Delivery drones and delivery methods using delivery drones

Abstract

To provide a delivery drone that can appropriately deliver an article.SOLUTION: A delivery drone 10 comprises: an arrival determining part 31 that determines whether information on a current position of the drone arrives in a predetermined range, from positional information on a delivery destination of an article; a face detecting part 32A that when the arrival determining part 31 determines that the drone 10 arrives in the predetermined range from the positional information on the delivery destination of the article, detects a face of a person from a video image photographed with a camera 13 and a video image obtained through a communication part 19; a face determining part 33A that determines whether or not the face of the person detected from the video image photographed with the camera 13 matches the face of the person detected from the video image obtained through the communication part 19, by comparing both faces with each other; and a release position determining part 34A that when the face determining part 33A determines that the face of the person detected from the video image photographed with the camera 13 matches the face of the person detected from the video image obtained through the communication part 19, determines that a spot of the face of the person detected from the video image photographed with the camera 13 is a release position of the article.SELECTED DRAWING: Figure 8

Description

Technical Field

[0006] , , ,

[0001] The present invention relates to a delivery drone and delivery methods using delivery drones and pertains to it.

Background Art

[0002] Techniques for generating landing candidate position information from images captured by an unmanned aerial vehicle, so-called drone, are disclosed (see, for example, Patent Document 1). Techniques for identifying a destination by comparing a captured image with a destination image are disclosed (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the future, when using drones for delivering goods from companies to individuals or for delivering goods between individuals, not all recipients may be able to secure a collection location for the drones. Also, it is highly difficult to determine the collection location based only on the drone. Furthermore, it is predicted that there will be many locations that are visually similar among the collection locations provided by individuals. Therefore, when determining the location based only on the image, there is a possibility of misjudging the location. Also, there is a possibility that a third party may receive the goods when the recipient is absent.

[0005] The present invention has been made in view of the above, and an object thereof is to appropriately perform the delivery of goods by a drone.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the delivery drone according to the present invention is a delivery drone for delivering goods, comprising: a location information acquisition unit for acquiring the current location information of the drone; an imaging unit for capturing images of the area around the drone; a release control unit for releasing the goods; a communication unit for acquiring information related to the ordering of the goods from another device; an arrival determination unit for determining that the current location information of the drone has reached a predetermined range from the delivery destination location information of the goods acquired via the communication unit; and the arrival determination unit determines that the current location information of the drone has reached a predetermined range from the delivery destination location information of the goods. The system includes: a face detection unit that detects a human face from the video captured by the imaging unit and the video acquired via the communication unit when it is determined that the item has reached a certain point; a face determination unit that compares the human face detected from the video captured by the imaging unit with the human face detected from the video acquired via the communication unit and determines whether they match; and a release position determination unit that, if the face determination unit determines that the human face detected from the video captured by the imaging unit matches the human face detected from the video acquired via the communication unit, determines the position of the human face detected from the video captured by the imaging unit to be the release position of the item. [Effects of the Invention]

[0007] According to the present invention, it is possible to appropriately deliver goods using drones. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram of the goods delivery system according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram of the drone. [Figure 3] Figure 3 is a block diagram showing an example configuration of a drone according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example configuration of an item delivery control device. [Figure 5] Figure 5 is a block diagram showing an example of the configuration of a terminal device. [Figure 6]Figure 6 shows an example of the processing flow in a drone for an item delivery system according to the first embodiment. [Figure 7] Figure 7 shows an example of the processing flow in a drone for an item delivery system according to the second embodiment. [Figure 8] Figure 8 is a block diagram showing an example configuration of a drone according to the second embodiment. [Figure 9] Figure 9 shows an example of the processing flow in a drone for an item delivery system according to the third embodiment. [Figure 10] Figure 10 shows an example of the processing flow in a drone for an item delivery system according to the fourth embodiment. [Figure 11] Figure 11 shows an example of the processing flow in a drone for an item delivery system according to the fifth embodiment. [Modes for carrying out the invention]

[0009] Embodiments of the delivery drone (hereinafter referred to as "drone") according to the present invention will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the following embodiments.

[0010] [First Embodiment] (Goods delivery system) Figure 1 is a schematic diagram of the goods delivery system 1 according to the first embodiment. The goods delivery system 1 is a system that delivers goods using a drone 10. The goods delivery system 1 includes the drone 10 and the goods delivery control device 50. In this embodiment, the goods delivery system 1 comprises the drone 10, the goods delivery control device 50 and the terminal device 70. The drone 10, the goods delivery control device 50 and the terminal device 70 can communicate information via a network.

[0011] (Drone) Figure 2 is a schematic diagram of the drone 10. The drone 10 includes a drive unit 15 for flight and a release mechanism 16 for releasing an article from the state of holding the article. In FIG. 2, a state in which the article 100 is held is shown. The drone 10 is an unmanned flying vehicle that delivers an article to a destination. The drone 10 delivers an article with the delivery destination position information of the article as the destination. The drone 10 may, for example, autonomously fly to the destination. The drone 10 may fly to the destination by being operated by an operator via a remote controller. The drone 10 may fly to the destination by combining autonomous flight and operation by the operator. In the following description, the drone 10 will be described as autonomously flying to the destination.

[0012] The drone 10 flies to the destination with the article ordered by the orderer mounted on the main body. The article is held, for example, by an arm extending from the main body or the like. The method by which the drone 10 holds the article can use a known method and is not limited. When the drone 10 reaches the destination, it determines the delivery position of the article and performs control to release the article in the air above the delivery position or by landing at the delivery position.

[0013] The article may be transported by the drone 10 from, for example, a delivery source or a delivery company's office to the destination. The article may be transported by vehicle from, for example, a delivery company's office to several kilometers to about several tens of meters before the destination, and then transported by the drone 10 from there to the destination.

[0014] FIG. 3 is a block diagram showing a configuration example of the drone 10. The drone 10 includes a GNSS (Global Navigation Satellite System) receiver unit 11, a sensor 12, a camera (imaging unit) 13, a drive unit 15, a release mechanism 16, a communication unit 19, and a control unit 20. The drone 10 can communicate information with the article delivery control device 50 via a network using the communication unit 19 controlled by the communication control unit 29.

[0015] The GNSS receiver unit 11 receives GNSS signals from GNSS satellites. The GNSS receiver unit 11 outputs the received GNSS signals to the position information acquisition unit 21 of the control unit 20. The GNSS receiver unit 11 is composed of, for example, a GNSS receiving circuit capable of receiving GNSS signals and an antenna.

[0016] The sensor 12 is a sensor that detects objects around the drone 10. The sensor 12 is, for example, a sensor such as ultrasonic or infrared that is arranged facing the periphery of the drone 10. The sensor 12 is, for example, a sensor that detects obstacles around the drone 10. For example, it is a sensor that detects the flight altitude of the drone 10 from the ground. The altitude sensor 12 outputs the detected sensor data to the sensor information acquisition unit 22.

[0017] The camera 13 is a camera that captures images of the surroundings of the drone 10. The camera 13 captures images of the surroundings of the destination. In this embodiment, the camera 13 captures images used for the autonomous flight control of the drone 10. In this embodiment, the camera 13 captures images for determining the location of the delivery position of the article. The camera 13 is mounted on the drone 10. The camera 13 is, for example, arranged downward on the main body of the drone 10. The camera 13 performs continuous shooting, for example, from the start to the end of the flight of the drone 10. The camera 13 outputs the captured images to the video acquisition unit 23 of the control unit 20.

[0018] The drive unit 15 is a motor that makes the drone 10 fly. The drive unit 15 is, for example, a motor that controls the rotation of the propeller of the drone 10. The rotation of the drive unit 15 is controlled by a control signal from the drive control unit 37 of the control unit 20. By controlling the rotation of the drive unit 15, the drone 10 performs various flight operations such as takeoff and landing, forward movement, turning, ascending, descending, and hovering.

[0019] The release mechanism 16 is a drive mechanism including an actuator or motor that operates the holding part of the drone 10 that holds the item. The release mechanism 16 is, for example, an actuator that operates the arm of the drone 10 that holds the item. The release mechanism 16 is controlled by a control signal from the release control unit 38 of the control unit 20. By controlling the release mechanism 16, the holding and release of the item are switched.

[0020] The communication unit 19 is a communication unit that performs wide-area wireless communication. The communication unit 19 communicates information with the goods delivery control device 50, for example, via a network. The network is, for example, the Internet, but is not limited thereto. The communication unit 19 is composed of, for example, a wide-area wireless communication module for a mobile phone network. The communication unit 19 is composed of a communication module such as Wi-Fi (registered trademark) and may connect to any access point or other smartphones to realize wide-area wireless communication. In this embodiment, the communication unit 19 obtains information related to ordering goods from the goods delivery control device 50, which is an example of another device.

[0021] Information regarding the ordering of goods includes, for example, information indicating delivery instructions, information on the delivery destination of the goods, terminal information that uniquely identifies the terminal device 70, video footage of the handover location captured by the terminal device 70, and information on the current location of the terminal device 70.

[0022] (Control Unit) The control unit 20 is a processing unit (control device) composed of, for example, a CPU (Central Processing Unit). The control unit 20 loads the stored program into memory and executes the instructions contained in the program. The control unit 20 includes internal memory (not shown), which is used for temporary storage of data in the control unit 20. The control unit 20 controls the drone 10. The control unit 20 has a position information acquisition unit 21, a sensor information acquisition unit 22, an image acquisition unit 23, a storage unit 28, a communication control unit 29, an arrival determination unit 31, a location determination unit 32, an orderer determination unit 33, a release position determination unit 34, a flight control unit 36, a drive control unit 37, and a release control unit 38. Therefore, the control unit 20 is a delivery control unit that executes a delivery method using the drone 10, and is a computer that executes a delivery program.

[0023] The location information acquisition unit 21 calculates the current location information of the drone 10 using a known method based on the radio waves received by the GNSS receiver unit 11.

[0024] The sensor information acquisition unit 22 acquires sensor data from the sensor 12. For example, the sensor information acquisition unit 22 acquires sensor data that can detect obstacles around the drone 10. For example, the sensor information acquisition unit 22 acquires sensor data that can detect the flight altitude of the drone 10 from the ground.

[0025] The video acquisition unit 23 acquires the video captured by the camera 13. The video acquisition unit 23 outputs the acquired video to the flight control unit 36. The video acquisition unit 23 may also store the acquired video in a storage device (not shown) or transmit it to an external device, such as a delivery company's remote monitoring facility, under the control of the communication control unit 29.

[0026] The memory unit 28 is a storage device that stores programs and data used by the control unit 20. The memory unit 28 may use at least one of non-volatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0027] The communication control unit 29 controls the communication unit 19 to control communication with the goods delivery control device 50. When the goods are ready for delivery, the communication control unit 29 transmits delivery preparation completion information to the goods delivery control device 50 to indicate that the goods are ready for delivery. The communication control unit 29 receives delivery instruction information from the goods delivery control device 50. The communication control unit 29 receives delivery destination location information, terminal information that uniquely identifies the terminal device 70, delivery location identification video captured by the terminal device 70, and the current location information of the terminal device 70 from the goods delivery control device 50.

[0028] Delivery location information is information that identifies the location of the delivery destination of the goods. Delivery location information is indicated, for example, by address or latitude and longitude. Delivery location information is information that identifies the destination of drone 10.

[0029] The communication control unit 29 sends a request to the goods delivery control device 50 to retransmit the delivery location identification video to the terminal device 70. The communication control unit 29 receives the delivery location identification video retransmitted from the terminal device 70 from the goods delivery control device 50.

[0030] The arrival determination unit 31 determines that the drone 10 has arrived at the delivery destination. The arrival determination unit 31 determines that the current location information of the drone 10, acquired by the location information acquisition unit 21, has reached a predetermined range from the delivery destination location information of the item acquired from the item delivery control device 50 via the communication unit 19. More specifically, the arrival determination unit 31 determines that the drone has arrived if the current location information of the drone 10 is within a predetermined range, such as within 10m of the delivery destination location information.

[0031] The predetermined range is the range in which the camera 13 can capture video that allows for the recognition of the handover position.

[0032] When the arrival determination unit 31 determines that the current location information of the drone 10 has reached a predetermined range from the delivery destination location information of the goods, the location determination unit 32 compares the image captured by the camera 13 with the image of the goods' delivery location identified via the communication unit 19 to determine whether a matching location exists. More specifically, the location determination unit 32 compares the image captured by the camera 13 with the image of the delivery location identified to determine whether there is an image that matches the image of the delivery location identified, in other words, whether there is a location that matches the image of the delivery location identified. Note that the image of the delivery location identified is usually an image taken at human height, and the image captured by the camera 13 is an aerial image taken from above. Therefore, the unit determines whether there is a match in the arrangement of objects detected from the image, such as color, shape, or identified goods.

[0033] In this embodiment, the location determination unit 32 compares the video captured by the camera 13 with the video of the delivery location of the goods obtained from the terminal device 70 owned by the person who ordered the goods via the communication unit 19, and determines whether or not a matching location exists.

[0034] If the location determination unit 32 determines that there is a matching location between the image captured by the camera 13 and the image identifying the delivery location of the goods, the ordering party determination unit 33 determines whether or not a terminal device 70 owned by the ordering party of the goods is located within a predetermined distance from the current location of the drone 10.

[0035] The ordering party determination unit 33 may determine whether or not the terminal device 70 is located within a predetermined distance from the current location of the drone 10, based on the current location information of the drone 10 and the current location information of the terminal device 70 obtained from the terminal device 70 owned by the ordering party of the goods via the communication unit 19.

[0036] The ordering unit 33 may determine that, if short-range wireless communication is possible between the drone 10 and the terminal device 70 within a predetermined distance, the terminal device 70 is within a predetermined distance of the drone 10's current location when the drone 10 and the terminal device 70 are connected in a communicative manner.

[0037] The ordering party determination unit 33 may determine that the terminal device 70 is within a predetermined distance from the current location of the drone 10 by using a BLE beacon with a communication range of approximately 5m or 10m generated from the drone 10. More specifically, the drone 10 generates a BLE beacon with a communication range of approximately 5m or 10m. When the ordering party's terminal device 70 receives the beacon, it transmits beacon reception information indicating that the beacon has been received to the goods delivery control device 50. When the goods delivery control device 50 receives the beacon reception information from the terminal device 70, it transmits the beacon reception information to the drone 10. In this case ,end The terminal device 70 may be prompted to launch a dedicated application for receiving beacons. When the terminal device 70 launches the dedicated application and receives a beacon from the drone, the beacon reception information is automatically transmitted to the goods delivery control device 50, either by the orderer or through their operation.

[0038] The release position determination unit 34 determines the release position of the goods if the customer determination unit 33 determines that a terminal device 70 owned by the customer ordering the goods is located within a predetermined distance from the current position of the drone 10, and the location matches the delivery position identification video. More specifically, the release position determination unit 34 performs image recognition processing on the delivery position identification video to determine the release position while avoiding locations where objects have been detected. Then, the release position determination unit 34 performs image recognition processing on the video captured by the camera 13, and if the determined release position is recognized, it determines that it is the release position of the goods.

[0039] In this embodiment, the release position determination unit 34 detects characteristic shapes or objects from the handover position identification video and determines the release position of the article based on the position of the characteristic shape or object. The release position determination unit 34 may, for example, recognize characteristic shapes such as the entrance of a house or the perimeter of a house to determine the release position of the article. The release position determination unit 34 may, for example, recognize characteristic objects such as an automobile or a storage shed to determine the release position of the article. The release position determination unit 34 may, for example, perform image processing on the handover position identification video to recognize patterns, characters, or symbols indicating the handover position to determine the release position of the article.

[0040] The flight control unit 36 ​​controls the flight of the drone 10. In this embodiment, the flight control unit 36 ​​flies the drone 10 to the release position determined by the release position determination unit 34. Based on the position information of the drone 10's current position acquired by the position information acquisition unit 21, the flight control unit 36 ​​controls the drone to autonomously fly to the destination location information. More specifically, when the flight control unit 36 ​​receives information indicating a delivery instruction from the goods delivery control device 50, it starts autonomous flight to the destination. First, the flight control unit 36 ​​acquires the destination location information from the goods delivery control device 50, for example, via the communication control unit 29. The flight control unit 36 ​​searches for a flight path from the current position to the destination based on map information (not shown), for example. The flight control unit 36 ​​outputs a control signal to the drive control unit 37 so that the drone 10 autonomously flies to the destination along the searched flight path. The flight control unit 36 ​​outputs a control signal to the drive control unit 37 that includes the searched flight path and flight altitude, for example.

[0041] The flight control unit 36 ​​may control the drone to fly autonomously to its destination based on the video acquired by the video acquisition unit 23 in addition to the position information. For example, if the flight control unit 36 ​​performs image processing on the video and detects an obstacle in the drone 10's path, it outputs a control signal to control the drone to avoid the obstacle. For example, if the flight control unit 36 ​​detects an obstacle from the video, it outputs a control signal to control the drone 10 to circle, ascend, or descend.

[0042] In this embodiment, the flight control unit 36 ​​may make the drone 10 fly slowly while circling around the destination. More specifically, the flight control unit 36 ​​is an arrival determination unit 31 If it is determined that the drone 10 has reached its destination, a control signal may be output to control the drone 10 to fly slowly in a circle around the destination.

[0043] In this embodiment, the flight control unit 36 ​​may cause the drone 10 to hover or descend to a height of approximately 1 to 3 meters above the ground at the destination. Alternatively, if the location determination unit 32 determines that the current location information of the drone 10 has reached a predetermined range from the delivery destination location information of the goods, the flight control unit 36 ​​may output a control signal to cause the drone 10 to hover in the air.

[0044] The drive control unit 37 outputs a control signal to control the drive unit 15. More specifically, the drive control unit 37 outputs a control signal to control the rotation of the drone 10's propellers. Based on the control signal from the flight control unit 36, the drive control unit 37 controls the drive unit 15 so that autonomous flight is performed with the delivery location information as the destination.

[0045] In this embodiment, the drive control unit 37 flies the drone 10 to its destination. More specifically, based on the control signal from the flight control unit 36, the drive control unit 37 outputs a control signal to the drive unit 15 to fly the drone 10 to its destination. Based on the control signal from the flight control unit 36, the drive control unit 37 outputs a control signal to the drive unit 15 to control the drone 10 to rotate, ascend, or descend.

[0046] Alternatively, in this embodiment, the drive control unit 37 may, based on the control signal from the flight control unit 36, cause the drone 10 to fly slowly while orbiting around the destination. More specifically, the drive control unit 37 outputs a control signal to the drive unit 15, based on the control signal from the flight control unit 36, to control the drone 10 to fly slowly while orbiting around the destination.

[0047] In this embodiment, the drive control unit 37 causes the drone 10 to hover at the destination based on the control signal from the flight control unit 36. More specifically, the drive control unit 37 outputs a control signal to the drive unit 15, based on the control signal from the flight control unit 36, to cause the drone 10 to hover above the terminal device 70 or to descend.

[0048] The release control unit 38 controls the release of the item. The release control unit 38 releases the item at the release position. The release control unit 38 causes the release mechanism 16 to hold the item while the drone 10 flies to its destination.

[0049] In this embodiment, the release control unit 38 outputs a control signal to control the release mechanism 16 when the release position determination unit 34 determines that the item is in the release position. More specifically, when the release control unit 38 determines that the item is in the release position, it outputs a control signal to the release mechanism 16 to release the item. For example, the release control unit 38 outputs a control signal to the actuator that operates the arm of the drone 10 that holds the item to release the item.

[0050] (Goods delivery control device) Figure 4 is a block diagram showing an example configuration of the goods delivery control device 50. The goods delivery control device 50 is a server device managed or used by an e-commerce business or a goods delivery business, and may consist of multiple server devices. The goods delivery control device 50 can communicate information with the drone 10 and the terminal device 70 via a network. The goods delivery control device 50 performs order processing for goods delivery and goods handover processing. The goods delivery control device 50 has a communication unit 59 and a control unit 60.

[0051] The goods delivery control device 50 receives an order for goods from the ordering party. At that time, the goods delivery control device 50 acquires information that identifies the ordering party's terminal device 70 as being able to communicate, such as an email address, as well as delivery location information, a video showing the handover location, and the current location information of the terminal device 70. The goods delivery control device transmits the delivery location information, the video showing the handover location, and the current location information of the terminal device 70 to the drone 10 carrying the goods ordered by the ordering party.

[0052] The communication unit 59 is a communication unit that performs wide-area wireless communication. The communication unit 59 communicates information with the drone 10 and terminal device 70, for example, via a network. The network is, for example, the Internet network, but is not limited thereto. The communication unit 59 is composed of, for example, a wide-area wireless communication module for a mobile phone network. The communication unit 59 is composed of a communication module such as Wi-Fi and may connect to any access point or other smartphones to realize wide-area wireless communication.

[0053] (Control Unit) The control unit 60 is, for example, an arithmetic processing unit (control device) composed of a CPU or the like. The control unit 60 loads the stored program into memory and executes the instructions contained in the program. The control unit 60 includes internal memory (not shown), which is used for temporary storage of data in the control unit 60. The control unit 60 controls the goods delivery control device 50. The control unit 60 has an order processing unit 61, a drone control unit 63, a storage unit 68, and a communication control unit 69.

[0054] The order processing unit 61 receives orders for the delivery of goods from, for example, a terminal device 70 or an external device. When an order is received, the order processing unit 61 obtains delivery location information from the terminal device 70 or an external device. When an order is received, the order processing unit 61 may also obtain information from the terminal device 70 or an external device, along with the delivery location information, that indicates, for example, the person who ordered the goods, the delivery date and time, the weight and size of the goods, and at least one of the types of goods.

[0055] The drone control unit 63 outputs information indicating delivery instructions to the designated drone 10 when the delivery of goods begins.

[0056] The storage unit 68 is a storage device that stores programs and data used by the control unit 60. The storage unit 68 may be at least one of the following: a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, or a magnetic disk.

[0057] The communication control unit 69 controls the communication unit 59 to control communication with the drone 10 and the terminal device 70. More specifically, in this embodiment, when the order processing unit 61 receives an order for the delivery of goods, the communication control unit 69 obtains delivery location information and various other information from the terminal device 70 or an external device.

[0058] The following describes the process performed by the communication control unit 69 when an order for the delivery of goods is received. When the order processing unit 61 receives an order for the delivery of goods, or after the order has been received, the communication control unit 69 transmits delivery location information to the drone 10 designated for delivery.

[0059] The following describes the processes performed by the communication control unit 69 during the delivery of goods. The communication control unit 69 receives delivery preparation completion information from the drone 10 designated for delivery. The communication control unit 69 transmits delivery instruction information to the drone 10 designated for delivery. The communication control unit 69 receives arrival notification information from the drone 10. When the communication control unit 69 receives arrival notification information from the drone 10, it transmits the arrival notification information to the terminal device 70. The communication control unit 69 receives delivery location identification video and current location information from the terminal device 70. The communication control unit 69 transmits the delivery location identification video and the current location information of the terminal device 70 received from the terminal device 70 to the drone 10.

[0060] The communication control unit 69 sends a request to the terminal device 70 for retransmission of the delivery location identification video received from the drone 10. The communication control unit 69 then sends the delivery location identification video, retransmitted from the terminal device 70, to the drone 10.

[0061] (Terminal device) Figure 5 is a block diagram showing an example configuration of the terminal device 70. More specifically, the terminal device 70 is a terminal device operated by the orderer who receives the goods at the destination. The terminal device 70 is, for example, a portable electronic device such as a smartphone. The terminal device 70 can communicate information with the goods delivery control device 50 via a network. The terminal device 70 includes a camera 71, a display unit 72, an operation unit 73, a GNSS receiver unit 75, a communication unit 79, and a control unit 80.

[0062] Camera 71 is a camera that captures images of the area around the terminal device 70. Camera 71 captures delivery location identification images that can identify the delivery location. Camera 71's capture is controlled, for example, via the operation control unit 84. Camera 71 captures delivery location identification images that can identify the delivery location when the operation unit 73 is operated, for example, by the user who is the orderer. Camera 71 outputs the captured images to the image acquisition unit 82 of the control unit 80. Camera 71 captures delivery location identification images. The delivery location identification images captured by camera 71 and transmitted to the goods delivery control device 50 may be still images or moving images.

[0063] The display unit 72 is a display including, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 72 displays images based on the video signal output from the display control unit 83 of the control unit 80. The display unit 72 displays, for example, an order screen for ordering goods, or images when taking delivery location identification images that can identify the delivery location.

[0064] The operation unit 73 is a touch panel provided on the display unit 72. The operation unit 73 can accept order placement operations. The operation unit 73 can also accept operations to instruct the camera 71 to take pictures. The operation unit 73 outputs operation information to the operation control unit 84 of the control unit 80.

[0065] The GNSS receiver 75 receives GNSS signals from GNSS satellites. The GNSS receiver 75 outputs the received GNSS signals to the position information acquisition unit 85 of the control unit 80. The GNSS receiver 75 is composed of, for example, a GNSS receiving circuit and an antenna capable of receiving GNSS signals.

[0066] The communication unit 79 is a communication unit that performs wide-area wireless communication. The communication unit 79 communicates information with the goods delivery control device 50, for example, via a network. The network is, for example, the Internet, but is not limited thereto. The communication unit 79 is composed of, for example, a wide-area wireless communication module for a mobile phone network. The communication unit 79 is composed of a communication module such as Wi-Fi and may connect to any access point or other smartphones to realize wide-area wireless communication.

[0067] (Control Unit) The control unit 80 is a processing unit (control device) composed of, for example, a CPU. The control unit 80 loads the stored program into memory and executes the instructions contained in the program. The control unit 80 includes internal memory (not shown), which is used for temporary storage of data in the control unit 80. The control unit 80 controls the terminal device 70. The control unit 80 includes a shooting control unit 81, an image acquisition unit 82, a display control unit 83, an operation control unit 84, a location information acquisition unit 85, a storage unit 88, and a communication control unit 89.

[0068] The shooting control unit 81 controls the shooting by the camera 71. More specifically, the shooting control unit 81 causes the camera 71 to perform shooting based on a shooting instruction from the operation control unit 84.

[0069] The video acquisition unit 82 acquires the video captured by the camera 71. The video acquisition unit 82 outputs the acquired video to the communication control unit 89.

[0070] The display control unit 83 controls the video displayed on the display unit 72. table The display control unit 83 controls the display. The display control unit 83 outputs a video signal that causes the display unit 72 to output the image. More specifically, when ordering the delivery of goods, the display control unit 83 outputs a video signal that displays the image of the screen used for order processing. In addition, when the shooting control unit 81 takes pictures with the camera 71, the display control unit 83 outputs a video signal that displays the image acquired by the image acquisition unit 82.

[0071] The operation control unit 84 receives an operation to process an order when an order for the delivery of goods is placed. In this embodiment, the operation control unit 84 receives an operation to input, for example, delivery location information and various other information. The operation control unit 84 outputs the acquired operation information as a control signal. The operation information acquired by the operation control unit 84 is output from the terminal device 70 to the goods delivery control device 50.

[0072] The location information acquisition unit 85 calculates the current location information of the terminal device 70 using a known method based on the radio waves received by the GNSS receiving unit 75.

[0073] The memory unit 88 is a storage device that stores programs and data used by the control unit 80. The memory unit 88 may use at least one of the following: RAM, ROM, flash memory, EPROM, EEPROM, etc., which are either non-volatile or volatile semiconductor memories.

[0074] The communication control unit 89 controls the communication unit 79 to control communication with the goods delivery control device 50. In this embodiment, when an order for goods delivery is placed, the communication control unit 89 transmits various information such as delivery destination location information and goods information to the goods delivery control device 50. The communication control unit 89 transmits a video image of the delivery location and current location information to the goods delivery control device 50.

[0075] The communication control unit 89 receives a request from the goods delivery control device 50 to retransmit the delivery location identification video received from the drone 10. The communication control unit 89 retransmits the delivery location identification video to the goods delivery control device 50.

[0076] (Information processing in goods delivery systems) The processing flow in the goods delivery system 1 will now be explained. First, the goods delivery control device 50 receives an order for goods from the ordering party. At that time, the goods delivery control device 50 acquires, for example, information that identifies the ordering party's terminal device 70 as being able to communicate, delivery destination location information, and delivery location identification video.

[0077] The goods delivery control device 50 then transmits delivery destination location information and delivery location identification video to the drone 10 carrying the goods ordered by the ordering party.

[0078] Then, drone 10, carrying the goods ordered by the customer, begins flying with the delivery location information as its destination.

[0079] Next, an example of the processing flow in the drone 10 will be explained using Figure 6. Figure 6 is a diagram showing an example of the processing flow in the drone 10 of the goods delivery system 1 according to the first embodiment. The processing shown in Figure 6 is executed after the drone 10 starts flying.

[0080] The control unit 20 determines whether the current location information of the drone 10 is within a predetermined range from the destination location information (step S101). More specifically, the control unit 20 determines, based on the location information acquired by the location information acquisition unit 21 and the destination location information acquired from the goods delivery control device 50 via the communication unit 19, whether the location information of the drone 10 is within a predetermined range of the destination location information, which indicates the latitude and longitude of the destination, using the arrival determination unit 31. The predetermined range can also be rephrased as within a predetermined distance, for example, when it is within 10m, or when the estimated arrival time to the destination location is less than 1 minute based on the drone's flight speed. If the control unit 20 determines, based on the arrival determination unit 31, that the drone is within a predetermined range from the destination location information (Yes in step S101), it proceeds to step S102. If the control unit 20 does not determine, based on the arrival determination unit 31, that the drone is within a predetermined range from the destination location information (No in step S101), it repeats the process in step S101.

[0081] If the control unit 20 determines that the delivery location is within a predetermined range based on the delivery location information (Yes in step S101), it notifies the orderer of the arrival (step S102). More specifically, the control unit 20 transmits arrival notification information to the goods delivery control device 50 via the communication control unit 29. When the goods delivery control device 50 receives arrival notification information from the drone 10, it transmits the arrival notification information to the terminal device 70. The control unit 20 then proceeds to step S103.

[0082] The control unit 20 starts imaging and also starts location determination processing (step S103). More specifically, the control unit 20 acquires the image captured by the camera 13 using the image acquisition unit 23. The control unit 20 then starts location determination processing by comparing the image captured by the camera 13 with the image of the item delivery location identified via the communication unit 19 using the location determination unit 32, and determining whether a matching location exists. The control unit 20 then proceeds to step S104.

[0083] The control unit 20 determines whether or not a matching location exists (step S104). More specifically, the control unit 20 uses the location determination unit 32 to compare the image captured by the camera 13 with the image of the item's delivery location obtained via the communication unit 19 to determine whether or not a matching location exists. If the location determination unit 32 determines that a matching location exists (Yes in step S104), the control unit 20 proceeds to step S107. If the location determination unit 32 does not determine that a matching location exists (No in step S104), the control unit 20 proceeds to step S105.

[0084] If the location determination unit 32 does not determine that a matching location exists (No in step S104), the control unit 20 sends a request to retransmit the delivery location identification video (step S105). The control unit 20, via the communication control unit 29, sends a request to the item delivery control device 50 via the communication unit 19 to retransmit the delivery location identification video to the terminal device 70. When the item delivery control device 50 receives a request to retransmit the delivery location identification video from the drone 10, it sends a request to the terminal device 70 to retransmit the delivery location identification video. The control unit 20 proceeds to step S106.

[0085] After step S105 is executed, the terminal device 70 receives a request to retransmit the delivery location identification video via the goods delivery control device 50. The terminal device 70 retransmits the delivery location identification video via the goods delivery control device 50. It is effective to limit the number of requests to retransmit the delivery location identification video, for example, to a maximum of one or two times. In addition, the request to retransmit the delivery location identification video may request a delivery location identification video different from the one acquired at the time of ordering the goods. The delivery location identification video acquired at the time of ordering the goods is either a delivery location identification video taken at the time of ordering the goods or a delivery location identification video that was taken in advance. In contrast, by requesting the shooting of a delivery location identification video at the time of the retransmission request, it becomes possible to compare the video taken by the camera 13 of the drone 10 with a video that is temporally close to that video. This reduces the influence of differences in weather and sunlight on the comparison of delivery location identification videos.

[0086] The control unit 20 determines whether or not it has acquired the delivery location identification video (step S106). The control unit 20 determines whether or not it has acquired the delivery location identification video retransmitted from the terminal device 70 via the communication unit 19 by the communication control unit 29. If the control unit 20 determines that it has acquired the retransmitted delivery location identification video by the communication control unit 29 (Yes in step S106), it executes the process in step S104 again. If the control unit 20 does not determine that it has acquired the delivery location identification video by the communication control unit 29 (No in step S106), it proceeds to step S111. If it does not determine that it has acquired the delivery location identification video, for example, if it does not acquire the delivery location identification video within 3 minutes after requesting retransmission of the delivery location identification video in step S105, it determines No in step S106.

[0087] If it is determined that a matching location exists (Yes in step S104), the control unit 20 determines whether the ordering party's terminal device 70 is within a predetermined distance (step S107). More specifically, the control unit 20 uses the ordering party determination unit 33 to determine whether the terminal device 70 is within a predetermined distance from the current location of the drone 10, based on the current location information of the drone 10 and the current location information of the terminal device 70 obtained from the terminal device 70 owned by the ordering party of the goods via the communication unit 19. If the control unit 20 determines that the ordering party's terminal device 70 is within a predetermined distance (Yes in step S107), it proceeds to step S108. If the control unit 20 does not determine that the ordering party's terminal device 70 is within a predetermined distance (No in step S107), it proceeds to step S111. If the control unit 20 does not determine that the ordering party's terminal device 70 is within a predetermined distance (No in step S107), it may notify the terminal device 70 of a message such as "Are you at the handover location?".

[0088] If it is determined that the customer's terminal device 70 is within a predetermined distance (Yes in step S107), the control unit 20 determines the release position from the handover position identification video (step S108). More specifically, the control unit 20 uses the release position determination unit 34 to perform image recognition processing on the handover position identification video to identify the release position. Then, the control unit 20 uses the flight control unit 36 ​​to continue flight toward the identified release position. The control unit 20 proceeds to step S109.

[0089] The control unit 20 determines whether or not the item has arrived at the release position (step S109). More specifically, the control unit 20 determines that the item has arrived at the release position if the release position determination unit 34 performs image recognition processing on the video captured by the camera 13 and the determined release position is recognized. If the control unit 20 determines that the item has arrived at the release position (Yes in step S109), it proceeds to step S110. If the control unit 20 does not determine that the item has arrived at the release position (No in step S109), it repeats the process in step S109.

[0090] If the control unit 20 determines that the item has arrived at the release position (Yes in step S109), it releases the item (step S110). More specifically, the control unit 20 controls the release control unit 38 to perform the release operation of the item at the release position.

[0091] The control unit 20 determines that it is time to return (step S111). More specifically, the control unit 20 directs the aircraft, instructed by the flight control unit 36, to fly towards the location where the flight began.

[0092] (effect) As described above, in this embodiment, when goods are delivered, the person who ordered the goods transmits a video of the delivery location. The drone 10 detects a location that matches the delivery location video from the video captured by the camera 13. Furthermore, if the person who ordered the goods is within a predetermined distance, the drone releases the goods at the release location. In this way, according to this embodiment, it is possible to prevent accidental release to a location similar to the video of the release location. According to this embodiment, goods can be delivered appropriately by drone.

[0093] [Second Embodiment] The article delivery system 1 according to this embodiment will be described with reference to Figure 7. Figure 7 is a diagram showing an example of the processing flow in the drone 10 of the article delivery system according to the second embodiment. The drone 10 of the second embodiment has the same basic configuration as the drone 10 of the first embodiment. In the following description, components that are the same as those of the drone 10 of the first embodiment are denoted by the same reference numerals or corresponding reference numerals, and their detailed descriptions are omitted. The processing in the location determination unit 32 of the drone 10 differs from that of the first embodiment.

[0094] In this embodiment, when the drone 10 arrives at the delivery location, the drone 10 sends a request to the terminal device 70 to transmit a video image that identifies the delivery location.

[0095] The location determination unit 32 compares the video captured by the camera 13 with the video capturing the delivery location identification, and determines whether a matching location exists, if the time the video capturing the delivery location identification is taken is within a predetermined period of, for example, 60 seconds from the time the arrival determination unit 31 determines that the current location information of the drone 10 has reached a predetermined range from the delivery destination location information of the goods.

[0096] The communication control unit 29 sends a request to the goods delivery control device 50 to transmit a video image for identifying the delivery location to the terminal device 70.

[0097] The communication control unit 69 of the goods delivery control device 50 sends a request to the terminal device 70 to transmit the delivery location identification video received from the drone 10. The communication control unit 69 transmits the delivery location identification video transmitted from the terminal device 70 to the drone 10.

[0098] The communication control unit 89 of the terminal device 70 receives a request from the goods delivery control device 50 to transmit the delivery location identification video received from the drone 10. The communication control unit 89 transmits the delivery location identification video to the goods delivery control device 50.

[0099] Next, an example of the processing flow in the drone 10 will be explained using Figure 7. The processing in steps S201, S203, S205 to S208, S209, and S210 to S214 is the same as the processing in steps S101, S106, S103 to S106, S111, and S107 to S110 shown in Figure 5.

[0100] The control unit 20 notifies the ordering party of the arrival and sends a request to transmit a video image identifying the delivery location (step S202). More specifically, the control unit 20 transmits arrival notification information to the goods delivery control device 50 via the communication control unit 29. The control unit 20, via the communication control unit 29, transmits a request to the goods delivery control device 50 to transmit a video image identifying the delivery location to the terminal device 70. The control unit 20 then proceeds to step S203.

[0101] The control unit 20 determines whether the video was taken within a predetermined period from arrival (step S204). More specifically, the control unit 20 determines whether it acquired the delivery location identification video via the communication unit 19 within a predetermined period from the time the arrival determination unit 31 determined that the device had arrived. If the control unit 20 determines, based on the location determination unit 32, that the video was taken within a predetermined period from arrival (Yes in step S204), it proceeds to step S205. If the control unit 20 does not determine, based on the location determination unit 32, that the video was taken within a predetermined period from arrival (No in step S204), it proceeds to step S207.

[0102] As described above, in this embodiment, when the drone 10 arrives at the delivery destination, it requests the person who ordered the package to transmit a video showing the delivery location. If the drone 10 obtains a video showing the delivery location taken within a predetermined period after the request to transmit the video has been made, it detects a location that matches the video from the video captured by the camera 13. According to this embodiment, it is possible to determine whether or not a matching location exists using the video showing the delivery location at the time of delivery of the goods.

[0103] [Third Embodiment] The goods delivery system 1 according to this embodiment will be described with reference to Figures 8 and 9. Figure 8 is a block diagram of the drone 10A according to the third embodiment. Figure 9 is a diagram showing an example of the processing flow in the drone 10A of the goods delivery system according to the third embodiment. The drone 10A of the third embodiment has the same basic configuration as the drone 10 of the first embodiment. The control unit 20A of the drone 10A differs from that of the first embodiment.

[0104] In this embodiment, when the drone 10A arrives at the delivery location, the drone 10A sends a request to the terminal device 70 to transmit a facial image.

[0105] The control unit 20A includes a position information acquisition unit 21, a sensor information acquisition unit 22, a video acquisition unit 23, a storage unit 28, a communication control unit 29A, an arrival determination unit 31, a face detection unit 32A, a face determination unit 33A, a release position determination unit 34A, a flight control unit 36, a drive control unit 37, and a release control unit 38.

[0106] The face detection unit 32A detects a human face from the video captured by the camera 13 and the video acquired via the communication unit 19 when the arrival determination unit 31 determines that the current location information of the drone 10A has reached a predetermined range from the delivery destination location information of the goods. The method for detecting a human face from the video can be any known method and is not limited to that.

[0107] The face determination unit 33A compares the human face detected from the video captured by the camera 13 with the human face detected from the video acquired via the communication unit 19 and determines whether they match or not.

[0108] In this embodiment, the face determination unit 33A, when the time at which it detects a human face from the video captured by the camera 13 is the same as or within a predetermined period of time when the video captured by the camera 13 is captured, compares the human face detected from the video captured by the camera 13 with the human face detected from the video acquired via the communication unit 19 and determines whether they match.

[0109] The release position determination unit 34A determines the position of the item's release position based on the location of the person's face detected in the video captured by the camera 13, if the face determination unit 33A determines that the person's face detected in the video acquired via the communication unit 19 matches the person's face detected in the video captured by the camera 13.

[0110] The communication control unit 29A sends a request to the item delivery control device 50 to transmit a facial image to the terminal device 70.

[0111] The communication control unit 69 of the goods delivery control device 50 sends a request to the terminal device 70 to transmit the face image received from the drone 10A. The communication control unit 69 transmits the face image transmitted from the terminal device 70 to the drone 10A.

[0112] The communication control unit 89 of the terminal device 70 receives a request from the item delivery control device 50 to transmit a facial image received from the drone 10A. The communication control unit 89 transmits the facial image to the item delivery control device 50. The facial image captured by the camera 71 of the terminal device 70 and transmitted to the item delivery control device 50 may be a still image or a moving image.

[0113] Next, an example of the processing flow in drone 10A will be explained using Figure 9. Steps S121, S128, and S129 are the same as steps S101, S110, and S111 shown in Figure 6.

[0114] The control unit 20A notifies the ordering party of the arrival and sends a request for facial image transmission (step S122). More specifically, the control unit 20A transmits arrival notification information to the goods delivery control device 50 via the communication control unit 29A. The control unit 20A transmits a request for facial image transmission to the goods delivery control device 50 via the communication control unit 29A. The control unit 20A proceeds to step S123.

[0115] The control unit 20A determines whether or not a face image has been acquired (step S123). The control unit 20A determines, based on the communication control unit 29A, whether or not a face image has been acquired from the item delivery control device 50 via the communication unit 19 and from the terminal device 70. If the control unit 20A determines, based on the communication control unit 29A, that a face image has been acquired (Yes in step S123), it proceeds to step S124. If the control unit 20A does not determine, based on the communication control unit 29A, that a face image has been acquired (No in step S123), it proceeds to step S129. If the control unit 20A does not determine that a face image has been acquired (No in step S123), it may request retransmission of the face image a limited number of times, for example, once.

[0116] The control unit 20A starts imaging and simultaneously starts face detection processing (step S124). More specifically, the control unit 20A uses the face detection unit 32A to detect human faces from the video captured by the camera 13 and the video acquired via the communication unit 19. The control unit 20A then proceeds to step S125.

[0117] The control unit 20A determines whether or not there is a matching face (step S125). More specifically, the control unit 20A compares the human face detected from the video captured by the camera 13 with the human face detected from the video acquired via the communication unit 19 using the face determination unit 33A, and determines whether or not they match. If the control unit 20A determines that there is a matching face using the face determination unit 33A (Yes in step S125), it proceeds to step S126. If the control unit 20A does not determine that there is a matching face using the face determination unit 33A (No in step S125), it proceeds to step S129. If it does not determine that there is a matching face (No in step S125), the control unit 20A may send a notification to the terminal device 70 via the item delivery control device 50, for example, a limited number of times such as once, such as "Please come to the receiving location where the drone is visible."

[0118] If it is determined that a matching face exists (Yes in step S125), the control unit 20A determines the release position from the position of the matching face (step S126). More specifically, the control unit 20A, using the release position determination unit 34A, determines that the release position of the item is, for example, in front of the human face detected from the image captured by the camera 13. Then, the control unit 20A, using the flight control unit 36, continues flight toward the identified release position. The control unit 20A proceeds to step S127.

[0119] The control unit 20A determines whether or not the item has arrived at the release position (step S127). More specifically, the control unit 20A performs image recognition processing on the video captured by the camera 13 using the release position determination unit 34A, and if the determined release position is recognized, it determines that the item has arrived at the release position. If the control unit 20A determines that the item has arrived at the release position using the release position determination unit 34A (Yes in step S127), it proceeds to step S128. If the control unit 20A does not determine that the item has arrived at the release position using the release position determination unit 34A (No in step S127), it repeats the process in step S127.

[0120] As described above, in this embodiment, when delivering goods, the person who ordered the goods transmits their own facial image. The drone 10A detects a person matching the facial image from the video captured by the camera 13. When a person matching the facial image is detected, the drone releases the goods near that person. According to this embodiment, it is possible to prevent the goods from being mistakenly released to a third party other than the person who ordered them.

[0121] [Fourth Embodiment] The article delivery system 1 according to this embodiment will be described with reference to Figure 10. Figure 10 is a diagram showing an example of the processing flow in the drone of the article delivery system according to the fourth embodiment. The drone 10A of the fourth embodiment has the same basic configuration as the drone 10A of the third embodiment. The processing in the face detection unit 32A and the face determination unit 33A of the drone 10A differs from that of the third embodiment.

[0122] The face detection unit 32A detects human faces from the video captured by the camera 13 and the video acquired via the communication unit 19, and also detects the facial expressions of the detected people.

[0123] The face determination unit 33A compares the human face detected from the video captured by the camera 13 with the human face detected from the video acquired via the communication unit 19, and determines whether the faces and facial expressions match.

[0124] The release position determination unit 34A determines the position of the item's release position based on the location of the person's face detected in the video captured by the camera 13, if the face determination unit 33A determines that the person's face and facial expression detected in the video acquired via the communication unit 19 match the person's face and facial expression detected in the video captured by the camera 13.

[0125] The communication control unit 29A may request the item delivery control device 50 to transmit a facial image to the terminal device 70, specifically requesting that it transmit a facial image of a face with a distinctive expression.

[0126] A face with a distinctive expression is, for example, an expression that is different from the normal expression, such as a smile, or an expression that is easily distinguishable from the normal expression.

[0127] Next, an example of the processing flow in drone 10A will be explained using Figure 10. The processing in steps S221, S223 to S225, and S227 to S230 is the same as the processing in steps S121, S123 to S125, and S126 to S129 shown in Figure 9.

[0128] The control unit 20A notifies the ordering party of the arrival and sends a request to transmit a facial image with distinctive facial features (step S222). More specifically, the control unit 20A transmits arrival notification information to the goods delivery control device 50 via the communication control unit 29A. The control unit 20A transmits a request to the goods delivery control device 50 to transmit a facial image with distinctive facial features via the communication control unit 29A. The control unit 20A then proceeds to step S223.

[0129] The control unit 20A determines whether or not the facial expressions match (step S226). More specifically, the control unit 20A compares the person's face detected from the video captured by the camera 13 with the person's face detected from the video acquired via the communication unit 19, and determines whether or not the facial expressions match along with the faces. If the face determination unit 33A determines that the facial expressions match (Yes in step S226), the control unit 20A proceeds to step S227. If the face determination unit 33A does not determine that the facial expressions match (No in step S226), the control unit 20A proceeds to step S230.

[0130] As described above, in this embodiment, in addition to matching facial images, if a person with matching facial expressions is detected, the item is released near that person. According to this embodiment, the person placing the order can be identified more appropriately.

[0131] [Fifth Embodiment] The item delivery system 1 according to this embodiment will be described with reference to Figure 11. Figure 11 is a diagram showing an example of the processing flow in the drone of the item delivery system according to the fifth embodiment. The drone 10A of the fifth embodiment has the same basic configuration as the drone 10A of the fourth embodiment. The processing in the face determination unit 33A of the drone 10A differs from that of the fourth embodiment. In this embodiment, it is preferable that the face image captured by the camera 71 of the terminal device 70 and transmitted to the item delivery control device 50 is a moving image.

[0132] The face determination unit 33A compares the human face detected from the video captured by the camera 13 with the human face detected from the video acquired via the communication unit 19, and determines whether the faces match and whether the changes in facial expressions match.

[0133] The release position determination unit 34A determines the position of the person's face detected from the video captured by the camera 13 as the release position of the item when the face determination unit 33A determines that the person's face and changes in their facial expression detected from the video acquired via the communication unit 19 match.

[0134] The communication control unit 29A transmits a request to the item delivery control device 50 to change the facial expression of the terminal device 70.

[0135] The communication control unit 69 of the goods delivery control device 50 transmits the facial expression change request received from the drone 10A to the terminal device 70. The communication control unit 69 transmits the facial image transmitted from the terminal device 70 to the drone 10A.

[0136] The communication control unit 89 of the terminal device 70 receives a facial expression change request from the drone 10A via the item delivery control device 50. The communication control unit 89 transmits a video of the captured face as a facial image to the item delivery control device 50. The user of the terminal device 70 changes their facial expression while their face is being filmed.

[0137] Next, an example of the processing flow in drone 10A will be explained using Figure 11. The processing in steps S321, S323 to S325, and S328 to S331 is the same as the processing in steps S121, S123 to S125, and S126 to S129 shown in Figure 9.

[0138] The control unit 20A notifies the ordering party of the arrival of the product and sends a request to transmit a facial image (step S322). The facial image requested to be transmitted at this time is a moving image, and the capture and transmission of the moving image continues until the decision in step S327 is made.

[0139] The control unit 20A transmits a request to change facial expression (step S326). More specifically, the control unit 20A transmits the request to change facial expression to the item delivery control device 50 via the communication control unit 29A. The control unit 20A then proceeds to step S327.

[0140] The control unit 20A determines whether the changes in facial expression match (step S327). More specifically, the control unit 20A compares the person's face detected from the video captured by the camera 13 with the person's face detected from the video acquired via the communication unit 19, using the face determination unit 33A, to determine whether the faces match and whether the changes in facial expression match. If the face determination unit 33A determines that there is a matching face (Yes in step S327), the control unit 20A proceeds to step S328. If the face determination unit 33A does not determine that there is a matching face (No in step S327), the control unit 20A proceeds to step S331.

[0141] As described above, in this embodiment, in addition to matching facial images, if a person whose facial expression changes match is detected, the item is released near that person. According to this embodiment, the person placing the order can be identified more appropriately.

[0142] Each component of the illustrated goods delivery system is a functional concept and does not necessarily have to be physically configured as shown. In other words, the specific form of each device is not limited to that shown, and all or part of them may be functionally or physically dispersed or integrated in any unit depending on the processing load and usage of each device.

[0143] The configuration of the goods delivery system is implemented, for example, as software, such as a program loaded into memory. In the above embodiment, these were described as functional blocks implemented through the cooperation of hardware or software. That is, these functional blocks can be implemented in various forms using hardware alone, software alone, or a combination thereof.

[0144] The components described above include those that are easily conceivable by those skilled in the art, and those that are substantially identical. Furthermore, the components described above can be combined as appropriate. In addition, various omissions, substitutions, or modifications of the components are possible without departing from the spirit of the present invention.

[0145] For example, the control unit 20 of the drone 10 may be distributed, and some of its components may be implemented in the control unit 60 of the goods delivery control device 50.

[0146] The arrival determination unit 31, location determination unit 32, orderer determination unit 33, and release position determination unit 34 of the control unit 20 in the first and second embodiments are not limited to being executed by the control unit 20 of the drone 10, but may also be executed by the goods delivery control device 50. In this case, the goods delivery control device 50 acquires images taken by the camera 13 of the drone 10 and executes the above processing based on the information regarding the order of goods obtained from the orderer's terminal device 70. The goods delivery control device 50 has an arrival determination unit, a location determination unit, an orderer determination unit, and a release position determination unit that implement the functions of the arrival determination unit 31, location determination unit 32, orderer determination unit 33, and release position determination unit 34. The goods delivery control device 50 performs processing similar to the flowchart shown in Figure 6 or Figure 7. If the goods delivery control device 50 determines Yes in step S109, it outputs a control signal to the drone 10 instructing it to release the goods. Based on the release control signal from the goods delivery control device 50, the drone 10 operates the release control unit 38 It will be released by [meaning].

[0147] The arrival determination unit 31, face detection unit 32A, face determination unit 33A, and release position determination unit 34A of the control unit 20A in the third to fifth embodiments are the control unit of the drone 10A. 20A The process is not limited to being executed by the drone, but may also be executed by the goods delivery control device 50. In this case, the goods delivery control device 50 acquires images captured by the camera 13 of the drone 10A and executes the above process based on the goods order information acquired from the ordering party's terminal device 70. The goods delivery control device 50 has an arrival determination unit, a face detection unit, a face determination unit, and a release position determination unit that implement the functions of an arrival determination unit 31, a face detection unit 32A, a face determination unit 33A, and a release position determination unit 34A. The goods delivery control device 50 performs the same process as the flowchart shown in Figure 9, Figure 10, or Figure 11.

[0148] Although the above description assumes that the drone 10 flies autonomously, if a human operator is controlling it, the operator can simply view the video captured by the camera 13 on the drone 10 and use the remote controller to fly it to its destination.

[0149] This disclosure includes matters that contribute to the realization of the SDG (Sustainable Development Goal) "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation," and contribute to value creation through IoT solutions. [Explanation of Symbols]

[0150] 1. Goods Delivery System 10, 10A Drone 11 GNSS receiver 12 sensors 13. Camera (imaging unit) 15 Drive unit 16 Release mechanism 19 Communications Department 20, 20A Control Unit 21 Location information acquisition section 22 Sensor information acquisition unit 23. Video Acquisition Unit 28 Memory section 29, 29A Communication Control Unit 31 Arrival Determination Unit 32 Location Determination Department 32A Face detection unit 33. Client Decision Department 33A Face Recognition Unit 34, 34A Release position determination unit 36 Flight Control Unit 37 Drive control unit 39 Release Control Unit 50. Goods delivery control device 59 Communications Department 60 Control Unit 61 Order Processing Section 63 Drone Control Unit 68 Memory section 69 Communication Control Unit 70 Terminal devices 71 Camera 72 Display section 73 Operation section 75 GNSS receiver 79 Communications Department 80 Control Unit 81 Imaging Control Unit 82 Video Acquisition Unit 83 Display Control Unit 84 Operation Control Unit 85 Location information acquisition section 88 Memory section 89 Communication Control Unit

Claims

1. A delivery drone for delivering goods, An imaging unit that captures images of the surroundings of the drone, When the drone reaches a predetermined range from the delivery location of the item, a face detection unit detects a human face from the image captured by the imaging unit and the image obtained from the person who ordered the item. A face determination unit compares the face of a person detected from the video captured by the imaging unit with the face of a person detected from the video obtained from the person who ordered the item, and determines whether they match or not. If the face determination unit determines that the face of a person detected from the video captured by the imaging unit matches the face of a person detected from the video obtained from the person who ordered the item, the release position determination unit determines that the position of the face of the person detected from the video captured by the imaging unit is the release position of the item. Equipped with, The face detection unit detects human faces from the video captured by the imaging unit and the video obtained from the customer who ordered the goods, and also detects the facial expression of the detected human face. The face determination unit compares the human face detected from the video captured by the imaging unit with the human face detected from the video obtained from the person who ordered the item, and determines whether the faces and facial expressions match. The release position determination unit determines, when the face determination unit determines that the person's face and facial expression detected from the video captured by the imaging unit matches the person's face and facial expression detected from the video obtained from the person who ordered the item, to be the release position of the item. Delivery drone.

2. A delivery drone for delivering goods, An imaging unit that captures images of the surroundings of the drone, When the drone reaches a predetermined range from the delivery location of the item, a face detection unit detects a human face from the image captured by the imaging unit and the image obtained from the person who ordered the item. A face determination unit compares the face of a person detected from the video captured by the imaging unit with the face of a person detected from the video obtained from the person who ordered the item, and determines whether they match or not. If the face determination unit determines that the face of a person detected from the video captured by the imaging unit matches the face of a person detected from the video obtained from the person who ordered the item, the release position determination unit determines that the position of the face of the person detected from the video captured by the imaging unit is the release position of the item. Equipped with, The face determination unit compares the human face detected from the video captured by the imaging unit with the human face detected from the video obtained from the person who ordered the item, and determines whether the faces match and whether the changes in facial expressions match. The release position determination unit determines the position of the person's face detected from the video captured by the imaging unit as the release position of the item when the face determination unit determines that the changes in the person's face and expression detected from the video obtained from the customer who ordered the item match. Delivery drone.

3. The face determination unit, when the time at which it detected the person's face from the video captured by the imaging unit is the same as or within a predetermined period of time when the video captured by the imaging unit was captured, compares the person's face detected from the video captured by the imaging unit with the person's face detected from the video obtained from the person who ordered the goods, and determines whether they match. A delivery drone according to claim 1 or 2.

4. A flight control unit that controls the flight of the drone, A release control unit that controls the release of the article, Equipped with, The flight control unit flies the drone to the release position determined by the release position determination unit. The release control unit releases the article at the release position. A delivery drone according to any one of claims 1 to 3.

5. When the drone reaches a predetermined range from the delivery location of the goods, a face detection step is performed to detect a human face from the image captured by an imaging unit that captures images of the area around the drone, and from the image obtained from the person who ordered the goods. A face determination step involves comparing the face of a person detected from the video captured by the imaging unit with the face of a person detected from the video obtained from the person who ordered the item, and determining whether they match or not. If it is determined that the face of a person detected from the video captured by the imaging unit matches the face of a person detected from the video obtained from the customer who ordered the item, the position of the face of the person detected from the video captured by the imaging unit is determined to be the release position of the item in a release position determination step. Includes, In the face detection step, a human face is detected from the video captured by the imaging unit and the video obtained from the person who ordered the item, and the facial expression of the detected human face is also detected. In the face determination step, the face of a person detected from the video captured by the imaging unit is compared with the face of a person detected from the video obtained from the person who ordered the item, and it is determined whether the faces and facial expressions match. In the release position determination step, if it is determined in the face determination step that the person's face and facial expression detected from the video captured by the imaging unit matches the person's face and facial expression detected from the video obtained from the person who ordered the item, the position of the person's face detected from the video captured by the imaging unit is determined to be the release position of the item. A delivery method using delivery drones, implemented by a goods delivery system.

6. When the drone reaches a predetermined range from the delivery location of the goods, a face detection step is performed to detect a human face from the image captured by an imaging unit that captures images of the area around the drone, and from the image obtained from the person who ordered the goods. A face determination step involves comparing the face of a person detected from the video captured by the imaging unit with the face of a person detected from the video obtained from the person who ordered the item, and determining whether they match or not. If it is determined that the face of a person detected from the video captured by the imaging unit matches the face of a person detected from the video obtained from the customer who ordered the item, the position of the face of the person detected from the video captured by the imaging unit is determined to be the release position of the item in a release position determination step. Includes, In the face determination step, the face of a person detected from the video captured by the imaging unit is compared with the face of a person detected from the video obtained from the person who ordered the item, and it is determined whether the faces match and whether the changes in facial expressions match. In the release position determination step, if it is determined in the face determination step that the changes in a person's face and facial expression detected from the video captured by the imaging unit match the changes in a person's face and facial expression detected from the video obtained from the person who ordered the item, the position of the person's face detected from the video captured by the imaging unit is determined to be the release position of the item. A delivery method using delivery drones, implemented by a goods delivery system.

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