Information sharing device and information sharing system

Abstract

To provide an information sharing device and an information sharing system capable of sharing a change in the of a planned loading / unloading location with a mobile body and performing safety confirmation for loading and unloading.SOLUTION: When an unmanned aircraft 60 shifts to a loading / unloading operation, an information sharing device-side terminal 40 transmits an instruction to the unmanned aircraft 60 to continue the loading / unloading operation when initial state information matches monitoring information. When the initial state information does not match the monitoring information, an unmanned aircraft-side terminal 70, upon receiving an instruction to place the unmanned aircraft 60 in a standby state, issues a confirmation notification to an operator-side terminal 80 that operates the unmanned aircraft 60 as to whether to cancel the loading / unloading operation. When the operator-side terminal 80 receives the confirmation notification, the operator-side terminal 80 transmits, based on an operator's operation, either an instruction to cancel the loading / unloading operation or an instruction to continue the loading / unloading operation to the unmanned aircraft 60.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information sharing device and an information sharing system used for delivering goods by a mobile object. [Background technology]

[0002] A conventional airborne delivery system is described in Patent Document 1. This system includes an airborne delivery aircraft capable of delivering items and a management device capable of remotely controlling the airborne delivery aircraft. A mark indicating the delivery location at the destination of the item is displayed. When a control unit of the airborne delivery aircraft recognizes the mark from a captured image, it controls the airborne delivery aircraft to move to a location where delivery is possible, based on the captured mark. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-58937 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the above-mentioned flying delivery system can move to a location where delivery is possible using landmarks as a reference, it is unable to recognize changes in the condition of the delivery location, which could cause disruptions to delivery.

[0005] The present invention aims to solve the above-mentioned problems and provides an information sharing device and information sharing system that can share changes in the status of a delivery location (location where unloading and loading are planned) with a mobile object and confirm the safety of unloading and loading. [Means for solving the problem]

[0006] The invention described in claim 1 is It is an information sharing device used for unloading and lifting of goods during delivery. a location information acquisition means for acquiring device location information of an installation location where the information sharing device is installed, the location information information being derived by a global positioning satellite system (GNSS); a distance measurement information acquisition means for acquiring distance measurement information by measuring the direction, angle, and distance of a planned unloading / loading position for the article, which is set at a position different from the installation position, relative to the installation position; an initial state acquisition means for acquiring reference initial state information of the planned unloading / lifting position and the surrounding area of ​​the planned unloading / lifting position; a monitoring information acquiring means for acquiring monitoring information by monitoring the conditions of the planned unloading / lifting position and the surrounding area of ​​the planned unloading / lifting position over time; a processing means for deriving planned unloading / unloading position information of the planned unloading / unloading position based on the distance measurement information and the device position information, and for storing and processing the device position information, the distance measurement information, the initial state information, the monitoring information, and the planned unloading / unloading position information; Equipped with The arithmetic processing means is capable of outputting at least the initial state information, the monitoring information, and the planned unloading / landing position information to the outside.

[0007] This makes it possible to output changes in the state of the planned unloading / lifting location to the outside and check the safety of unloading / lifting.

[0008] Also, a light emitting means is provided that can irradiate light onto the planned unloading / lifting position and the periphery of the planned unloading / lifting position.

[0009] This makes it possible to support the acquisition of monitoring information by emitting light even at night.

[0010] The invention described in claim 3 is a mobile object that delivers the item; and the information sharing device according to claim 1; an information sharing system in which the arithmetic processing means is capable of outputting at least the initial state information, the monitoring information, and the planned unloading / loading position information to the mobile body; the moving body includes an external information acquisition means and a moving body side calculation processing means; the external information acquisition means acquires external state information by measuring an external state including the planned unloading / loading position and the surroundings of the planned unloading / loading position over time; The mobile unit side arithmetic processing means determining whether the initial state information transmitted from the information sharing device matches the external state information; If the initial state information and the external state information match, an instruction is sent to the moving body to proceed to unloading and lifting work; If the initial state information and the external state information do not match, a notification may be sent to an operator terminal that operates the moving body as to whether or not to cancel the unloading / lifting work, When there is a notification as to whether or not the unloading / lifting work should be cancelled, the operator may operate the operator-side terminal to transmit an instruction to cancel the transition to the unloading / lifting work, or to transmit an instruction to transition to the unloading / lifting work, When the moving body shifts to the unloading / lifting operation, The arithmetic processing means If the initial state information and the monitoring information match, an instruction is sent to the mobile body to continue the unloading and lifting work; If the initial state information and the monitoring information do not match, an instruction to place the mobile body in a standby state is transmitted to the mobile body; When the mobile body side calculation processing means receives an instruction to put the mobile body into a standby state, the mobile body side calculation processing means notifies the operator side terminal that operates the mobile body to confirm whether or not to cancel the unloading / lifting work, When the confirmation notification is received by the operator-side terminal, the operator operates the operator-side terminal to transmit to the moving body an instruction to cancel the unloading / lifting work, or an instruction to continue the unloading / lifting work; An information sharing system characterized by having:

[0011] This allows changes in the state of the planned unloading / loading location to be shared with the mobile body, making it possible to confirm the safety of unloading / loading.

[0012] The invention described in claim 4 is a mobile object that delivers the item; the information sharing device according to claim 1; and a server that can communicate with the mobile object; an information sharing system in which the arithmetic processing means is capable of outputting at least the device position information, the initial state information, the monitoring information, and the planned unloading / loading position information to the mobile body; the moving body includes a moving body side arithmetic processing means, The mobile unit side arithmetic processing means If the mobile object can communicate with the server, acquiring alternative device location information associated with the device location information as alternative information and stored in advance in the server; determining whether the alternative device location information matches the monitoring information; If the alternative device location information and the monitoring information match, an instruction is sent to the mobile body to proceed to unloading and lifting work; If the alternative device location information and the monitoring information do not match, a notification is sent to an operator terminal that operates the moving body asking whether or not to cancel the unloading / lifting work, When there is a notification as to whether or not the unloading / lifting work should be cancelled, the operator may operate the operator-side terminal to transmit an instruction to cancel the transition to the unloading / lifting work, or to transmit an instruction to transition to the unloading / lifting work, If the mobile object is unable to communicate with the server, The mobile body transmits the device position information, the initial state information, the monitoring information, and the planned unloading / landing position information to the operator side terminal that operates the mobile body, transmitting the alternative device location information from the server to the operator-side terminal based on the device location information in response to an operation by the operator; In response to an operation by the operator, the operator-side terminal may transmit an instruction to cancel the transition to the unloading / lifting work, or may transmit an instruction to transition to the unloading / lifting work, When the moving body shifts to the unloading / lifting operation, The arithmetic processing means If the initial state information and the monitoring information match, an instruction is sent to the mobile body to continue the unloading and lifting work; If the initial state information and the monitoring information do not match, an instruction to place the mobile body in a standby state is transmitted to the mobile body; When the mobile body side calculation processing means receives an instruction to put the mobile body into a standby state, the mobile body side calculation processing means notifies the operator side terminal that operates the mobile body to confirm whether or not to cancel the unloading / lifting work, When the confirmation notification is received by the operator-side terminal, the operator operates the operator-side terminal to transmit to the moving body an instruction to cancel the unloading / lifting work, or an instruction to continue the unloading / lifting work; There is.

[0013] With this, even if the mobile body is not equipped with an external information acquisition means for measuring external conditions over time and acquiring external condition information, changes in the condition of the planned unloading / loading location can be shared with the mobile body by linking with the server and the operator's terminal. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic explanatory diagram of an information sharing system according to an embodiment of the present invention; [Figure 2] FIG. 1 is a schematic explanatory diagram of an information sharing device. [Figure 3] FIG. 1 is a schematic explanatory diagram of an unmanned aerial vehicle. [Figure 4] FIG. 2 is a schematic explanatory diagram of an operator terminal. [Figure 5] FIG. 2 is a schematic explanatory diagram of a server. [Figure 6] FIG. 2 is a perspective view of an information sharing device. [Figure 7] FIG. 2 is a perspective view of the information sharing device as seen from the opposite side. [Figure 8] FIG. 2 is an explanatory diagram of the function of a direction sensor. [Figure 9] FIG. 2 is an explanatory diagram of the functions of a tilt sensor and a laser scanner. [Figure 10] FIG. 10 is an image diagram illustrating the acquisition of monitoring information around the laser scanner. [Figure 11] FIG. 10 is an image diagram of a laser scanner acquiring monitoring information about people. DETAILED DESCRIPTION OF THE INVENTION

[0015] An embodiment of an information sharing system 10 of the present invention will be described with reference to the drawings.

[0016] As shown in FIG. 1, the information sharing system 10 includes an information sharing device 20, an unmanned aerial vehicle 60, an operator terminal 80, and a server 100.

[0017] As shown in Figures 2, 6, 7, etc., the information sharing device 20 includes a radio wave receiving antenna 22, a direction sensor 24, a tilt sensor 26, a laser scanner 30, a camera 32, a light 34, an information sharing device terminal 40, and a tripod 38.

[0018] The radio wave receiving antenna 22 (corresponding to the location information acquiring means in the claims) acquires device location information of the installation position P1 where the information sharing device 20 is installed, which is derived by the Global Positioning Satellite System (GNSS). In this embodiment, a radio wave receiving antenna such as a GPS is used.

[0019] The direction sensor 24 is an existing direction sensor, and as shown in FIG. 8, measures the direction of the planned unloading / loading position P2 relative to the installation position P1, and acquires the direction as distance measurement information.

[0020] The tilt sensor 26 is an existing tilt sensor, and as shown in FIG. 9, measures the angle of the planned unloading / loading position P2 relative to the installation position P1, and acquires the angle as distance measurement information.

[0021] The laser scanner 30 is an existing laser scanner that acquires point cloud coordinates in a three-dimensional space.

[0022] As shown in Figures 9 to 11, the laser scanner 30 measures the distance from the installation position P1 to the planned unloading / unloading position P2 and acquires this distance as distance measurement information.Furthermore, it acquires the point cloud coordinates of the three-dimensional space around the planned unloading / unloading position P2 and the planned unloading / unloading position P2 as reference initial state information, and photographs and monitors the state of the planned unloading / unloading position P2 and the surrounding area of ​​the planned unloading / unloading position P2 over time and acquires the point cloud coordinates of the three-dimensional space as monitoring information.

[0023] As shown in FIGS. 10 and 11, the laser scanner 30 monitors the surrounding shape S, electric wires E, the intrusion of a person H, and the like.

[0024] An existing video camera is used as the camera 32, and images taken of the planned unloading / unloading position and the surrounding area of ​​the planned unloading / unloading position P2 are acquired as reference initial state information, and the conditions of the planned unloading / unloading position P2 and the surrounding area of ​​the planned unloading / unloading position P2 are photographed and monitored over time, and the captured images are acquired as monitoring information.

[0025] Like the laser scanner 30, the camera 32 also monitors the surrounding shape S, the electric wires E, the intrusion of people H, and the like.

[0026] The lighting 34 uses an existing light, and illuminates the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2 to support the camera 32 in taking pictures at night.

[0027] In this embodiment, the orientation sensor 24, tilt sensor 26, and laser scanner 30 constitute a distance measurement information acquisition means that measures the orientation, angle, and distance of the planned item unloading / loading position P2, which is set at a position different from the installation position P1, relative to the installation position P1 to acquire distance measurement information.

[0028] In addition, the laser scanner 30 and the camera 32 When acquiring initial state information as a reference for the planned unloading / landing position and the vicinity of the planned unloading / landing position P2, an initial state acquisition means is configured; The monitoring information acquisition means is configured to monitor the conditions of the planned unloading / lifting position P2 and the surrounding area of ​​the planned unloading / lifting position P2 over time and acquire monitoring information.

[0029] 2 etc., the information sharing device terminal 40 (corresponding to the arithmetic processing means in the claims) includes an arithmetic and control unit 42, a storage unit 43, a communication unit 44, and a display and operation unit 45. In this embodiment, an existing tablet-type personal computer is used.

[0030] The calculation / control unit 42 is composed of a CPU, RAM, ROM, and the like.

[0031] The memory unit 43 stores device position information derived by the radio wave receiving antenna 22, distance measurement information measured by the direction sensor 24, tilt sensor 26, and laser scanner 30, initial state information obtained from the laser scanner 30 and camera 32, monitoring information, and information on planned unloading and lifting locations, which will be described later, and is composed of a semiconductor memory, a hard disk drive, a compact disk drive, etc.

[0032] The communication unit 44 is for communicating with the unmanned aerial vehicle 60, the operator terminal 80, and the server 100 via a communication line.

[0033] The display / operation unit 45 is composed of a liquid crystal display having a touchpad function or the like.

[0034] The tripod 38 is an existing tripod, and has a radio wave receiving antenna 22, a direction sensor 24, a tilt sensor 26, a laser scanner 30, a camera 32, a light 34, and an information sharing device terminal 40 arranged on the top.

[0035] The unmanned aerial vehicle 60 is an existing unmanned aerial vehicle, and can be controlled by setting a flight path and the like using an existing method.

[0036] As shown in FIG. 3, the unmanned aerial vehicle 60 of this embodiment includes a radio wave receiving antenna 62, a laser scanner 64, a camera 66, and an unmanned aerial vehicle terminal 70.

[0037] The radio wave receiving antenna 62 acquires position information of the unmanned aerial vehicle 60 derived by the Global Positioning Satellite System (GNSS). In this embodiment, a radio wave receiving antenna such as a GPS is used.

[0038] The laser scanner 64 is an existing laser scanner that acquires point cloud coordinates in three-dimensional space, and measures the external conditions over time, including the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2, and acquires the point cloud coordinates in the three-dimensional space as external condition information.

[0039] The camera 66 is an existing video camera that measures the external conditions over time, including the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2, and obtains the captured images as external condition information.

[0040] In this embodiment, the laser scanner 64 and the camera 66 constitute an external information acquisition means that measures the external conditions over time, including the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2, and acquires external condition information.

[0041] As shown in Fig. 3, the unmanned aerial vehicle side terminal 70 (corresponding to the mobile body side arithmetic processing means in the claims) comprises an arithmetic and control unit 72, a memory unit 73, a communication unit 74, and a display and operation unit 75. In this embodiment, an existing tablet-type personal computer is used.

[0042] The calculation / control unit 72 is composed of a CPU, RAM, ROM, and the like.

[0043] The memory unit 73 stores position information acquired by the radio wave receiving antenna 62, external condition information acquired from the laser scanner 64 and camera 66, and is composed of a semiconductor memory, a hard disk drive, a compact disk drive, etc.

[0044] The communication unit 74 is for communicating with the information sharing device terminal 40 of the information sharing device 20, the operator terminal 80, and the server 100 via a communication line.

[0045] The display / operation unit 75 is composed of a liquid crystal display having a touchpad function or the like.

[0046] As shown in FIG. 4, the operator side terminal 80 is a personal computer equipped with an input unit 81, a calculation / control unit 82, a storage unit 83, a communication unit 84, and a display unit 85.

[0047] The input unit 81 is composed of a mouse, a keyboard, and the like.

[0048] The calculation / control unit 82 is composed of a CPU, RAM, ROM, and the like.

[0049] The storage unit 83 is composed of a semiconductor memory, a hard disk drive, a compact disk drive, and the like.

[0050] The display unit 85 is composed of a liquid crystal display or the like.

[0051] The communication unit 84 is for communicating with the unmanned aircraft side terminal 70 of the unmanned aircraft 60, the information sharing device side terminal 40 of the information sharing device 20, the server 100, and other communication terminals via a communication line.

[0052] 5, the server 100 includes an input unit 101, a calculation / control unit 102, a storage unit 103, a communication unit 104, and a display unit 105. In this embodiment, a cloud server is used.

[0053] The input unit 101 is composed of a mouse, a keyboard, and the like.

[0054] The arithmetic and control unit 102 is composed of a CPU, RAM, ROM, and the like.

[0055] The storage unit 103 stores previously acquired geographic information (alternative device location information) and the like, and is made up of a semiconductor memory, a hard disk drive, a compact disk drive, and the like.

[0056] The display unit 105 is configured from a liquid crystal display or the like.

[0057] The communication unit 104 is for communicating with the information sharing device terminal 40 of the information sharing device 20, the unmanned aerial vehicle terminal 70 of the unmanned aerial vehicle 60, and the operator terminal 80 via a communication line.

[0058] The case of unloading and lifting goods using the information sharing system 10 will be described.

[0059] [Get information on planned unloading and loading locations] The radio wave receiving antenna 22 of the information sharing device 20 acquires device position information of the installation position P1 where the information sharing device 20 is installed, which information information is derived by the Global Navigation Satellite System (GNSS). In this embodiment, the position information of the radio wave receiving antenna 22 is acquired.

[0060] When unloading and lifting of goods is performed at the installation position P1, this interferes with the information sharing device 20, so a planned unloading and lifting position P2 is set at a peripheral position different from the information sharing device 20.

[0061] Then, the direction sensor 24, tilt sensor 26, and laser scanner 30 measure the direction, angle, and distance of the planned unloading / loading position P2 relative to the installation position P1, obtain distance measurement information, and store it in the memory unit 43 of the information sharing device terminal 40.

[0062] The information sharing device terminal 40 that has acquired the distance measurement information derives planned unloading and lifting position information based on the distance measurement information and the device position information, with the installation position P1 as the base point, and stores the information in the memory unit 43.

[0063] In this embodiment, the radio wave receiving antenna 22, the direction sensor 24, the tilt sensor 26, and the laser scanner 30 are located in different positions, so their positions relative to the radio wave receiving antenna 22 are corrected to derive distance measurement information and information on the planned unloading and lifting locations.

[0064] As a result, the device position information and the planned unloading / lifting position information of the installation position P1 and the planned unloading / lifting position P2 are linked.

[0065] [Get initial status information] Once the planned unloading / unloading position information has been acquired, the laser scanner 30 and the camera 32 are used to acquire reference initial state information for the planned unloading / unloading position and the surrounding area of ​​the planned unloading / unloading position P2, and this initial state information is stored in the memory unit 43 of the information sharing device terminal 40.

[0066] At night or when the illumination is low, the lighting 34 emits light to support the imaging by the camera 32.

[0067] [Monitoring information acquisition] Once the initial state information has been acquired, the laser scanner 30 and the camera 32 are used to photograph and monitor the state of the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2 over time to obtain monitoring information, which is then stored in the memory unit 43 of the information sharing device terminal 40.

[0068] At night or when the illumination is low, the lighting 34 emits light to support the imaging by the camera 32.

[0069] [Determine the status of the planned unloading and lifting location] When acquisition of the monitoring information begins, the information sharing device terminal 40 compares the initial state information with the monitoring information and determines whether they match.

[0070] In this embodiment, if a judgment is made immediately in response to human intrusion, movement due to wind, etc., it would be unrealistic as it would result in a series of inconsistent judgments. Therefore, for the initial state information, a set threshold is set with a predetermined range for the signal bandwidth, time, etc., and it is determined whether the numerical value of the monitoring information exceeds the set threshold.

[0071] The initial state information of the information sharing device terminal 40 is compared with the monitoring information, and a determination as to whether or not they match is made continuously thereafter.

[0072] [When unmanned aerial vehicle 60 exceeds the set threshold before taking off from the time of obtaining monitoring information] If the unmanned aerial vehicle 60 exceeds the set threshold value from the time it starts acquiring monitoring information before takeoff (the initial state information and monitoring information do not match), there may be a problem with the information sharing device 20, such as it having fallen over or been removed.

[0073] If the initial state information and the monitoring information do not match, the operator terminal 80 that operates the unmanned aerial vehicle 60 is notified as to whether or not to cancel the unloading and lifting work.

[0074] When the operator terminal 80 receives a notification as to whether or not to cancel the unloading and lifting work, the operator decides whether or not to proceed with delivery, and depending on the operator's operation, the operator terminal 80 may send an instruction to the unmanned aerial vehicle terminal 70 to cancel the transition to unloading and lifting work, or may send an instruction to the unmanned aerial vehicle terminal 70 to proceed with the unmanned aerial vehicle work. [Is it possible to communicate with Unmanned Aerial Vehicle 60?] If the initial state information and the monitoring information match without exceeding the set threshold, the information sharing device side terminal 40 of the information sharing device 20 determines whether communication with the unmanned aircraft side terminal 70 of the unmanned aircraft 60 is possible.

[0075] When the information sharing device terminal 40 is capable of communicating with the unmanned aerial vehicle terminal 70, the information sharing device terminal 40 transmits initial state information to the unmanned aerial vehicle terminal 70.

[0076] If the information sharing device terminal 40 is unable to communicate with the unmanned aerial vehicle terminal 70, the information sharing device terminal 40 transmits initial state information to the operator terminal 80. Details will be explained separately.

[0077] [When communication with the unmanned aircraft terminal 70 is not possible] When the information sharing device side terminal 40 transmits the initial state information to the operator side terminal 80, the operator side terminal 80 acquires, from the memory unit 103 of the server 100, the alternative device location information that is associated as alternative information for the device location information of the installation position P1 where the information sharing device 20 is installed and that has been stored in advance in the server 100.

[0078] The operator terminal 80 identifies the planned unloading / lifting location P2 based on the acquired alternative device location information. Once the planned unloading / lifting location P2 has been identified, the operator determines whether or not delivery is possible, and depending on the operator's operation, the operator terminal 80 may send an instruction to cancel delivery to the unmanned aerial vehicle terminal 70, or may send an instruction to proceed to unmanned aerial vehicle terminal 70 to begin unloading / lifting work.

[0079] [Move to unloading and loading work] The operator sends an instruction from the operator terminal 80 to the unmanned aerial vehicle terminal 70 to direct the unmanned aerial vehicle 60 to the planned unloading / loading position P2, and the unmanned aerial vehicle 60 begins flight.

[0080] In this embodiment, the unmanned aerial vehicle 60 is equipped with a laser scanner 64 and a camera 66, and the unmanned aerial vehicle terminal 70 continues to determine whether the external state information acquired by the laser scanner 64 and the camera 66 matches the initial state information sent from the information sharing device terminal 40.

[0081] The unmanned aerial vehicle terminal 70 repeats the process of moving the unmanned aerial vehicle 60 toward the planned unloading / loading position P2 until the external state information matches the initial state information. It can be said that the unmanned aerial vehicle 60 flies under normal flight control until it reaches the vicinity of the planned unloading / loading position P2.

[0082] If the external state information and the initial state information match, the unmanned aerial vehicle terminal 70 controls the unmanned aerial vehicle 60 to transition to unloading and lifting work. In this case, before transitioning to unloading and lifting work, the determination of whether the external state information and the initial state information match is completed.

[0083] If the external state information and the initial state information do not match even after a predetermined set number of times, the unmanned aircraft side terminal 70 notifies the operator side terminal 80 that operates the unmanned aircraft 60 whether or not to cancel the unloading / lifting work.

[0084] When the operator terminal 80 receives a notification as to whether or not to cancel the unloading and lifting work, the operator decides whether or not to proceed with delivery, and depending on the operator's operation, the operator terminal 80 may send an instruction to the unmanned aerial vehicle terminal 70 to cancel the transition to unloading and lifting work, or may send an instruction to the unmanned aerial vehicle terminal 70 to proceed with the unmanned aerial vehicle work.

[0085] [End of determination on unmanned aircraft side terminal 70] When the unmanned aerial vehicle 60 approaches the planned unloading / loading location P2 and the unmanned aerial vehicle terminal 70 finishes determining whether the external state information and the initial state information match, it compares the initial state information and the monitoring information of the information sharing device terminal 40, which has been continuing since the start of the determination of the planned unloading / loading location state, and returns to determining whether they match.

[0086] [Safety check for unloading and loading] When the unmanned aerial vehicle 60 transitions to unloading / lifting work, if the set threshold has already been exceeded (initial state information and monitoring information do not match), the unmanned aerial vehicle 60 is put into standby mode, and the unmanned aerial vehicle terminal 70 notifies the operator terminal 80 operating the unmanned aerial vehicle 60 whether or not to cancel the unmanned aerial vehicle work.

[0087] When the operator terminal 80 receives a notification as to whether or not to cancel the unloading and lifting work, the operator decides whether or not to proceed with delivery, and depending on the operator's operation, the operator terminal 80 may send an instruction to the unmanned aerial vehicle terminal 70 to cancel the transition to unloading and lifting work, or may send an instruction to the unmanned aerial vehicle terminal 70 to proceed with the unmanned aerial vehicle work.

[0088] The above process also applies when the initial state information and monitoring information no longer match after the shift to unloading and lifting work.

[0089] If the initial state information and the monitoring information match, the information sharing device terminal 40: An instruction to start unloading and lifting work is transmitted to the unmanned aerial vehicle terminal 70. When the unmanned aerial vehicle terminal 70 receives the instruction to start unloading and lifting work, the unmanned aerial vehicle terminal 70 starts the unmanned aerial vehicle unloading and lifting work.

[0090] Even after the unloading and lifting operation has started, the determination of whether the initial state information matches the monitoring information continues.

[0091] When the initial state information and the monitoring information match, the information sharing device terminal 40 transmits an instruction to continue the unloading and lifting work to the unmanned aerial vehicle terminal 70.

[0092] The information sharing device terminal 40 and the unmanned aerial vehicle terminal 70 repeatedly send and receive instructions to continue the unloading and lifting work until the unloading and lifting work is completed.

[0093] When the unloading and lifting work is completed, a return command for the unmanned aerial vehicle 60 is sent from the operator's terminal 80 to the unmanned aerial vehicle's terminal 70, and the unmanned aerial vehicle 60 returns. The information sharing device 20 installed near the planned unloading and lifting location is removed, and the delivery work is completed.

[0094] When the present invention is viewed as an information sharing device, An information sharing device 20 used for unloading and lifting of goods when delivering goods, a position information acquisition means (radio wave receiving antenna 22) for acquiring device position information of an installation position P1 where the information sharing device 20 is installed, the position information information being derived by a global positioning satellite system (GNSS); distance measurement information acquisition means (orientation sensor 24, tilt sensor 26, laser scanner 30) for measuring the direction, angle, and distance of a planned unloading / loading position P2 of the goods, which is set at a position different from the installation position P1, relative to the installation position P1, and acquiring distance measurement information; initial state acquisition means (laser scanner 30, camera 32) for acquiring reference initial state information of the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2; a monitoring information acquisition means (laser scanner 30, camera 32) for acquiring monitoring information by monitoring the conditions of the planned unloading / loading position P2 and the surrounding area of ​​the planned unloading / loading position P2 over time; a processing means (information sharing device side terminal 40) for deriving planned unloading / unloading position information of the planned unloading / unloading position P2 based on the distance measurement information and the device position information, and for storing and processing the device position information, distance measurement information, initial state information, monitoring information, and planned unloading / unloading position information; Equipped with The arithmetic processing means (information sharing device side terminal 40) is capable of outputting at least the initial state information, monitoring information, and planned unloading / landing position information to the outside.

[0095] This makes it possible to output changes in the state of the planned unloading / lifting position P2 to the outside, and to check the safety of unloading / lifting.

[0096] Furthermore, light emitting means (lighting 34) capable of emitting light is provided at the planned unloading / loading position P2 and the periphery of the planned unloading / loading position P2.

[0097] This makes it possible to support the acquisition of monitoring information by emitting light even at night.

[0098] Furthermore, when the present invention is viewed as an information sharing system, The system includes a mobile object (unmanned aerial vehicle 60) that delivers goods and an information sharing device 20, The information sharing system is such that the calculation processing means (information sharing device terminal 40) can output at least initial state information, monitoring information, and planned unloading / landing position information to the mobile body (unmanned aerial vehicle 60), The mobile body (unmanned aerial vehicle 60) is equipped with external information acquisition means (laser scanner 64, camera 66) and mobile body side arithmetic processing means (unmanned aerial vehicle side terminal 70), The external information acquisition means (laser scanner 64, camera 66) measures the external conditions over time, including the planned unloading / loading position P2 and the surroundings of the planned unloading / loading position P2, to acquire external condition information; The mobile body side calculation processing means (unmanned aerial vehicle side terminal 70) Determine whether the initial state information transmitted from the information sharing device 20 matches the external state information; If the initial state information and the external state information match, an instruction is sent to the mobile object (unmanned aerial vehicle 60) to proceed to unloading and lifting work; If the initial state information and the external state information do not match, the operator terminal 80 that operates the mobile body (unmanned aerial vehicle 60) may be notified as to whether or not to cancel the unloading / lifting work. When a notification is received as to whether or not to cancel the unloading / lifting work, the operator may operate the operator side terminal 80 to either send an instruction to cancel the transition to the unloading / lifting work or send an instruction to proceed to the unloading / lifting work. When the mobile object (unmanned aerial vehicle 60) shifts to unloading and lifting operations, The calculation processing means (information sharing device terminal 40) If the initial state information and the monitoring information match, an instruction is sent to the mobile object (unmanned aerial vehicle 60) to continue the unloading and lifting operation; If the initial state information and the monitoring information do not match, an instruction to put the mobile object (unmanned aerial vehicle 60) into a standby state is transmitted to the mobile object (unmanned aerial vehicle 60); When the mobile body side calculation processing means (unmanned aerial vehicle side terminal 70) receives an instruction to put the mobile body (unmanned aerial vehicle 60) into standby mode, it notifies the operator side terminal 80 that operates the mobile body (unmanned aerial vehicle 60) to confirm whether or not to cancel the unloading / lifting work, When a confirmation notification is received by the operator side terminal 80, the operator can operate the operator side terminal 80 to either send an instruction to the mobile unit (unmanned aerial vehicle 60) to cancel the unloading / lifting work, or send an instruction to continue the unloading / lifting work. There is.

[0099] This allows changes in the state of the planned unloading / lifting position P2 to be shared with the mobile body (unmanned aerial vehicle 60), making it possible to confirm the safety of unloading / lifting.

[0100] Another embodiment of the present invention will be described below. The same components as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted in whole or in part.

[0101] [When the unmanned aerial vehicle 60 is not equipped with a laser scanner 64 and a camera 66] If the unmanned aerial vehicle 60 is not equipped with a laser scanner 64 and a camera 66, at the step of "Proceeding to unloading and loading work", the unmanned aerial vehicle side terminal 70 determines whether or not it is possible to communicate with the server 100, and if it is possible to communicate with the server 100, the unmanned aerial vehicle side terminal 70 obtains from the memory unit 103 of the server 100 the alternative device location information that is associated as alternative information for the device location information of the installation location P1 where the information sharing device 20 is installed and that has been stored in advance in the server 100.

[0102] The unmanned aerial vehicle terminal 70 compares the acquired alternative device position information with the initial state information, and if the alternative device position information matches the initial state information, moves the unmanned aerial vehicle 60 to a position where the alternative device position information matches the initial state information, and the unmanned aerial vehicle terminal 70 controls the unmanned aerial vehicle 60 to transition to unloading and lifting work. In this case, before transitioning to unloading and lifting work, the determination of whether the alternative device position information matches the initial state information is completed.

[0103] If the alternative device location information and the initial state information do not match, the unmanned aerial vehicle terminal 70 notifies the operator terminal 80 that operates the unmanned aerial vehicle 60 whether or not to cancel the delivery.

[0104] When the operator terminal 80 receives a notification as to whether or not to cancel delivery, the operator decides whether or not to proceed with delivery, and depending on the operator's operation, the operator terminal 80 may send an instruction to the unmanned aerial vehicle terminal 70 to cancel the transition to unloading and lifting work, or may send an instruction to the unmanned aerial vehicle terminal 70 to proceed with unloading and lifting work.

[0105] After these steps, proceed to the procedure described above for [Proceed to unloading and lifting operations].

[0106] When the present invention is viewed as another information sharing system, The system includes a mobile object (unmanned aerial vehicle 60) that delivers goods, an information sharing device 20, and a server 100 that can communicate with the mobile object (unmanned aerial vehicle 60), The information sharing system 10 is an information sharing system in which the calculation processing means (information sharing device terminal 40) is capable of outputting at least device position information, initial state information, monitoring information, and planned unloading / unloading location information to a moving body (unmanned aerial vehicle 60), The mobile body (unmanned aerial vehicle 60) is equipped with a mobile body side arithmetic processing means (unmanned aerial vehicle side terminal 70), The mobile body side calculation processing means (unmanned aerial vehicle side terminal 70) When the mobile object (unmanned aerial vehicle 60) can communicate with the server 100, Acquire alternative device location information that is associated with the device location information as alternative information and stored in advance in the server 100; Determine whether the alternative device location information matches the monitoring information; If the alternative device location information and the monitoring information match, an instruction is sent to the mobile object (unmanned aerial vehicle 60) to proceed to unloading and lifting work, If the alternative device location information and the monitoring information do not match, the operator terminal 80 that operates the mobile body (unmanned aerial vehicle 60) is notified as to whether or not to cancel the unloading and lifting work. When a notification is received as to whether or not to cancel the unloading / lifting work, the operator may operate the operator side terminal 80 to either send an instruction to cancel the transition to the unloading / lifting work or send an instruction to proceed to the unloading / lifting work. If the mobile object (unmanned aerial vehicle 60) cannot communicate with the server 100, The mobile body (unmanned aerial vehicle 60) transmits the device position information, initial state information, monitoring information, and planned unloading / landing position information to the operator terminal 80 that operates the mobile body (unmanned aerial vehicle 60), By an operation of the operator, the server 100 transmits the alternative device location information to the operator side terminal 80 based on the device location information, Depending on the operation of the operator, the operator side terminal 80 may transmit an instruction to cancel the transition to unloading and lifting work, or may transmit an instruction to transition to unloading and lifting work. When the mobile object (unmanned aerial vehicle 60) shifts to unloading and lifting operations, The calculation processing means (information sharing device terminal 40) If the initial state information and the monitoring information match, an instruction is sent to the mobile object (unmanned aerial vehicle 60) to continue the unloading and lifting work, If the initial state information and the monitoring information do not match, an instruction to put the mobile body (unmanned aerial vehicle 60) into a standby state is transmitted to the mobile body (unmanned aerial vehicle 60); When the mobile body side calculation processing means (unmanned aerial vehicle side terminal 70) receives an instruction to put the mobile body into a standby state for the unmanned aerial vehicle 60, it notifies the operator side terminal 80 that operates the mobile body (unmanned aerial vehicle 60) to confirm whether or not to cancel the unloading and lifting work, When a confirmation notification is received by the operator side terminal 80, the operator can operate the operator side terminal 80 to either send an instruction to the mobile unit (unmanned aerial vehicle 60) to cancel the unloading / lifting work, or send an instruction to continue the unloading / lifting work. There is.

[0107] According to this, even if the mobile body (unmanned aerial vehicle 60) is not equipped with external information acquisition means such as a laser scanner 64 and a camera 66 that measure external conditions over time and acquire external condition information, changes in the condition of the planned unloading / loading location P2 can be shared with the mobile body in cooperation with the server 100 and the operator's terminal 80.

[0108] The information sharing device 20 and the information sharing system 10 of the present invention are not limited to the above configurations. That is, various design changes and the like are possible without departing from the gist of the present invention.

[0109] For example, the moving body may be not only an unmanned aerial vehicle, but also an AGV (automated guided vehicle) that can deliver goods by remote control.

[0110] Furthermore, the location information acquisition means, distance measurement information acquisition means, initial state acquisition means, and monitoring information acquisition means may use other means, without being limited to the above configuration, as long as they can perform their respective functions.

[0111] In addition, if the external state information and the initial state information do not match when [Transition to unloading and lifting work], or if the initial state information and the monitoring information do not match when [Check unloading and lifting safety], and there is a delivery client near the information sharing device 20, the delivery client can operate the information sharing device terminal 40 to send an instruction to cancel the unmanned aerial vehicle terminal 70 or an instruction to continue the unmanned aerial vehicle operation. [Explanation of symbols]

[0112] 10 Information sharing system 20 Information sharing device 22 Radio wave receiving antenna 24 Compass sensor 26 Tilt sensor 30 Laser Scanner 32 Camera 34 Lighting 40 Information sharing device side terminal 60 unmanned aerial vehicle 64 Laser Scanner 66 Camera 70 Unmanned aircraft terminal 80 Operator's terminal 100 servers P1 installation position P2 Unloading and loading location

Claims

1. This is an information sharing device used for unloading and lifting goods during delivery, a location information acquisition means for acquiring device location information of an installation location where the information sharing device is installed, the location information information being derived by a global positioning satellite system (GNSS); a distance measurement information acquisition means for acquiring distance measurement information by measuring the direction, angle, and distance of a planned unloading / loading position for the item, which is set at a position different from the installation position, relative to the installation position; an initial state acquisition means for acquiring reference initial state information of the planned unloading / lifting position and the vicinity of the planned unloading / lifting position; a monitoring information acquiring means for acquiring monitoring information by monitoring the conditions of the planned unloading / lifting position and the surrounding area of ​​the planned unloading / lifting position over time; a processing means for deriving planned unloading / unloading position information of the planned unloading / unloading position based on the distance measurement information and the device position information, and for storing and processing the device position information, the distance measurement information, the initial state information, the monitoring information, and the planned unloading / unloading position information; Equipped with The information sharing device is characterized in that the arithmetic processing means is capable of outputting at least the initial state information, the monitoring information, and the planned unloading / landing position information to the outside.

2. 2. The information sharing device according to claim 1, further comprising a light emitting means for irradiating the planned unloading / lifting position and the periphery of the planned unloading / lifting position with light.

3. a mobile object that delivers the item; and the information sharing device according to claim 1; an information sharing system in which the arithmetic processing means is capable of outputting at least the initial state information, the monitoring information, and the planned unloading / loading position information to the mobile body; the moving body includes an external information acquisition means and a moving body side calculation processing means; the external information acquisition means acquires external state information by measuring an external state including the planned unloading / lifting position and the surrounding area of ​​the planned unloading / lifting position over time; The mobile unit side arithmetic processing means determining whether the initial state information transmitted from the information sharing device matches the external state information; If the initial state information and the external state information match, an instruction is sent to the moving body to proceed to unloading and lifting work; If the initial state information and the external state information do not match, a notification may be sent to an operator terminal that operates the moving body as to whether or not to cancel the unloading / lifting work. When there is a notification as to whether or not the unloading / lifting work should be cancelled, the operator may operate the operator-side terminal to transmit an instruction to cancel the transition to the unloading / lifting work, or to transmit an instruction to proceed to the unloading / lifting work, When the moving body shifts to the unloading / lifting operation, The arithmetic processing means If the initial state information and the monitoring information match, an instruction is sent to the mobile body to continue the unloading and lifting work; If the initial state information and the monitoring information do not match, an instruction to place the mobile body in a standby state is transmitted to the mobile body; When the mobile body side calculation processing means receives an instruction to put the mobile body into a standby state, the mobile body side calculation processing means notifies the operator side terminal that operates the mobile body to confirm whether or not to cancel the unloading / lifting work, When the confirmation notification is received by the operator-side terminal, the operator operates the operator-side terminal to transmit to the moving body an instruction to cancel the unloading / lifting work, or an instruction to continue the unloading / lifting work; An information sharing system characterized by having:

4. a mobile object that delivers the item; the information sharing device according to claim 1; and a server that can communicate with the mobile object; an information sharing system in which the arithmetic processing means is capable of outputting at least the device position information, the initial state information, the monitoring information, and the planned unloading / loading position information to the mobile body; the moving body includes a moving body side arithmetic processing means, The mobile unit side arithmetic processing means If the mobile object can communicate with the server, acquiring alternative device location information associated with the device location information as alternative information and stored in advance in the server; determining whether the alternative device location information matches the monitoring information; If the alternative device location information and the monitoring information match, an instruction is sent to the mobile body to proceed to unloading and lifting work; If the alternative device location information and the monitoring information do not match, a notification is sent to an operator terminal that operates the mobile body asking whether or not to cancel the unloading / lifting work; When there is a notification as to whether or not the unloading / lifting work should be cancelled, the operator may operate the operator-side terminal to transmit an instruction to cancel the transition to the unloading / lifting work, or to transmit an instruction to proceed to the unloading / lifting work, If the mobile object is unable to communicate with the server, The mobile body transmits the device position information, the initial state information, the monitoring information, and the planned unloading / lifting position information to the operator side terminal that operates the mobile body, transmitting the alternative device location information from the server to the operator-side terminal based on the device location information in response to an operation by the operator; In response to an operation by the operator, the operator-side terminal may transmit an instruction to cancel the transition to the unloading / lifting work, or may transmit an instruction to transition to the unloading / lifting work, When the moving body shifts to the unloading / lifting operation, The arithmetic processing means If the initial state information and the monitoring information match, an instruction is sent to the mobile body to continue the unloading and lifting work; If the initial state information and the monitoring information do not match, an instruction to place the mobile body in a standby state is transmitted to the mobile body; When the mobile body side calculation processing means receives an instruction to put the mobile body into a standby state, the mobile body side calculation processing means notifies the operator side terminal that operates the mobile body to confirm whether or not to cancel the unloading / lifting work, When the confirmation notification is received by the operator-side terminal, the operator operates the operator-side terminal to transmit to the moving body an instruction to cancel the unloading / lifting work, or an instruction to continue the unloading / lifting work; An information sharing system characterized by having:

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