Delivery system, delivery method, and program

Abstract

This invention provides a delivery system, delivery method, and program that enhance the reliability of delivery using unmanned mobile vehicles. [Solution] The delivery system comprises a mobile body 50, a mobile body communication device 51, a route setting unit 73 that sets a travel route to the mobile body 50 based on location information 461 indicating the location of the storage unit 400 received by the mobile body communication device 51 from the storage unit 400, a travel control unit 75 that moves the mobile body 50 according to the travel route, and a group of sensors 53 mounted on the mobile body 50 that detect the storage unit 400. If the group of sensors 53 is unable to detect the storage unit 400, the route setting unit 73 sets a travel route to the storage unit 400 based on information indicating the travel history 463 of the storage unit 400 received by the mobile body communication device 51.

Description

Technical Field

[0001] The present invention relates to a delivery system, a delivery method, and a program.

Background Art

[0002] Conventionally, a system for delivering articles using an unmanned moving body has been known.

[0003] For example, Patent Document 1 discloses a delivery system in which a flight control unit that controls an unmanned aircraft flies the unmanned aircraft toward a vehicle, drops the luggage into the vehicle when the door of the vehicle is opened, and a vehicle control device that controls the vehicle opens the door when the unmanned aircraft arrives at the vehicle.

[0004] Patent Document 2 discloses a transport robot including a route information acquisition unit that acquires self-navigable route information indicating a self-navigable route in a building, a travel route determination unit that determines a travel route for transporting a delivery item determined to be delivered to a delivery destination based on the self-navigable route information, and a travel unit that travels in the building based on the travel route.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when obtaining the position information of the delivery destination and the unmanned moving body delivers to the delivery destination, there are cases where it may not be possible to reach the delivery destination only with the position information. For example, when the delivery destination is a vehicle in a garage, a multi-story parking lot, an underground parking lot, or a storage unit capable of storing luggage, the unmanned moving body may not be able to reach these delivery destinations.

[0007] This invention has been made in view of the above circumstances, and aims to provide a delivery system, delivery method, and program that enhance the reliability of delivery of goods by unmanned mobile vehicles. [Means for solving the problem]

[0008] This disclosure relates to a delivery system for delivering goods to a storage unit by an unmanned mobile vehicle, comprising: a communication unit; a route setting unit that sets a travel route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received by the communication unit from the storage unit; a movement control unit that moves the unmanned mobile vehicle according to the travel route; and a detection unit mounted on the unmanned mobile vehicle that detects the storage unit, wherein the route setting unit sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit when the detection unit is unable to detect the storage unit.

[0009] In the above delivery system, the communication unit receives information about restricted movement areas within the facility where the storage unit is located, and the route setting unit sets a movement route that avoids the restricted movement area if the movement route of the storage unit indicated by the movement history is a route in which the storage unit moves through the restricted movement area.

[0010] In the above delivery system, if the unmanned mobile vehicle is an unmanned aerial vehicle, and the restricted area is an area where the flight of the unmanned aerial vehicle is prohibited, the goods to be delivered by the unmanned mobile vehicle are transferred to an unmanned vehicle prepared in advance within the facility.

[0011] In the above-described delivery system, the storage unit includes a position detection unit that detects the position and direction of movement of the storage unit and generates the movement history.

[0012] In the above delivery system, the storage unit is either a vehicle or a storage box.

[0013] This disclosure relates to a delivery method for delivering goods to a storage unit by an unmanned mobile unit, wherein the computer provided in the unmanned mobile unit is instructed to perform a setting process to set a travel route to the unmanned mobile unit based on location information indicating the location of the storage unit received from the storage unit by a communication unit provided in the unmanned mobile unit; a travel process to move the unmanned mobile unit according to the travel route; and a detection process mounted on the unmanned mobile unit to detect the storage unit, wherein if the storage unit could not be detected by the detection process, the setting process sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit.

[0014] This disclosure provides a program that causes a computer in an unmanned mobile vehicle that delivers goods to a storage unit to perform a setting process to set a travel route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received from the storage unit by a communication unit in the unmanned mobile vehicle; a travel process to move the unmanned mobile vehicle according to the travel route; and a detection process mounted on the unmanned mobile vehicle to detect the storage unit. The setting process, if the detection process fails to detect the storage unit, sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit. [Effects of the Invention]

[0015] According to one aspect of the present invention, since the communication unit sets a route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit, it is possible to reduce the occurrence of situations in which the storage unit to be delivered cannot be detected and the goods cannot be delivered, thereby increasing the reliability of goods delivery by an unmanned mobile unit. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a diagram showing the system configuration of an embodiment. [Figure 2] Figure 2 is a block diagram showing the configuration of the branch office terminal, facility equipment, storage unit, and mobile unit. [Figure 3]FIG. 3 is a diagram showing delivery information. [Figure 4] FIG. 4 is a diagram showing an example when the mobile body cannot detect the storage unit. [Figure 5] FIG. 5 is a diagram showing an example within a parking lot. [Figure 6] FIG. 6 is a flowchart showing the operation of the mobile body.

Embodiments for Carrying out the Invention

[0017] [1. Configuration of Delivery System] Hereinafter, embodiments of a delivery system, a delivery method, and a program will be described with reference to the drawings. FIG. 1 is a diagram showing the system configuration of the present embodiment. The system 1 shown in FIG. 1 includes a management server 10, a branch office 20, a user terminal 40, a mobile body 50, and a storage unit 400. Among these, the mobile body 50 and the storage unit 400 constitute a delivery system.

[0018] The management server 10, the branch office terminal 200 arranged in the branch office , the user terminal 40, and the mobile body 50 are connected to each other via a network 5 so as to be capable of data communication. The network 5 is, for example, a WAN (Wide Area Network) such as a public communication network like the Internet, or other communication networks. The network 5 may include a telephone communication network such as a mobile phone, or a wireless communication network such as Wi-Fi. Wi-Fi is a registered trademark.

[0019] The management server 10 is a server managed by a management operator who manages the operation of the mobile body 50 that supports the delivery and collection work of the package 57. The management server 10 manages information related to the mobile body 50, such as information indicating the current position of the mobile body 50, information indicating the status of the mobile body 50, information indicating the operation schedule, and the presence or absence of packages.

[0020] The management server 10 registers sender information, including the sender's name, address, telephone number, and other personal information of the sender of the package 57, as well as payment information such as the credit card number for settling the shipping fee. The management server 10 also registers delivery information, including the recipient's information, the destination of the package 57, and item information related to the package 57 to be delivered. This information is registered, for example, by a user terminal 40 owned by the sender.

[0021] Each branch office 20 is equipped with a branch office terminal 200. The branch office terminal 200 is used in branch offices that handle the collection and delivery of packages 57. In other words, the branch office terminal 200 is used at each branch office to acquire delivery information for packages 57 and to input delivery status. The branch office terminal 200 can be a tablet, smartphone, PDA (Personal Digital Assistant), or a notebook or desktop computer.

[0022] The office terminal 200 of the office 20 that collects package 57, and the office terminal 200 of the office 20 that delivers package 57, receive sender information and delivery information from the management server 10.

[0023] Furthermore, the business office 20 is equipped with multiple mobile units 50. Although the mobile unit 50 shown in Figure 1 is an aerial vehicle such as a drone, the mobile unit 50 may also be a vehicle that travels on roads, etc. Whether the mobile unit 50 is an aerial vehicle or a vehicle, it is an unmanned mobile unit that moves on its own.

[0024] User terminal 40 is a device owned by a user of this system. User terminal 40 can be a tablet, smartphone, PDA (Personal Digital Assistant), or notebook or desktop computer device. Users include both the sender and the consignee.

[0025] The mobile body 50 is an unmanned mobile body, and may be an aerial vehicle such as a drone, or a vehicle that travels on a road.

[0026] The storage unit 400 stores the packages 57 delivered by the mobile unit 50. For example, the storage unit 400 may be a vehicle 400A or a storage box 400B, as shown in Figure 1. Alternatively, the storage unit 400 may be a designated location such as a front door, a delivery box, a bicycle basket, a garage, a balcony, or a rental box.

[0027] [2. Configuration of the branch office terminals] Figure 2 is a block diagram showing the configuration of the sales office terminal 200, facility equipment 300, storage unit 400, and mobile unit 50.

[0028] The branch office terminal 200 comprises a first communication device 210 and a first control unit 230.

[0029] The first communication device 210 includes an interface circuit compatible with wired communication standards such as Ethernet for data communication via network 5, and a wireless communication module compatible with wireless communication standards such as Wi-Fi and Bluetooth. Ethernet and Bluetooth are registered trademarks. The first communication device 210 communicates data with the management server 10 via the network 5 and receives sender information and delivery information from the management server 10.

[0030] The first control unit 230 is a computer device comprising a first storage unit 240 and a first processor 250.

[0031] The first storage unit 240 includes, for example, a non-volatile storage unit such as ROM (Read Only Memory) and a volatile storage unit such as RAM (Random Access Memory). The first storage unit 240 may also be configured to include an auxiliary storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive). The non-volatile storage unit stores the control program executed by the first processor 250. The control program is not illustrated.

[0032] The first storage unit 240 stores sender information and delivery information 241. The illustration of the sender information is omitted. The delivery information 241 is information received from the management server 10 and includes information entered by the sender using the user terminal 40 and information registered in advance by the consignee.

[0033] Figure 3 shows an example of delivery information 241. Delivery information 241 includes delivery destination information, which includes information about the recipient and the destination of the package 57, and item information regarding the package 57 to be delivered. The delivery information 241 shown in Figure 3 includes the recipient's name, communication information, and location information as delivery destination information, and the package ID, package type, and preferred delivery time slot as item information.

[0034] Communication information is information necessary for sending and receiving data from the storage unit 400, and includes, for example, the application ID assigned to the application program, the IP (Internet Protocol) address, the MAC (Media Access Control) address, and the email address.

[0035] The location information is the latitude and longitude of the storage unit 400 at the delivery destination. The location information may be obtained by the second control unit 330 through mutual data communication with the storage unit 400 using communication information. Alternatively, the location information of the storage unit 400 entered by the recipient using the user terminal 40 or an in-vehicle device such as a car navigation system may be registered with the management server 10, and the management server 10 may transmit delivery information 241 including the location information to the sales office terminal 200.

[0036] The package ID is identification information that identifies package 57, and the package type is information indicating the size of package 57, whether or not it is frozen, etc.

[0037] Furthermore, although not shown in Figure 3, if the storage unit 400 is a vehicle 400A, the delivery information 241 may include information that identifies the vehicle 400A, such as its body color, license plate number, vehicle type, height, width, and length, as well as an image of the vehicle 400A itself. Also, if the storage unit 400 is a storage box 400B, the delivery information 241 may include identification information such as a serial number that identifies the storage box 400B.

[0038] The first processor 250 is a computing device equipped with processors such as a CPU (Central Processing Unit) and an MPU (Micro-Processing Unit). The first processor 250 may consist of a single processor or multiple processors.

[0039] When the first control unit 230 receives delivery information 241 from the management server 10, it stores the received delivery information 241 in the first storage unit 240. The first control unit 230 also selects a mobile body 50 to deliver the package 57 based on the received delivery information 241 and transmits the delivery information 241 to the selected mobile body 50. For example, the first control unit 230 selects a mobile body 50 to deliver the package 57 based on the size of the package 57 and whether or not the delivery destination is within a no-fly zone. If the delivery destination is within a no-fly zone, the first control unit 230 selects a vehicle as the mobile body 50.

[0040] [3. Configuration of Facility Equipment] The facility device 300 is a device installed at the delivery destination facility 30. Facility 30 includes, for example, a multi-story parking garage, an underground parking garage in an apartment building, or a garage. The facility device 300 comprises a second communication device 310 and a second control unit 330. The facility device 300 may be installed on each of the multiple floors if the facility 30 is a multi-story parking garage or similar facility.

[0041] The second communication device 310 is equipped with a communication module that supports, for example, the Wi-Fi communication standard, and performs wireless communication with a mobile body 50 that has moved into the facility 30, or with a mobile body 50 that has approached within a predetermined distance from the facility 30.

[0042] The second control unit 330 is a computer device comprising a second storage unit 340 and a second processor 350.

[0043] The second storage unit 340 includes a non-volatile storage unit such as ROM and a volatile storage unit such as RAM. The second storage unit 340 stores control programs executed by the second processor 350 and facility information 345. The control program is not shown in the diagram.

[0044] The second processor 350 is a processing unit equipped with a processor such as a CPU or MPU. The second processor 350 may be composed of a single processor or multiple processors.

[0045] The second control unit 330 transmits facility information 345 to the mobile unit 50 upon request from the mobile unit 50.

[0046] Facility information 345 is information that indicates the inside of the facility, and includes, for example, information on prohibited areas where the mobile object 50 is prohibited from traveling or flying, and information on designated routes where the mobile object 50 is permitted to travel or fly. Facility information 345 may also include detailed map information of the inside of facility 30. Detailed map information may include, for example, the location of elevators that move vehicle 400A to upper floors.

[0047] [4. Storage Compartment Configuration] The storage unit 400 includes a third communication device 410, a storage unit position detection unit 430, and a third control unit 450. Figure 2 shows the case where the storage unit 400 is located inside the facility 30. However, for example, if the storage unit 400 is a vehicle 400A, the storage unit 400 may be located outside the facility 30, such as an apartment building.

[0048] The third communication device 410 includes, for example, a communication module compatible with the Wi-Fi communication standard, and a short-range wireless communication module compatible with the Bluetooth communication standard. It may also include an interface circuit compatible with wired communication standards such as Ethernet for data communication via the network 5. Ethernet and Bluetooth are registered trademarks.

[0049] The storage unit position detection unit 430 comprises a GNSS (Global Navigation Satellite System) receiver and a processor. The GNSS receiver and processor are not shown in the diagram. The GNSS receiver receives satellite signals transmitted from satellites. The processor determines the latitude and longitude indicating the position of the storage unit 400 based on the satellite signals received by the GNSS receiver. The processor also determines the direction of movement of the storage unit 400, which indicates the direction of travel, based on the difference between the multiple latitudes and longitudes obtained.

[0050] The third control unit 450 is a computer device comprising a third storage unit 460 and a third processor 470.

[0051] The third storage unit 460 includes a non-volatile storage unit such as ROM and a volatile storage unit such as RAM. The third storage unit 460 stores the control program executed by the third processor 470, location information 461, and movement history information 463. The control program is not shown in the diagram.

[0052] Location information 461 is information indicating the current location of the storage unit 400. The latitude and longitude information obtained by the storage unit position detection unit 430 is registered as location information 461.

[0053] Movement history information 463 is information showing the movement history of the storage unit 400. For example, if the storage unit 400 is a vehicle 400A, the movement history information 463 may include, for example, latitude, longitude, and direction information calculated by the storage unit position detection unit 430 at predetermined intervals. For example, if the mobile body 50 is unable to detect the storage unit 400 or is unable to move to the location of the storage unit 400 due to information such as one-way traffic within the facility 30, it will acquire the movement history information 463. The mobile body 50 will then move to the location of the storage unit 400 by setting a movement route according to the acquired movement history information 463.

[0054] If the facility 30 is a multi-story parking garage or an underground parking garage, the moving object 50 may not be able to reach the storage area 400 if only latitude and route information is provided as location information. For this reason, the movement history information 463 may also include altitude information, incline or gradient information, gyro information indicating the orientation of the vehicle 400A, and map matching information. The movement history information 463 may also include images taken at branching points in the movement route to the parking position and the parking floor. Furthermore, if there is an operation history by the vehicle 400A, the history of opening and closing of parking garage gates and shutters, and elevator operation may also be included.

[0055] The third processor 470 is a processing unit equipped with a processor such as a CPU or MPU. The third processor 470 may be composed of a single processor or multiple processors.

[0056] [5. Configuration of the mobile unit] The mobile unit 50 comprises a mobile unit communication device 51, a mobile unit position detection unit 52, a sensor group 53, a drive unit 54, a label reading unit 55, a luggage gripping unit 56, and a mobile unit control unit 60. The mobile unit 50 may also be equipped with components other than those listed above, but these will not be described here. Figure 2 shows the case where the mobile unit 50 is an aerial vehicle such as a drone, but the mobile unit 50 may also be a vehicle that travels on roads.

[0057] The mobile communication device 51 includes a communication module that performs data communication via the network 5, a wireless communication module that supports the Wi-Fi communication standard, and a short-range wireless communication module that supports the Bluetooth or other short-range wireless communication standard.

[0058] The mobile object position detection unit 52 comprises a GNSS receiver and a processor. The GNSS receiver and processor are not shown in the diagram. The GNSS receiver receives satellite signals transmitted from satellites. The processor determines the latitude and longitude indicating the position of the mobile object 50 based on the satellite signals received by the GNSS receiver. The processor may also determine the bearing indicating the direction of travel of the mobile object 50 based on the difference between the multiple latitudes and longitudes obtained.

[0059] The sensor group 53 includes sensors such as LiDAR (Light Detection and Ranging), ultrasonic sensors, and cameras. LiDAR measures the distance and direction to an obstacle by emitting a laser beam and measuring the time it takes for the laser beam to hit the obstacle and reflect back. An ultrasonic sensor emits ultrasonic waves, and by detecting the waves reflected when the emitted ultrasonic waves hit an obstacle, the receiver detects the presence or absence of an obstacle and measures the distance to the obstacle. Cameras are mounted on the four sides of the mobile body 50, for example, in the front, back, left, and right directions. These cameras capture images of the area around the mobile body 50 and generate captured images. The camera's field of view can be adjusted by actuators (not shown).

[0060] The drive unit 54 includes propeller actuators that drive multiple propellers 59. The mobile unit control unit 60 controls the drive of the drive unit 54 and controls the movement of the mobile unit 50 by flight.

[0061] The label reader 55 reads the information on the label 58 attached to the package 57 being transported by the mobile unit 50. The label 58 may be a one-dimensional code such as a barcode, or a two-dimensional code such as a QR code. The label 58 may also be an RFID (Radio Frequency Identification) tag. The label 58 may include, for example, the personal information of the sender of the package 57, the package ID, and delivery information. QR Code is a registered trademark.

[0062] The mobile unit control unit 60 is a computer device comprising a mobile unit storage unit 61 and a mobile unit processor 70.

[0063] The mobile device storage unit 61 includes a non-volatile storage unit such as ROM and a volatile storage unit such as RAM. The mobile device storage unit 61 stores control programs executed by the mobile device processor 70, map data 63, and delivery information 65. The delivery information 65 is information indicating the delivery destination of the package and is the same information as the delivery information 241 received from the sales office terminal 200.

[0064] [6. Movement of the mobile object] The mobile processor 70 is a processing unit equipped with a processor such as a CPU or MPU. The mobile processor 70 may be composed of a single processor or multiple processors.

[0065] The mobile unit control unit 60 comprises a communication control unit 71, a route setting unit 73, and a mobile unit control unit 75 as functional units. These functional units are realized by the mobile unit processor 70 executing a control program.

[0066] The communication control unit 71 controls the mobile communication device 51 to communicate data with the office terminal 200, the facility equipment 300, and the storage unit 400. For example, before the mobile unit 50 departs from the sales office 20 for delivery, the communication control unit 71 receives delivery information 241 from the sales office terminal 200 and stores it as delivery information 65 in the mobile unit storage unit 61. Also, when the mobile unit 50 approaches a facility or moves inside a facility, the communication control unit 71 receives facility information 345 from the facility equipment 300. Furthermore, if the storage unit 400 cannot be detected by the image captured by the camera included in the sensor group 53, the communication control unit 71 communicates data with the storage unit 400 and receives movement history information 463 from the storage unit 400.

[0067] The route setting unit 73 searches for a route based on the map data 63 and the delivery information 65 received from the sales office terminal 200, and searches for a route to the delivery destination. If the mobile body 50 is an aerial vehicle such as a drone, it searches for a route that the mobile body 50 can fly.

[0068] The movement control unit 75 controls the drive unit 54 so that the moving body 50 moves along the movement route set by the route setting unit 73.

[0069] This explanation describes a case where facility 30 is a multi-story parking garage and storage area 400 is the trunk of a vehicle 400A owned by a user. When the mobile device 50 approaches or enters the multi-story parking garage, which is the facility 30, it receives facility information 345 from the facility device 300 of the facility 30. If the facility 30 is a multi-story parking garage, the facility information 345 includes information on prohibited areas where the mobile device 50 is prohibited from driving or flying, and information on designated routes where the mobile device 50 is permitted to drive or fly. The facility information 345 may also include detailed map information of the facility 30.

[0070] The route setting unit 73 sets a travel route within the facility based on the received facility information 345 and delivery information 65. At this time, the communication control unit 71 may reacquire location information 461 from the storage unit 400. For example, if the trunk of vehicle 400A is used as the storage unit 400, the vehicle 400A may move, so the location information 461 of the storage unit 400 may be reacquired. Also, if the facility 30 is a multi-story parking garage or other facility with multiple floors, it may not be possible to recognize the parking floor where vehicle 400A is parked. For this reason, facility devices 300 may be installed on each floor of the multi-story parking garage. When vehicle 400A moves to the floor where the facility device 300 is installed and wireless communication with vehicle 400A becomes possible, the facility device 300 transmits facility information 345, including the installation floor information of the facility device 300, to the storage unit 400, which is vehicle 400A. The storage unit 400, which is the vehicle 400A, may, upon request from the mobile unit 50, transmit movement history information 463, which includes installation floor information indicating the parking floor of the vehicle 400A, to the mobile unit 50.

[0071] Furthermore, the route setting unit 73 may, for example, change the mobile vehicle 50 that transports the package 57 from an aircraft to a vehicle if the facility 30 prohibits the movement of aircraft, or if the mobile vehicle 50 cannot deliver the package 57 without moving through a prohibited area where flight is prohibited. In this case, the package 57 is transferred from the aircraft to the vehicle. For example, if the number of users receiving packages using this multi-story parking garage exceeds a certain number, the service provider should prepare a vehicle in advance at a designated location within the facility 30. Alternatively, a management company for an apartment building or other building can also prepare a vehicle in advance.

[0072] The movement control unit 75 moves the mobile body 50 according to the movement route set by the route setting unit 73. When the mobile body 50 approaches the storage unit 400 within a predetermined distance, it identifies the storage unit 400 by performing image analysis on the image captured by the camera. At this time, if the storage unit 400 is a vehicle 400A, the movement control unit 75 may identify the storage unit 400 based on information such as the body color, license plate number, vehicle type, vehicle height, vehicle width, and vehicle length of the vehicle 400A included in the delivery information 65. Alternatively, if the storage unit 400 is a storage box 400B, the movement control unit 75 may identify the storage unit 400 based on identification information that identifies the storage box 400B.

[0073] Figure 4 shows an example of a case where the mobile body 50 cannot detect the storage unit 400. When the movement control unit 75 determines that the moving body 50 cannot move to the location of the storage unit 400, it sends a request to the storage unit 400 to acquire movement history information 463 and acquires the movement history information 463 from the storage unit 400. The inability of the moving body 50 to move to the location of the storage unit 400 includes, for example, when the storage unit 400 could not be identified from the image captured by the camera, or when, as shown in Figure 4, it is determined that the pillars 31 of the multi-story parking garage, elevators, restricted areas, other vehicles, etc. are obstacles and the moving body 50 cannot approach the storage unit 400.

[0074] The movement history information 463 includes latitude, longitude, and direction information calculated by the storage unit position detection unit 430 at predetermined intervals. The movement history information 463 may also include installation floor information indicating the parking floor of the vehicle 400A. The route setting unit 73 resets the movement route of the mobile body 50 based on the movement history information 463 acquired by the communication control unit 71 and the facility information 345 acquired from the facility device 300. In this case, the route setting unit 73 determines that delivery is not possible and does not deliver the package 57 if the storage unit 400 is located within a no-movement zone or if it is not possible to reach the storage unit 400 without moving through a no-movement zone. In this case, the movement control unit 75 controls the mobile unit 50 to return it to the sales office 20.

[0075] Furthermore, the route setting unit 73 determines that delivery is possible and delivers the package 57 if the route to the storage unit 400 indicated by the movement history information 463 includes a restricted area, but it is possible to reach the storage unit 400 by bypassing this restricted area.

[0076] Figure 5 shows an example of the conditions inside one floor of a multi-story parking garage. Figure 5 shows that when the mobile body 50 enters the parking lot from the entrance / exit 33, it moves within the multi-story parking lot according to a route set according to the delivery information 65 and location information 461. Figure 5 shows the case where the mobile body 50 is located near the entrance / exit 33 of the multi-story parking lot. The mobile body 50 may be an aircraft or a vehicle.

[0077] Figure 5 also shows the travel route when the mobile unit 50 delivers the package 57 to the vehicle 400A or the storage box 400B. Assume that package 57 is to be delivered to vehicle 400A. In this case, vehicle 400A is not located within the restricted area, and the mobile unit 50 does not need to move within the restricted area to reach vehicle 400A. Therefore, the mobile unit 50 sets the travel route 501 shown in Figure 5 based on the facility information 345 and location information 461.

[0078] Let's also assume that package 57 is delivered to storage box 400B. The routes from the position of the mobile body 50 shown in Figure 5 to the storage box 400B include a route 503 that turns right from the position of the mobile body 50 as seen in the drawing, and a route 505 that goes straight for a predetermined distance from the position of the mobile body 50 as seen in the drawing, then turns right, and then turns right again. If the mobile object 50 were to travel along travel route 503, it would be moving through a restricted area, so it selects travel route 505 as its route.

[0079] Figure 6 is a flowchart showing the operation of the mobile unit 50. The operation of the mobile unit 50 will be explained with reference to the flowchart shown in Figure 6. First, the mobile unit control unit 60 receives delivery information 65 from the sales office terminal 200 (step S1) and starts moving to the delivery destination indicated by the delivery information 65 (step S2). Step S2 corresponds to the movement process. At this time, if the location indicated by the delivery information 65 is in a place where delivery by the flying mobile unit 50 is impossible, the sales office terminal 200 selects a vehicle as the mobile unit 50 and instructs the selected mobile unit 50 to deliver the package 57.

[0080] Next, the mobile unit control unit 60 determines whether the distance to the delivery destination is within a predetermined distance (step S3). If the distance to the delivery destination is greater than the predetermined distance (step S3 / NO), the mobile unit control unit 60 returns to step S2 and continues the movement of the mobile unit 50. Also, when the distance to the delivery destination approaches within the predetermined distance (step S3 / YES), the mobile unit control unit 60 determines whether facility information 345 can be acquired (step S4). At this time, the mobile unit control unit 60 may determine, based on the camera's captured image and map data 63, whether the storage unit 400 that will be the delivery destination is located inside a facility such as a multi-story parking garage or the basement of an apartment building.

[0081] If wireless communication with the facility device 300 of the facility 30 is not possible, or if wireless communication with the facility device 300 is possible but the facility device 300 does not have facility information 345, the mobile unit control unit 60 determines that it is not possible to acquire facility information 345 (step S4 / NO). If it is not possible to acquire facility information 345 (step S4 / NO), the mobile unit control unit 60 communicates wirelessly with the storage unit 400 and acquires location information 461 from the storage unit 400 (step S5). For example, if the storage unit 400 is a vehicle 400A, the vehicle 400A may be moving, so when it approaches a predetermined distance, the mobile unit control unit 60 reacquires the location information 461 of the storage unit 400.

[0082] Next, if the location indicated by the location information 461 of the storage unit 400 acquired in step S5 matches the location indicated by the delivery information 65 received from the sales office terminal 200, the mobile unit control unit 60 continues moving according to the pre-set travel route. If the location indicated by the location information 461 of the storage unit 400 acquired in step S5 does not match the location indicated by the delivery information 65 received from the sales office terminal 200, the mobile unit control unit 60 resets the travel route based on the location information 461 of the storage unit 400 acquired in step S5 and continues moving according to this new travel route (step S6).

[0083] Next, the mobile unit control unit 60 determines whether or not it has detected the storage unit 400 by analyzing the image captured by the camera (step S7). The process in step S7 corresponds to the detection process. If the mobile unit control unit 60 is unable to detect the storage unit 400 (step S7 / NO), it communicates wirelessly with the storage unit 400 and obtains movement history information 463 from the storage unit 400 (step S8).

[0084] Next, the mobile unit control unit 60 determines whether or not it is possible to move to the storage unit 400 based on the movement route indicated by the acquired movement history information 463 (step S9). Step S9 corresponds to the setting process. For example, if the mobile unit control 60 finds an obstacle or other obstruction in the way of the travel route and cannot move, it determines that movement is impossible (step S9 / NO). In this case, the mobile unit control 60 determines that delivery of the package 57 is impossible and returns to the sales office 20.

[0085] If the mobile unit control unit 60 determines that it is possible to move to the storage unit 400 based on the movement route indicated by the movement history information 463 (step S9 / YES), it moves the mobile unit 50 to the storage unit 400 and delivers the package 57 (step S10).

[0086] Furthermore, if the mobile unit control unit 60 detects the storage unit 400 by image analysis of the camera's captured image (step S7 / YES), it moves the mobile unit 50 to the storage unit 400 and delivers the package 57 (step S10).

[0087] Furthermore, in the determination in step S4, if it is possible to obtain facility information 345 from the facility device 300 (step S4 / YES), the mobile unit control unit 60 performs wireless communication with the facility device 300 to obtain the facility information 345 (step S11). In addition, the mobile unit control unit 60 performs wireless communication with the storage unit 400 to obtain location information 461 from the storage unit 400 (step S12). Here again, if the storage unit 400 is a vehicle 400A, there is a possibility that the vehicle 400A is moving, so when it approaches a predetermined distance, the location information 461 of the storage unit 400 is re-obtained.

[0088] Next, the mobile unit control unit 60 determines whether the location of the storage unit 400 is within the no-movement area based on the facility information 345 and the location information 461 of the storage unit 400 (step S13). If the location of the storage unit 400 is within the no-movement area (step S13 / YES), the mobile unit control unit 60 determines that delivery of the package 57 is not possible and returns to the sales office 20.

[0089] Furthermore, if the location of the storage unit 400 is not within the no-movement area (step S13 / NO), and the location indicated by the location information 461 of the storage unit 400 acquired in step S12 matches the location indicated by the delivery information 65 received from the office terminal 200, the mobile unit control unit 60 continues the movement of the mobile unit 50 based on the set movement route and the facility information 345 acquired in step S11 (step S14). Also, if the location indicated by the location information 461 of the storage unit 400 acquired in step S12 does not match the location indicated by the delivery information 65 received from the office terminal 200, the mobile unit control unit 60 resets the movement route based on the location information 461 of the storage unit 400 acquired in step S12, and continues the movement of the mobile unit 50 based on this movement route and the facility information 345 acquired in step S11 (step S14).

[0090] Next, the mobile unit control 60 determines whether or not it has detected the storage unit 400 by analyzing the image captured by the camera (step S15). The process in step S15 corresponds to the detection process. If the mobile unit control 60 detects the storage unit 400 (step S15 / YES), it moves the mobile unit 50 to the storage unit 400 and delivers the package 57 (step S18).

[0091] Furthermore, if the mobile unit control unit 60 is unable to detect the storage unit 400 by image analysis of the camera's captured images, etc. (step S15 / NO), it will perform wireless communication with the storage unit 400 again and acquire the movement history information 463 (step S16).

[0092] The mobile unit control unit 60 determines whether it is possible to move to the storage unit 400 based on the movement route indicated by the acquired movement history information 463 (step S17). Step S17 corresponds to the setting process. For example, if there is an obstacle in the way of the movement route, or if the movement route indicated by the movement history information 463 includes a no-movement area and it is not possible to reach the storage unit 400 without passing through this no-movement area, the mobile unit control unit 60 determines that movement is not possible (step S17 / NO) and returns to the business office 20.

[0093] Furthermore, if the mobile unit control unit 60 determines that it is possible to move to the storage unit 400 based on the movement route indicated by the movement history information 463 (step S17 / YES), it moves the mobile unit 50 to the storage unit 400 and delivers the package 57 (step S18).

[0094] The flowchart above describes the case where packages 57 are delivered to a storage unit 400 such as vehicle 400A. However, if a management company of an apartment building or other building has a vehicle prepared in advance, the packages 57 delivered to the storage unit 400 may be transferred to the vehicle and delivered to the recipient's home by the vehicle.

[0095] Furthermore, when the mobile unit 50 delivers the cargo 57 to the vehicle 400A or storage box 400B, it is necessary to open the rear gate of the vehicle 400A, the trunk, and the doors of the storage box 400B. For example, an authentication password may be registered in the storage unit 400 in advance, and when the mobile unit 50 approaches the vehicle 400A or storage box 400B within a predetermined distance, the mobile unit 50 may transmit the password to the vehicle 400A or storage box 400B. When vehicle 400A and storage box 400B successfully authenticate the password received from mobile unit 50, they automatically open the rear gate of vehicle 400A, the trunk, and the doors of storage box 400B, and store the luggage 57 inside vehicle 400A and storage box 400B. When the mobile unit 50 moves away from the vehicle 400A or storage box 400B and wireless communication with the mobile unit 50 is lost, the vehicle 400A and storage box 400B automatically close the rear gate of the vehicle 400A, the trunk, and the doors of the storage box 400B.

[0096] [7. Effects of the Embodiment] As described above, this embodiment is a system for delivering luggage 57 to a storage unit 400 using a mobile unit 50, the mobile unit 50 comprising a mobile communication device 51, a route setting unit 73, a movement control unit 75, and a sensor group 53. The route setting unit 73 sets a travel route to the mobile body 50 based on the location information 461 indicating the location of the storage unit 400, which is received by the mobile communication device 51 from the storage unit 400. The movement control unit 75 moves the mobile body 50 according to the movement route. The sensor group 53 is mounted on the mobile body 50 and includes a camera that generates captured images. If the storage unit 400 cannot be detected by the image captured by the camera, the route setting unit 73 sets a travel route to the storage unit 400 based on information indicating the movement history of the storage unit 400 received by the mobile communication device 51. Therefore, the storage unit 400, which is the delivery destination, cannot be detected from the captured image, reducing the occurrence of situations where the package 57 cannot be delivered and increasing the reliability of delivery of the package 57 by the mobile unit 50.

[0097] The mobile communication device 51 receives facility information 345, which includes information about restricted areas within the facility 30 where the storage unit 400 is located. If the route to the storage unit 400 indicated by the movement history is a route that moves through a restricted area, the route setting unit 73 sets a route that avoids the restricted area. Therefore, even if a no-movement zone is set within the facility 30, it is possible to avoid moving within this no-movement zone and deliver the package 57 to the storage unit 400. Thus, the reliability of delivery of the package 57 by the mobile unit 50 can be increased.

[0098] The mobile unit 50 is an unmanned aerial vehicle, and if the restricted area is an area where the flight of unmanned aerial vehicles is prohibited, the package 57 to be delivered by the mobile unit 50 is transferred to an unmanned vehicle prepared in advance within the facility. This reduces the occurrence of situations where the mobile unit 50 cannot move through the restricted area and therefore cannot deliver the package 57. Consequently, the reliability of delivery of the package 57 by the mobile unit 50 can be increased.

[0099] The storage unit 400 includes a storage unit position detection unit 430 that detects the position and direction of movement of the storage unit 400 and generates a movement history. Therefore, for example, by moving the storage unit 400 from the entrance of the facility through the facility and positioning the storage unit 400 at the location where the package 57 is to be delivered, movement history information can be generated. The mobile unit 50 can then set a movement route based on this movement history information, thereby increasing the reliability of the delivery of the package 57 by the mobile unit 50.

[0100] The storage unit 400 is either a vehicle 400A or a storage box 400B. Therefore, the mobile unit 50 can deliver the package 57 to the vehicle 400A or the storage box 400B.

[0101] [8. Other Embodiments] The embodiments described above are preferred embodiments of the present invention. However, the invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the present invention. For example, the functional components of the office terminal 200, facility equipment 300, storage unit 400, and mobile unit 50 shown in Figure 2 represent functional configurations, and the specific implementation form is not particularly limited. In other words, it is not necessarily required that hardware corresponding to each functional component be implemented individually, and it is certainly possible to have a configuration in which a single processor executes a program to realize the functions of multiple functional components. Furthermore, in the above embodiment, some of the functions realized by software may be realized by hardware, or some of the functions realized by hardware may be realized by software.

[0102] Furthermore, the processing units in the flowchart shown in Figure 6 are divided according to the main processing content in order to facilitate understanding of the processing of the mobile body 50, and the present invention is not limited by the way the processing units are divided or the names of the processing units shown in the flowchart in Figure 6. In addition, the processing of the mobile body 50 can be further divided into more processing units depending on the processing content, or it can be divided so that one processing unit includes even more processing. Also, the processing order in the flowchart above is not limited to the example shown.

[0103] [9. Configurations supported by the above embodiments] The above embodiment supports the following configuration:

[0104] (Composition 1) A delivery system for delivering goods to a storage unit by an unmanned mobile vehicle, comprising: a communication unit; a route setting unit that sets a travel route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received by the communication unit from the storage unit; a movement control unit that moves the unmanned mobile vehicle according to the travel route; and a detection unit mounted on the unmanned mobile vehicle that detects the storage unit, wherein the route setting unit sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit when the detection unit is unable to detect the storage unit.

[0105] According to the delivery system of Configuration 1, if the detection unit is unable to detect the storage unit, the communication unit sets a route to the storage unit based on information indicating the movement history of the storage unit received. This reduces the occurrence of situations where the storage unit to be delivered cannot be detected and the goods cannot be delivered, thereby increasing the reliability of goods delivery by unmanned mobile units.

[0106] (Configuration 2) The delivery system according to claim 1, wherein the communication unit receives information on restricted areas within the facility where the storage unit is located, and the route setting unit sets a route that avoids the restricted area if the movement route of the storage unit indicated by the movement history is a route in which the storage unit moves through the restricted area.

[0107] According to the delivery system of Configuration 2, if the movement route of the storage unit indicated by the movement history is a route in which the storage unit moves through a restricted area, a movement route that avoids the restricted area is set. This reduces the occurrence of situations where the storage unit to be delivered cannot be detected and the goods cannot be delivered, thereby increasing the reliability of goods delivery by unmanned mobile units.

[0108] (Composition 3) The delivery system according to configuration 2, wherein the unmanned mobile body is an unmanned aerial vehicle, and if the restricted area is an area where the flight of the unmanned aerial vehicle is prohibited, the goods to be delivered by the unmanned mobile body are transferred to an unmanned vehicle prepared in advance within the facility.

[0109] According to the delivery system of Configuration 3, if a restricted area is an area where the flight of unmanned aerial vehicles is prohibited, the goods to be delivered by the unmanned mobile vehicle are transferred to an unmanned vehicle that has been prepared in advance within the facility. This reduces the occurrence of situations where goods cannot be delivered and increases the reliability of goods delivery by unmanned mobile vehicles.

[0110] (Composition 4) The delivery system according to any one of configurations 1 to 3, wherein the storage unit includes a position detection unit that detects the position and direction of movement of the storage unit and generates the movement history.

[0111] According to the delivery system of configuration 4, the storage unit is equipped with a position detection unit that detects the position and direction of movement of the storage unit and generates the movement history. For example, by moving the storage unit from the entrance of the facility through the facility and positioning the storage unit at the location where the goods are to be delivered, movement history information can be generated. The unmanned mobile vehicle can set a movement route based on this movement history information, thereby increasing the reliability of goods delivery by the unmanned mobile vehicle.

[0112] (Composition 5) The delivery system according to any one of configurations 1 to 4, wherein the storage unit is a vehicle or a storage box.

[0113] According to the delivery system of configuration 5, goods can be delivered to vehicles or storage boxes by an unmanned mobile unit.

[0114] (Composition 6) A delivery method for delivering goods to a storage unit by an unmanned mobile unit, wherein the computer provided in the unmanned mobile unit is instructed to perform a setting process to set a travel route to the unmanned mobile unit based on location information indicating the location of the storage unit received from the storage unit by a communication unit provided in the unmanned mobile unit; a travel process to move the unmanned mobile unit according to the travel route; and a detection process mounted on the unmanned mobile unit to detect the storage unit, wherein if the storage unit could not be detected by the detection process, the setting process sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit.

[0115] According to the delivery method of Configuration 6, if the storage unit cannot be detected by the detection process, the communication unit sets a route to the storage unit based on information indicating the movement history of the storage unit received. This reduces the occurrence of situations where the storage unit to be delivered cannot be detected and the goods cannot be delivered, thereby increasing the reliability of goods delivery by unmanned mobile units.

[0116] (Composition 7) A program that causes a computer equipped in an unmanned mobile vehicle that delivers goods to a storage unit to perform a setting process to set a travel route to the unmanned mobile vehicle based on location information indicating the location of the storage unit received from the storage unit by a communication unit equipped in the unmanned mobile vehicle; a travel process to move the unmanned mobile vehicle according to the travel route; and a detection process mounted on the unmanned mobile vehicle to detect the storage unit, wherein the setting process sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit if the storage unit could not be detected by the detection process.

[0117] According to the program in Configuration 7, if the storage unit cannot be detected by the detection process, the communication unit sets a route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit. This reduces the occurrence of situations where the storage unit to be delivered cannot be detected and the goods cannot be delivered, thereby increasing the reliability of goods delivery by unmanned mobile units. [Explanation of Symbols]

[0118] 1...System, 5...Network, 10...Management Server, 20...Sales Office, 30...Facility, 31...Column of Multi-story Parking Garage, 33...Entrance / Exit, 40...User Terminal, 50...Mobile Unit, 51...Mobile Unit Communication Device, 52...Mobile Unit Position Detection Unit, 53...Sensor Group, 54...Drive Unit, 55...Label Reading Unit, 56...Luggage Gripping Unit, 57...Luggage, 58...Label, 59...Propeller, 60...Mobile Unit Control Unit, 61...Mobile Unit Storage Unit, 63...Map Data, 65...Delivery Information, 70...Mobile Unit Processor, 71...Communication Control Unit, 73...Route Setting Unit, 75...Movement Control Unit, 200...Sales Office Terminal, 210...Number 1...Communication device, 230...First control unit, 240...First memory unit, 241...Delivery information, 250...First processor, 300...Facility equipment, 310...Second communication device, 330...Second control unit, 340...Second memory unit, 345...In-facility information, 350...Second processor, 400...Storage unit, 400A...Vehicle, 400B...Storage box, 410...Third communication device, 430...Storage unit position detection unit, 450...Third control unit, 460...Third memory unit, 461...Location information, 463...Movement history information, 470...Third processor, 501...Movement route, 503...Movement route, 505...Movement route.

Claims

1. A delivery system that delivers goods to a storage area using an unmanned mobile vehicle, Communications Department and, A route setting unit sets a travel route to the unmanned mobile body based on location information indicating the location of the storage unit, which is received by the communication unit from the storage unit. A movement control unit that moves the unmanned mobile body according to the aforementioned movement route, The unmanned mobile body is equipped with a detection unit that detects the storage unit, The route setting unit sets a route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit when the detection unit is unable to detect the storage unit, in this delivery system.

2. The communication unit receives information about restricted areas within the facility where the storage unit is located. The route setting unit, if the movement route of the storage unit indicated by the movement history is a route in which the storage unit moves through the no-movement area, sets a movement route that avoids the no-movement area. The delivery system according to claim 1.

3. The aforementioned unmanned mobile vehicle is an unmanned aerial vehicle, If the no-movement area is an area where the flight of the unmanned aerial vehicle is prohibited, the delivery system according to claim 2, wherein the goods to be delivered by the unmanned mobile vehicle are transferred to an unmanned vehicle prepared in advance within the facility.

4. The delivery system according to any one of claims 1 to 3, wherein the storage unit includes a position detection unit that detects the position and direction of movement of the storage unit and generates the movement history.

5. The delivery system according to any one of claims 1 to 3, wherein the storage unit is a vehicle or a storage box.

6. A delivery method in which goods are delivered to a storage area by an unmanned mobile vehicle, The computer equipped in the aforementioned unmanned mobile vehicle, A setting process to set a travel route to the unmanned mobile body based on location information indicating the location of the storage unit received from the storage unit by the communication unit of the unmanned mobile body, A movement process for moving the unmanned mobile body according to the aforementioned movement route, A detection process mounted on the aforementioned unmanned mobile vehicle for detecting the storage unit, Make it run, The setting process is a delivery method in which, if the storage unit could not be detected by the detection process, the communication unit sets a route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit.

7. The computer in the unmanned mobile vehicle that delivers goods to the storage area, A setting process to set a travel route to the unmanned mobile body based on location information indicating the location of the storage unit received from the storage unit by the communication unit of the unmanned mobile body, A movement process for moving the unmanned mobile body according to the aforementioned movement route, A detection process mounted on the aforementioned unmanned mobile vehicle for detecting the storage unit, Make it run, The setting process is a program that, if the storage unit could not be detected by the detection process, sets a travel route to the storage unit based on information indicating the movement history of the storage unit received by the communication unit.

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