1, the control unit 17-2 can create a 3D map in cyberspace.

[0076] A 3D map of cyberspace can represent spatial information equivalent to the positions of features in the real world as digital data. Within this 3D map of cyberspace, information about autonomous mobile units 17 that exist in the real world and their surrounding features is stored as spatially equivalent digital data. Therefore, the autonomous mobile units 17 can move efficiently based on this digital data.

[0077] Furthermore, the autonomous moving body 17 has learning result data obtained by performing machine learning or the like stored in, for example, the information storage unit 17-4, and can detect objects from captured images. The detection information can also be acquired from an external system via the network connection unit 17-5 and reflected in a 3D map.

[0078] The control unit 17-2 incorporates a CPU as a computer and a memory as a storage medium for storing computer programs. The control unit 17-2 also controls the movement, direction changes, and autonomous driving functions of the autonomous moving body 17. The control unit 17-2 controls the detection unit 17-1, direction control unit 17-3, information storage unit 17-4, network connection unit 17-5, drive unit 17-6, etc.

[0079] The direction control unit 17-3 changes the output of each of the multiple drive units 17-6 to change the moving direction, speed, etc. of the autonomous moving body 17. The drive units 17-6 are made up of drive devices such as motors, and generate propulsive force for the autonomous moving body 17.

[0080] The autonomous moving body 17 can reflect its own position, detection information, and object detection information in the 3D map, generate a route that maintains a certain distance from surrounding terrain, buildings, obstacles, and objects, and travel autonomously. That is, the autonomous moving body 17 can correct the delivery route determined by the control means while moving based on the detection output by the detection unit 17-1 as detection means.

[0081] Next, the main body configuration of the autonomous moving body 12 in this embodiment will be described with reference to Fig. 4. Fig. 4 is a perspective view showing an example configuration of the autonomous moving body 12 according to this embodiment. Note that in this embodiment, the autonomous moving body 12 will be described as a ground-traveling mobility that travels on the ground, but the present invention is not limited to this, and the autonomous moving body 12 may have any form as long as it is capable of moving autonomously.

[0082] As described in Fig. 2, the autonomous moving body 12 is provided with a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit 12-4, a network connection unit 12-5, and a drive unit 12-6. At least two drive units 12-6 are provided in the autonomous moving body 12. As described above, the direction control unit 12-3 changes the movement direction of the autonomous moving body 12 by changing the output of each of the multiple drive units 12-6 and changing the direction of the drive units 12-6 by rotationally driving the shafts. Note that the configuration shown in Fig. 4 is one example, and the present invention is not limited to this, and any structure that can achieve the same effect may be used.

[0083] As described above, the autonomous mobile body 12 is a mobile body equipped with, for example, SLAM technology. SLAM is an abbreviation for Simultaneous Localization and Mapping. The autonomous mobile body 12 is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 12-1 and detection information from an external system, such as an external server, obtained via the Internet.

[0084] The autonomous moving body 12 can perform tracing movement, tracing precisely specified points, or it can pass through roughly set points and generate its own route information in the space between them to move.

[0085] Next, the main body configuration of the autonomous moving body 17 in this embodiment will be described with reference to Fig. 5. Fig. 5 is a perspective view showing an example configuration of the autonomous moving body 17 according to this embodiment. Note that in this embodiment, the autonomous moving body 17 will be described as an unmanned aerial vehicle (drone) having a propeller, but the present invention is not limited to this, and the autonomous moving body 17 may have any form as long as it is capable of moving autonomously.

[0086] 2, the autonomous moving body 17 is provided with a detection unit 17-1, a control unit 17-2, a direction control unit 17-3, an information storage unit 17-4, a network connection unit 17-5, and a drive unit 17-6. The drive unit 17-6 includes a propeller, and the autonomous moving body 17 is provided with at least two or more drive units 17-6.

[0087] Then, as described above, the direction control unit 17-3 changes the moving direction of the autonomous moving body 17 by changing the output of each of the multiple drive units 17-6 and changing the direction of the drive units 17-6 by rotationally driving the shafts. Furthermore, the drive units 17-6 move the autonomous moving body 17 forward, backward, etc. by rotating the rotation shafts of the propellers. Note that the configuration described using Fig. 5 is just one example, and the present invention is not limited to this, and any structure that can achieve the same effect will suffice.

[0088] As described above, the autonomous mobile body 17 is a mobile body equipped with, for example, SLAM technology. The autonomous mobile body 17 is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 17-1 and detection information from an external system such as an external server obtained via the Internet.

[0089] The autonomous moving body 17 can perform tracing movement, tracing precisely specified points, or it can pass through roughly set points and generate its own route information in the space between them to move.

[0090] With the above configuration, in this embodiment, the autonomous mobile body 12 and the autonomous mobile body 17 move autonomously based on route information using the unique identifier provided by the autonomous mobile body control device 11.

[0091] Next, the 3D map of cyberspace used in this embodiment will be described in detail with reference to Figures 6(A) and 6(B). Figures 6(A) and 6(B) are diagrams for explaining the 3D map used by the autonomous mobile body according to this embodiment. Figure 6(A) is a diagram showing the spatial positional relationship between the autonomous mobile body 17 in the real world and a pillar 99 that exists as feature information around it.

[0092] The position of the autonomous moving body 17 is identified as the same position as point α0, which is the position of the autonomous moving body 17 based on position information of latitude and longitude acquired by a GPS (not shown) or the like built in the autonomous moving body 17. In addition, the orientation of the autonomous moving body 17 is identified by the difference between the orientation αY acquired by a built-in electronic compass (not shown) or the like and the moving direction 17Y of the autonomous moving body 17.

[0093] Also, for example, the position of a pillar 99 is identified as the position of a vertex 99-1 of the pillar 99 from previously measured position information. Furthermore, the distance measurement function of the autonomous moving body 17 makes it possible to acquire the distance from point α0, which is the position of the autonomous moving body 17, to the vertex 99-1.

[0094] In Figure 6(A), if the movement direction 17Y of the autonomous mobile body 17 is the Y axis of the XYZ coordinate system and the point α0 is the origin, the coordinates of the vertex 99-1 can be shown as coordinates (Wx, Wy, Wz). In the three-dimensional map of cyberspace, the information acquired in this way is managed as digital data and can be reconstructed as spatial information as shown in Figure 6(B).

[0095] 6(B) shows the state in which the autonomous mobile body 17 and the pillar 99 are mapped onto an XYZ coordinate system space with an arbitrary point P0 as the origin. That is, by setting point P0 to a predetermined latitude and longitude in the real world and taking the north direction in the real world as the Y-axis direction, the position of the autonomous mobile body 17 can be expressed as point P1 and the position of the pillar 99 as point P2 in this arbitrary XYZ coordinate system space.

[0096] Specifically, from the latitude and longitude of point α0 and the latitude and longitude of point P0, the position of point α0 in this space can be managed as point P1, and similarly the position of pillar 99 can be managed as point P2. Note that in this embodiment, the position is identified using latitude and longitude information acquired by GPS or the like of the autonomous mobile body 17, but the present invention is not limited to this, and the position may also be identified by sensing the surrounding environment of the autonomous mobile body 17 with detection unit 12-1 such as a camera or LiDAR.

[0097] The direction of the coordinate system in the three-dimensional map may be determined from the direction obtained by an electric potential compass or the like, or the direction may be determined from the shape information of the surfaces and lines of the surrounding environment by sensing the surrounding environment of the autonomous moving body 17 using a detection unit 17-1 such as a camera or LiDAR.

[0098] For example, a wall surface 98 around the autonomous mobile body 17 is sensed by a camera and recognized as such. By taking the direction αY' along the recognized wall surface as the Y-axis direction, it becomes possible to identify this arbitrary XYZ coordinate system space. Furthermore, in the example of Figure 6(B), the autonomous mobile body 17 and the pillar 99 are represented on a three-dimensional map in cyberspace, but of course, multiple objects can also be handled in the same way.

[0099] As described above, the three-dimensional map in this embodiment is a map of the user's own position and objects in the real world in a three-dimensional space.

[0100] Here, the autonomous mobile unit 17 is used to explain the three-dimensional map used by the autonomous mobile unit, but the present invention is not limited to this and can be similarly applied to, for example, the autonomous mobile unit 12 that moves on the ground.

[0101] Returning to FIG. 4, the control unit 12-2 of the autonomous moving body 12 can detect objects from the captured images acquired by the detection unit 12-1 by storing learning result data obtained by machine learning, for example, in the information storage unit 12-4.

[0102] Furthermore, the control unit 12-2 can acquire the detection information from an external system via the network connection unit 12-5 and reflect it in the 3D map. In addition, the control unit 12-2 determines whether it is possible to navigate to the specified delivery destination and place the package without colliding with surrounding objects, based on the acquired information about surrounding objects and the created 3D map.

[0103] In FIG. 5, the control unit 17-2 of the autonomous moving body 17 can detect objects from the captured images acquired by the detection unit 17-1 by storing learning result data obtained by machine learning, for example, in the information storage unit 17-4.

[0104] Furthermore, the control unit 17-2 can acquire the detection information from an external system via the network connection unit 17-5 and reflect it in the 3D map. In addition, the control unit 17-2 determines whether it is possible to navigate to the designated delivery location and place the package without colliding with surrounding objects, based on the acquired information about surrounding objects and the created 3D map.

[0105] The route generation performed by the autonomous mobile body control device 11 described above generates a rough route mainly based on three-dimensional information of buildings acquired in advance. In contrast, the route generation for autonomous navigation performed by the autonomous mobile body 12 detects the positional relationship between the autonomous mobile body 12 itself and surrounding obstacles more accurately, and generates a detailed route to move without coming into contact with them.

[0106] Here, the management format of the three-dimensional space managed in the conversion information storage device 14 will be described in detail with reference to Figures 7(A), 7(B), and 8. Figure 7(A) is a diagram showing the latitude / longitude information of the Earth, and Figure 7(B) is a perspective view showing a predetermined space 100 in Figure 7(A). In Figure 7(B), the center of the predetermined space 100 is defined as center 101. Figure 8 is a diagram schematically showing the spatial information within space 100.

[0107] As shown in Figures 7(A) and 7(B), the format managed by the format database 14-4 divides the Earth's space into three-dimensional spaces determined by ranges starting from latitude / longitude / altitude, and associates each space with a unique identifier so that it can be managed.

[0108] For example, here, space 100 is displayed as a predetermined three-dimensional space. Space 100 is a divided space defined, for example, with a center 101 at 20 degrees north latitude, 140 degrees east longitude, and height H, with a width in the latitude direction defined as D, a width in the longitude direction defined as W, and a width in the height direction defined as T. Furthermore, space 100 is one space obtained by dividing the space of the Earth into spaces determined by ranges starting from the latitude / longitude / height.

[0109] For convenience, only space 100 is shown in Figure 7(A), but in the format specifications, as described above, spaces specified in the same way as space 100 are arranged side by side in the latitude / longitude / height directions. The horizontal position of each of the arranged divided spaces is defined by the latitude / longitude, and they also overlap in the height direction, with their height position defined by the height.

[0110] 7(B), the center 101 of the divided space is set as the origin of the latitude / longitude / height, but the present invention is not limited to this, and for example, a corner of the space or the center of the bottom surface may be set as the origin. Also, the shape may be approximately rectangular, and when considering the case of laying out the shapes on the surface of a sphere such as the Earth, it is better to set the top surface of the rectangular parallelepiped slightly wider than the bottom surface to arrange them more tightly with no gaps.

[0111] Taking the space 100 as an example in Figure 8, the conversion information storage device 14 stores information (spatial information) relating to the types of objects that exist or can enter the range of the space 100 and time restrictions, each associated with a unique identifier. The formatted spatial information is stored in chronological order, such as from the past to the future. The spatial information includes information relating to the state and time of objects existing in the space defined by an arbitrary reference system that indicates positions in three-dimensional space.

[0112] That is, the conversion information storage device 14 formats and stores spatial information about the types of objects that exist or can enter a three-dimensional space defined by latitude / longitude / height in association with unique identifiers. However, the three-dimensional space in this embodiment is not limited to one defined by latitude / longitude / height, and may be one defined by any reference system (coordinate system).

[0113] The spatial information can be updated periodically or when an event occurs based on information input from an external system, such as a surveillance camera, communicatively connected to the conversion information storage device 14. That is, the spatial state information can be acquired from an imaging device, such as a camera, mounted on the autonomous mobile body itself, or a measuring device, such as LiDAR, or from an external server via a network.

[0114] Alternatively, the spatial state information may be acquired from a measurement device such as an imaging device or LiDAR provided on the movement path of the autonomous moving body. The spatial state information may be shared with other external systems communicably connected to the conversion information storage device 14.

[0115] As described above, in this embodiment, information regarding the types of objects that exist or can enter a three-dimensional space defined by latitude / longitude / height and time restrictions (hereinafter referred to as spatial information) is associated with a unique identifier, formatted, and stored in a database. Then, space-time can be managed using the formatted spatial information.

[0116] Therefore, the autonomous mobile body control device 11 can check the latest status of the route space. The formatted and managed space-time used to generate the route of the autonomous mobile body 12 may be common to the whole world or specific to a predetermined range of space.

[0117] Figure 9 shows a space to which the delivery system of this embodiment is applied. As shown in Figure 9, the space contains a building area 81 and a park area 82. Furthermore, within the building area 81 there is an outdoor area 83 and an indoor area 84 indicated by diagonal lines. In the outdoor area 83 there are stairs 85-1 and 85-2 connecting to other floors, as well as a slope 86. Furthermore, there are multiple people in the building area 81. The building area 81 and park area 82 are divided into a three-dimensional space at predetermined intervals as shown in Figure 7(B), and each space is managed by linking it to a unique identifier.

[0118] FIG. 10 shows the flow of processing performed by the sensor node 15 in this embodiment. In step S901, the sensor node 15 acquires information about a predetermined space, i.e., spatial information, as detection information. In step S902, the sensor node 15 determines whether a change in the spatial information has been detected. If the sensor node 15 determines that a change in the spatial information has been detected, the process of step S903 is executed. If the sensor node 15 determines that a change in the spatial information has not been detected, the process of step S905 is executed. Changes in spatial information include changes in the dynamic information of the space and changes in the static information of the space. Examples of dynamic information include moving objects such as pedestrians. Examples of static information include structures such as stairs and slopes.

[0119] In step S903, the sensor node 15 abstracts the spatial information in accordance with the state of change in the spatial information. Here, abstracting the spatial information means converting the spatial information into information that indicates the type and presence or absence of objects present in each divided space obtained by dividing the three-dimensional space detected by the sensor node 15 according to a predetermined criterion. In step S904, the sensor node 15 transmits the information abstracted in step S903 together with latitude / longitude information as spatial information to the conversion information storage device 14. When the sensor node 15 detects a change in the spatial information, it transmits the information to the conversion information storage device 14, and the conversion information storage device 14 updates the spatial information based on the received information. When updating the spatial information, dynamic spatial information moves, i.e., changes, frequently, so dynamic spatial information is updated more frequently than static spatial information.

[0120] In step S903, the sensor node 15 determines whether the detection system of the sensor node 15 has been terminated. If the sensor node 15 determines that the system has been terminated, the process ends. If the sensor node 15 determines that the system has not been terminated, the process of step S901 is executed. That is, the sensor node 15 continues to perform the process of acquiring information about the specified space as detection information.

[0121] 11 shows a flow of processing performed by the conversion information storage device 14 in this embodiment. In step S1001, the conversion information storage device 14 receives spatial information together with latitude / longitude information from an external device or the like connected via a network, and determines whether the information has been received. The external device or the like is, for example, the building information storage device 13 or the sensor node 15. If the conversion information storage device 14 determines that it has received spatial information together with latitude / longitude information, it executes processing in step S1002. If it determines that it has not received spatial information together with latitude / longitude information, it executes processing in step S1007.

[0122] In step S1002, the conversion information storage device 14 searches for a unique identifier corresponding to the received latitude / longitude information. In step S1003, the conversion information storage device 14 stores the spatial information in association with the unique identifier of the location to which the spatial information corresponds. At this point, the spatial information is stored in a predetermined unique identifier in the format database 14-4.

[0123] Furthermore, in step S1004, the conversion information storage device 14 determines whether the space indicated by the unique identifier can allow the presence of multiple objects based on the predetermined space information linked to the predetermined unique identifier saved in step S1003. If the conversion information storage device 14 determines that the space can allow the presence of multiple objects, the process proceeds to step S1005. If the conversion information storage device 14 determines that the space cannot allow the presence of multiple objects, the process proceeds to step S1006.

[0124] In step S1005, the conversion information storage device 14 registers the space as a multiple object existence permitted space in association with the unique identifier. On the other hand, in step S1006, the conversion information storage device 14 does not register the space as a multiple object existence permitted space.

[0125] Here, in step S1004, the determination of whether the space indicated by the unique identifier allows the presence of multiple objects is made based on spatial information linked to the unique identifier. For example, the spatial information linked to the unique identifier may include information that the space is flat and has sufficient free space within the space for multiple moving bodies to exist. In this case, it is considered suitable for cooperation between an autonomous moving body 12 traveling on the ground and an autonomous moving body 17 that is an autonomous flying body such as a drone. In this case, it is desirable to link the space to the unique identifier and register it as a space where multiple objects are allowed to exist.

[0126] On the other hand, if the spatial information associated with the unique identifier indicates that the space is indoors, where navigation of an autonomous air vehicle is difficult, or that there is not enough free space within the space for multiple moving objects to exist, the space is not suitable for the above-mentioned collaboration, and therefore it is not desirable to register it as a space where multiple objects are permitted to exist.

[0127] Taking FIG. 9 as an example, spaces 87-1, 87-2, 87-3, and 87-4 enclosed by dashed lines are planar spaces in the outdoor area 83, and are preferably registered as multiple object presence permitted spaces.

[0128] In step S1007, the conversion information storage device 14 determines whether the processing system of the conversion information storage device 14 has terminated. If the conversion information storage device 14 determines that the system has terminated, the processing is terminated. If the conversion information storage device 14 determines that the system has not terminated, the processing of step S1001 is executed. That is, the conversion information storage device 14 continues to receive spatial information and continues processing.

[0129] The sequence of the delivery system 1000 in this embodiment will be described using Figures 9, 12, 13, 14, and 15. Figures 12, 13, 14, and 15 are diagrams showing the sequence of the delivery system 1000 in this embodiment. Figure 13 is a diagram connected to the right of Figure 12. Figure 14 is a diagram showing a chronological continuation of Figure 13. Figure 15 is a diagram connected to the right of Figure 14 and showing a chronological continuation of Figure 13.

[0130] 12, the building information storage device 13 extracts information about buildings in a predetermined area from the building information management unit 13-1. The extracted information includes information that characterizes the buildings, such as whether they are flat or have walls in a predetermined location within the predetermined area. Then, in step S1102, the building information storage device 13 transmits the information extracted in step S1101, together with latitude and longitude information, to the conversion information storage device 14 as spatial information.

[0131] In step S1103, in response to receiving the information in step S1102, the conversion information storage device 14 executes the processing flow shown in Fig. 11. At this point, the spatial information is stored in a predetermined unique identifier in the format database 14-4.

[0132] 13, the delivery system control device 10 receives delivery information from the user interface 21 operated by the recipient. This delivery information includes location information of the delivery source and delivery destination. Then, in step S1105, the delivery system control device 10 transmits the location information of the delivery source and delivery destination received in step S1104 to the autonomous mobile device 11.

[0133] The autonomous mobile body control device 11 determines the movement routes of the autonomous mobile body 12 and the autonomous mobile body 17 based on the location information of the delivery source and delivery destination received in step S1105 and using spatial information between the delivery source and delivery destination. Furthermore, it determines an association space for the autonomous mobile body 12 and the autonomous mobile body 17. Here, the association space in this embodiment is defined as a space where the delivery item is handed over from the autonomous mobile body 12 to the autonomous mobile body 17, and methods for determining the movement routes of the autonomous mobile body 12 and the autonomous mobile body 17 and the association space will be described below.

[0134] 12 and 13, the autonomous mobile object control device 11 acquires spatial information from the conversion information storage device 14 based on the location information of the delivery source and delivery destination received in step S1105. This is generally spatial information about the delivery source, delivery destination, and the area between them.

[0135] Furthermore, in step S1107 in FIG. 12 and FIG. 13, the autonomous mobile object control device 11 acquires multiple object presence permitted space information from the conversion information storage device 14.

[0136] 13, the autonomous mobile object control device 11 determines multiple candidate association spaces based on the space information acquired in step S1106 and the multiple object presence permitted space information acquired in step S1107. The reason for determining multiple candidates here is to select the most appropriate space from each candidate association space according to the latest situation. Details will be described later.

[0137] In step S1109 of Fig. 12, the sensor node 15 executes the processing flow shown in Fig. 10. This processing flow of the sensor node 15 detecting, abstracting, and transmitting information about a predetermined space to the conversion information storage device 14 is performed asynchronously with this sequence.

[0138] In step S1110, the conversion information storage device 14 executes the processing flow shown in Fig. 11 based on the processing in step S1109. This processing flow in the conversion information storage device 14 is performed asynchronously with this sequence. At this point, the latest information on the space detected by the sensor node 15 is stored in the unique identifier in the format database 14-4.

[0139] 14 and 15, the autonomous mobile body control device 11 acquires space information for the associated space candidate determined in step S1108 from the conversion information holding device 11. This allows the autonomous mobile body control device 11 to acquire information on the associated space candidate that has been updated to the latest state by the sensor node 15.

[0140] In step S1112 of Fig. 15, the autonomous mobile body control device 11 determines an association space where the handover will take place from among the plurality of candidate association spaces, based on the spatial information acquired in step S1111. For example, in Fig. 9, of the spaces 87-1 to 87-4 that are multiple object presence permitted spaces, spaces 87-1 to 87-3 contain pedestrians and are therefore undesirable for coordinated operation. On the other hand, there are no objects in space 87-4 that may hinder coordination. Therefore, the autonomous mobile body control device 11 determines space 87-4 as the association space. Here, when determining the association space, the autonomous mobile body control device 11 may quantify events that may hinder coordination as parameters and determine the space based on those numerical values.

[0141] In step S1113, the autonomous mobile body control device 11 determines an optimal route for movement of the autonomous mobile body 12 based on the location information of the delivery origin and delivery destination acquired in step S1105 and the coordinated space determined in step S1112. Also, in step S1114, the autonomous mobile body control device 11 determines an optimal route for movement of the autonomous mobile body 17 based on the location information of the delivery origin and delivery destination acquired in step S1105 and the coordinated space determined in step S1112. Here, in this embodiment, the movement route of the autonomous mobile body 12 is from the delivery origin to the coordinated space, and the movement route of the autonomous mobile body 17 is from the coordinated space to the delivery destination. Also, it is conceivable that the autonomous mobile bodies 12 and 17 wait at a waiting location such as a predetermined charging port when on standby, and move from the waiting location to a predetermined delivery origin or coordinated point, etc., triggered by an instruction from the autonomous mobile body control device 11, but this description will be omitted here.

[0142] The autonomous mobile body 12 monitors (hereinafter, polls) its own unique identification number via the network at predetermined intervals. In step S1115, the autonomous mobile body 12 downloads data linked to its own unique identification number in accordance with the polling result. In step S1116, the autonomous mobile body 12 reflects the latitude / longitude information of each unique identifier in the formatted route information as route information in the 3D map of cyberspace that it created. In step S1117, the autonomous mobile body 12 moves along the route information. In this embodiment, the autonomous mobile body 12 moves along the route information from the delivery source to the coordination point.

[0143] Similarly, the autonomous mobile body 17 polls its own unique identification number via the network at predetermined intervals. In step S1118, the autonomous mobile body 12 downloads data linked to its own unique identification number in accordance with the polling result. In step S1119, the autonomous mobile body 17 reflects the latitude / longitude information of each unique identifier in the formatted route information as route information in the 3D map of cyberspace that it created. In step S1120, the autonomous mobile body 17 moves along the route information. In this embodiment, the autonomous mobile body 17 moves along the route information from the coordination point to the delivery destination.

[0144] As described above, the delivery item can be transported from the delivery source to the coordination point by the autonomous mobile body 12, transferred from the autonomous mobile body 12 to the autonomous mobile body 17 at the coordination point, and then transported from the coordination point to the delivery destination by the autonomous mobile body 17. According to this embodiment, efficient delivery using multiple autonomous mobile bodies can be achieved.

[0145] (Embodiment 2) Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and descriptions that overlap with the first embodiment will be omitted or simplified.

[0146] Fig. 16 is a diagram showing an example of the overall configuration of a delivery system according to a second embodiment of the present invention. A delivery system 2000 according to this embodiment has a delivery system control device 10 for stably delivering packages received from an external deliverer (delivery company) 30 who delivers the packages to a predetermined delivery destination (delivery destination) (not shown) by an autonomous moving object 12. The functions of each device in Fig. 16 are the same as those in the first embodiment, and therefore description thereof will be omitted.

[0147] Next, the configuration and function of each device in Fig. 16 will be described in detail with reference to Fig. 17 and Fig. 18. Note that some of the functional blocks shown in Fig. 17 and Fig. 18 are realized by causing a CPU or the like serving as a computer (not shown) included in the control unit or the like of each device to execute a computer program stored in a memory (not shown) serving as a storage medium.

[0148] However, some or all of the functional blocks shown in Figures 17 and 18 may be realized by hardware. Examples of hardware that can be used include dedicated circuits (ASICs) and processors (reconfigurable processors, DSPs). Furthermore, the functional blocks shown in Figures 17 and 18 do not have to be built into the same housing, and may be configured by separate devices connected to each other via signal paths.

[0149] 17 and 18, the delivery system control device 10, autonomous mobile body 12, autonomous mobile body 17, building information storage device 13, user interface 21, and delivery person 30 have the same configuration as in embodiment 1, and therefore description thereof will be omitted.

[0150] In FIG. 17, the autonomous mobile object control device 11 includes a control unit 11-2, a position / route information management unit 11-3, an information storage unit 11-4, and a network connection unit 11-5.

[0151] The control unit 11-2 includes a CPU as a computer and a memory as a storage medium for storing computer programs, and controls the processing in each unit within the autonomous mobile control device 11.

[0152] The position / route information management unit 11-3 manages the position information of the autonomous moving body 12 and the autonomous moving body 17 acquired via the network connection unit 11-5, and also manages the route information of each autonomous moving body.

[0153] In accordance with a request from an external system, control unit 11-2 converts the route information managed by position / route information management unit 11-3 into a predetermined data format and transmits it to the external system. In this way, autonomous mobile object control device 11 of this embodiment is configured to search for a route based on delivery position information specified by a user and output route information in a predetermined data format.

[0154] Figure 19 shows a space to which the delivery system 2000 of this embodiment is applied. As shown in Figure 19, the space includes a building area 81 and a park area 82. Furthermore, within the building area 81 are an outdoor area 83 and an indoor area 84 indicated by diagonal lines. In the outdoor area 83, there are stairs 85-1 and 85-2 connecting to other floors, as well as a slope 86. Furthermore, multiple people are walking in the building area.

[0155] The sequence of the delivery system 2000 in this embodiment will be described using Figures 19, 20, 21, 22, and 23. Figures 20, 21, 22, and 23 are diagrams showing the sequence of the delivery system 2000 in this embodiment. Figure 21 is a diagram connected to the right of Figure 20. Figure 22 is a diagram showing a chronological continuation of Figure 20. Figure 23 is a diagram connected to the right of Figure 22 and showing a chronological continuation of Figure 21.

[0156] First, in step S1501 of Figure 20, the building information storage device 13 extracts information about buildings in a specified area from the building information management unit 13-1. The information extracted here includes information that characterizes the buildings, such as whether they are flat or have walls at a specified point within the specified area. Then, in step S1502 from Figure 20 to Figure 21, the building information storage device 13 transmits the information extracted in step S1501 together with latitude / longitude information to the delivery system control device 10 as map information. In step S1503, the delivery system control device 10 updates the map information for the point corresponding to the received latitude / longitude information.

[0157] In step S1504, the delivery system control device 10 determines whether the presence of multiple objects is permitted at the specified point based on the map information of the specified point saved in step S1503, and if permitted, registers the point as a multiple object presence permitted point. Here, the determination of whether the presence of multiple objects is permitted at the specified point is made based on the map information at the point.

[0158] For example, if the map information indicates that the location is flat, it is considered suitable for cooperation between an autonomous mobile body 12 traveling on the ground and an autonomous mobile body 17, which is an autonomous flying body such as a drone. In this case, it is desirable to register the location as a location where the presence of multiple objects is permitted. On the other hand, if the map information indicates that the location is a small indoor space, it is not suitable for the above-mentioned cooperation, and therefore it is not desirable to register the location as a location where the presence of multiple objects is permitted. In Figure 19, it is desirable to register spaces 88-1, 88-2, 88-3, and 88-4 surrounded by dashed lines as locations where the presence of multiple objects is permitted.

[0159] In step S1505, the delivery system control device 10 receives delivery information from the user interface 21 operated by the recipient. This delivery information includes location information of the delivery source and delivery destination. Then, in step S1506, the delivery system control device 10 transmits the location information of the delivery source and delivery destination received in step S1505 to the autonomous mobile device 11.

[0160] The autonomous mobile body control device 11 determines the movement routes of the autonomous mobile body 12 and the autonomous mobile body 17 based on the location information of the delivery origin and delivery destination received in step S1506 and using map information between the delivery origin and delivery destination. Furthermore, the autonomous mobile body control device 11 determines a linkage point between the autonomous mobile body 12 and the autonomous mobile body 17. Here, the linkage point in this embodiment is defined as a point where the autonomous mobile body 12 hands over the delivery item to the autonomous mobile body 17, and methods for determining the movement routes of the autonomous mobile body 12 and the autonomous mobile body 17 and the linkage space will be described below.

[0161] In step S1507, the autonomous mobile object control device 11 acquires map information from the delivery system control device 10 based on the location information of the delivery origin and delivery destination received in step S1506. This is generally map information of the delivery origin, delivery destination, and the area between them. Furthermore, in step S1508, the autonomous mobile object control device 11 acquires multiple object presence permitted point information from the delivery system control device 10.

[0162] In step S1509, the autonomous mobile body control device 11 determines multiple candidate association points based on the map information acquired in step S1507 and the multiple object presence permitted point information acquired in step S1508. The reason for determining multiple candidates here is to select the most appropriate point from each candidate association point based on the latest situation. Details will be described later.

[0163] In step S1510 from Figure 22 to Figure 23, the sensor node 15 executes the processing flow described in Figure 10. However, in the first embodiment, in step S904, the sensor node 15 transmits the information abstracted in step S903 together with latitude / longitude information as spatial information to the conversion information storage device 14, but in the second embodiment, the sensor node 15 transmits the spatial information to the delivery system control device 10. This processing flow of the sensor node 15 detecting, abstracting, and transmitting information about a specific space to the delivery system control device 10 is performed asynchronously with this sequence.

[0164] 23, the delivery system control device 10 receives the processing of step S1510 and updates the map information of the delivery system control device 10. Here, the latest information on the location detected by the sensor node 15 is stored in the map information held by the delivery system control device 10.

[0165] In step S1512, the autonomous mobile object control device 11 acquires map information of the cooperation point candidate determined in step S1509 from the delivery system control device 10. This makes it possible to acquire information on the point that has been updated to the latest state by the sensor node 15.

[0166] In step S1513, the autonomous mobile object control device 11 determines a coordination point where handover will take place from among the plurality of coordination point candidates, based on the map information acquired in step S1512. For example, in FIG. 19, of the spaces 88-1 to 88-4 that are the multiple object presence permitted points, spaces 88-1 to 88-3 contain pedestrians and are therefore undesirable for coordinated operation. On the other hand, there are no objects in space 88-4 that may hinder coordination. Therefore, of the spaces that are the multiple object presence permitted points, space 88-4 is determined as the coordination point. Here, when determining the coordination point, events that may hinder coordination may be quantified as parameters, and the point may be determined based on those numerical values.

[0167] In step S1514, the autonomous mobile body control device 11 determines an optimal route for movement of the autonomous mobile body 12 from the location information of the delivery origin and delivery destination acquired in step S1506 and the coordination point determined in step S1513. Also, in step S1515, the autonomous mobile body control device 11 determines an optimal route for movement of the autonomous mobile body 17 from the location information of the delivery origin and delivery destination acquired in step S1506 and the coordination point determined in step S1513. Here, in this embodiment, the movement route of the autonomous mobile body 12 is from the delivery origin to the coordination point, and the movement route of the autonomous mobile body 17 is from the coordination point to the delivery destination. Also, it is conceivable that the autonomous mobile bodies 12 and 17 wait at a waiting point such as a predetermined charging port when on standby, and move from the waiting point to a predetermined delivery origin or coordination point, etc., triggered by an instruction from the autonomous mobile body control device 11, but this description will be omitted here.

[0168] The autonomous mobile body 12 polls its own unique identification number via the network at predetermined intervals. In step S1516, the autonomous mobile body 12 downloads data linked to its own unique identification number in accordance with the polling result. In step S1517, the autonomous mobile body 12 reflects the map information as route information in a 3D map of cyberspace that it has created based on the map information. In step S1518, the autonomous mobile body 12 moves along the route information. In this embodiment, the autonomous mobile body 12 moves along the route information from the delivery source to the coordination point.

[0169] Similarly, the autonomous mobile body 17 polls its own unique identification number via the network at predetermined intervals. In step S1519, the autonomous mobile body 12 downloads data linked to its own unique identification number in accordance with the polling result. In step S1520, the autonomous mobile body 17 reflects the map information as route information in the 3D map of cyberspace that it created. In step S1521, the autonomous mobile body 17 moves along the route information. In this embodiment, the autonomous mobile body 17 moves along the route information from the coordination point to the delivery destination.

[0170] As described above, the delivery item can be transported from the delivery source to the coordination point by the autonomous mobile body 12, transferred from the autonomous mobile body 12 to the autonomous mobile body 17 at the coordination point, and then transported from the coordination point to the delivery destination by the autonomous mobile body 17. According to this embodiment, efficient delivery using multiple autonomous mobile bodies can be achieved.

[0171] The present invention has been described in detail above based on its preferred embodiments, but the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and these modifications are not excluded from the scope of the present invention.

[0172] In order to realize some or all of the control in the above embodiments, a computer program that realizes the functions of the above embodiments may be supplied to an autonomous mobile object control device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the autonomous mobile object control device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. MPU is an abbreviation for Micro Processing Unit.

[0173] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0174] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and various modifications and changes are possible within the scope of the gist of the present invention.

[0175] The disclosure of this embodiment includes the following configuration. (Configuration 1) A delivery system that performs delivery by controlling a first autonomous moving body and a second autonomous moving body that cooperate in delivery, an autonomous mobile body control means for issuing control instructions to the first autonomous mobile body and the second autonomous mobile body; a unique identifier conversion means for converting spatial information, which is information about the state and time of an object existing in a space defined by an arbitrary reference system indicating a position in three-dimensional space, into a format for identification using a unique identifier and storing the converted information; and the unique identifier conversion means stores information indicating whether the space is a multiple object presence permitted space that permits the presence of multiple objects in association with the unique identifier; The autonomous mobile body control means controls the first autonomous mobile body and the second autonomous mobile body to coordinate delivery in the multiple object presence allowed space. A delivery system characterized by: (Configuration 2) Whether a space is a multiple object presence permitted space or not is determined based on static information of the space. 2. The delivery system according to claim 1. (Configuration 3) The autonomous moving body control means controls the first autonomous moving body and the second autonomous moving body to coordinate delivery in a coordination space within the multiple object presence allowed space. 3. The delivery system according to configuration 1 or 2. (Configuration 4) Whether a space is the linked space or not is determined based on the dynamic information of the space. 4. The delivery system according to configuration 3. (Configuration 5) The linked space is a space in the multiple object presence permitted space where no pedestrians exist. 5. The delivery system according to configuration 3 or 4. (Configuration 6) Dynamic spatial information is updated more frequently than static spatial information. 6. A delivery system according to any one of configurations 1 to 5. (Configuration 7) Whether or not a space is the above-mentioned collaboration space is determined based on a parameter that is a phenomenon that hinders collaboration and is quantified. 4. The delivery system according to claim 3. [Explanation of symbols]

[0176] 10: Delivery system control device 11: Autonomous mobile control device 12: Autonomous mobile object 13: Building information retention device 14: Conversion information storage device 15: Sensor node 17: Autonomous mobile object 21: User Interface 30: Deliverer 81: Building Area 82: Park Area 83: Outdoor area 84: Indoor area 85-1, 85-2: Stairs 86: Slope 87-1~87-4: Space 88-1~88-4: Space

Claims

1. A delivery system that performs delivery by controlling a first autonomous moving body and a second autonomous moving body that cooperate in delivery, an autonomous mobile body control means for controlling the first autonomous mobile body and the second autonomous mobile body; a unique identifier conversion means for converting spatial information, which is information about the state and time of an object existing in a space defined by an arbitrary reference system indicating a position in three-dimensional space, into a format for identification using a unique identifier and storing the converted information; and the unique identifier conversion means stores information indicating whether the space is a multiple object presence permitted space that permits the presence of multiple objects in association with the unique identifier; The autonomous mobile body control means controls the first autonomous mobile body and the second autonomous mobile body to coordinate delivery in the multiple object presence allowed space. A delivery system characterized by:

2. Whether a space is a multiple object presence permitted space or not is determined based on static information of the space.

2. The delivery system of claim 1.

3. The autonomous moving body control means controls the first autonomous moving body and the second autonomous moving body to coordinate delivery in a coordination space within the multiple object presence permitted space.

2. The delivery system of claim 1.

4. Whether a space is the linked space or not is determined based on the dynamic information of the space.

4. The delivery system according to claim 3.

5. The linked space is a space in the multiple object presence permitted space where no pedestrians exist.

4. The delivery system according to claim 3.

6. Dynamic spatial information is updated more frequently than static spatial information.

2. The delivery system of claim 1.

7. Whether or not a space is the above-mentioned collaboration space is determined based on a parameter that is a phenomenon that hinders collaboration and is quantified.

4. The delivery system according to claim 3.

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