Moving body control device and moving body control method

Abstract

A moving body control device (100) comprises: a positioning information acquisition unit (101) that acquires positioning information pertaining to a moving body (1); a destination information acquisition unit (102) that acquires destination information indicating a destination of the moving body (1); a movement control unit (104) that controls movement of the moving body (1), on which a package is mounted, so as to move the moving body (1) to the destination on the basis of the positioning information acquired by the positioning information acquisition unit (101) and the destination information acquired by the destination information acquisition unit (102); and an air blowing control unit (111) that controls an air blowing device (50) of the moving body (1) so as to cause the air blowing device (50) to blow air in a state in which the moving body (1) has reached the destination.

Description

Mobile Control Device and Mobile Control Method

[0001] The present disclosure relates to a mobile control device and a mobile control method.

[0002] Conventionally, a moving body that delivers a load by autonomous driving to a designated delivery destination has been disclosed (see, for example, Patent Document 1). This moving body is configured to authenticate the delivery of the load to the delivery destination when it reaches the delivery destination or when the front door of the delivery destination is opened.

[0003] Japanese Patent Application Laid-Open No. 2022-176688

[0004] Generally, there is a problem that if it takes time for the user to recognize the position of the moving body, the user may not be able to promptly receive the load carried by the moving body.

[0005] The present disclosure has been made in view of the recognition of the above problems, and an object thereof is to provide a mobile control device and a mobile control method that make it easier for a user to grasp the position of a moving body than in the prior art.

[0006] The mobile control device according to the present disclosure includes a positioning information acquisition unit that acquires positioning information of a moving body, a destination information acquisition unit that acquires destination information indicating a destination of the moving body, a moving control unit that controls the movement of the moving body so as to move the moving body carrying a load to the destination based on the positioning information acquired by the positioning information acquisition unit and the destination information acquired by the destination information acquisition unit, and a blowing control unit that controls a blowing device so as to blow air to the blowing device of the moving body in a state where the moving body has reached the destination.

[0007] The mobile control device according to the present disclosure enables a user to more easily grasp the position of the moving body than in the prior art.

[0008] This is a schematic diagram showing the general configuration of a mobile control system according to Embodiment 1. This is a block diagram showing the general configuration of a mobile body according to Embodiment 1. This is a block diagram showing an example of the hardware configuration of a mobile body control device according to Embodiment 1. This is a block diagram showing an example of the hardware configuration of a mobile body control device according to Embodiment 1. This is a flowchart showing an example of processing performed by a mobile body control device according to Embodiment 1. This is a block diagram showing the general configuration of a mobile body according to Embodiment 2. This is a flowchart showing an example of processing performed by a mobile body control device according to Embodiment 2. This is a flowchart showing an example of processing performed by a mobile body control device according to Embodiment 3. This is a block diagram showing the general configuration of a mobile body according to Embodiment 4. This is a flowchart showing an example of processing performed by a mobile body control device according to Embodiment 4. This is a block diagram showing the general configuration of a mobile body according to Embodiment 5.

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1. First, a mobile control system according to Embodiment 1 will be described with reference to Figure 1. Figure 1 is a schematic diagram showing the general configuration of a mobile control system according to Embodiment 1. As shown in Figure 1, for example, the mobile control system according to Embodiment 1 comprises a central server S1, a package management server S2, a user terminal T1, and a mobile unit 1, and is configured as an order delivery system that delivers ordered items L1, which are packages ordered by a user, to user H1 by the mobile unit 1. For example, the central server S1, the package management server S2, the user terminal T1, and the mobile unit 1 are electrically connected by wired or wireless connections so that they can communicate with each other. The central server S1, the package management server S2, the user terminal T1, and the mobile unit 1 may also be electrically connected to each other via other devices or communication networks not shown.

[0010] For example, user terminal T1 transmits information indicating the order details to central server S1 based on user H1's operation. Based on the information from user terminal T1, central server S1 transmits delivery instruction information to package management server S2 located in a warehouse or other location where the ordered goods L1 are stored, instructing the delivery of the ordered goods. When the mobile vehicle 1 carrying the ordered goods L1 begins moving along the travel route P1 toward the destination, user H1's location, package management server S2 transmits delivery report information to central server S1 indicating that delivery of the ordered goods has begun.

[0011] For example, a mobile unit 1 carrying an ordered item L1 transmits information indicating the current status during delivery to a central server S1 during its movement, including positioning information of the mobile unit 1, information indicating whether the mobile unit 1 has reached its destination, information obtained from the surroundings of the mobile unit 1, and information indicating the status of the ordered item. Based on the information from the mobile unit 1 indicating that the mobile unit 1 has reached its destination, the central server S1 transmits arrival notification information indicating that the ordered item L1 has reached its destination to a user terminal T1. User H1 receives the ordered item L1 from the mobile unit 1 based on the user terminal T1 receiving the arrival notification information. Note that such a mobile unit control system is just one example of a system in which a mobile unit transports cargo, and the mobile unit only needs to transport cargo to its destination. For example, the mobile unit may have a limited range of movement, such as within a specific area, within a specific facility, or along a pre-set specific route, or it may not have a limited range of movement. Also, the cargo transported by the mobile unit may be any item being moved toward a specific person, and may be food, goods, living organisms, materials, documents, money, mail, or other items.

[0012] Next, with reference to Figure 2, the mobile body 1 according to Embodiment 1 will be described. Figure 2 is a block diagram showing the schematic configuration of the mobile body 1 according to Embodiment 1. As shown in Figure 2, the mobile body 1 according to Embodiment 1 includes a positioning device 10, a mobile device 20, an internal information acquisition device 30, a blower 50, a mobile body control device 100, a power supply (not shown) for supplying power to the mobile body 1, and a storage compartment (not shown) for storing luggage inside. In addition to the above configuration, the mobile body 1 may also include other components such as a locking device for locking the storage compartment and a communication device for communicating with external devices.

[0013] The positioning device 10 acquires information for positioning the mobile object 1. For example, the positioning device 10 has a GNSS (Global Navigation Satellite System) receiver (not shown) and receives GNSS signals from GPS (Global Positioning System) satellites. Also, for example, the positioning device 10 receives radio waves for positioning the mobile object 1 from a plurality of antennas pre-installed around the mobile object 1. Also, for example, the positioning device 10 has an imaging device (not shown) that images the area around the mobile object 1 and acquires imaging information as visual information of the area around the mobile object 1 by imaging the area around the mobile object 1 as information for positioning the mobile object 1.

[0014] The imaging device of the positioning device 10, for example, has an image sensor (not shown) and a lens, and acquires imaging information by converting light captured from the lens into an electrical signal using the image sensor. The imaging device has an image sensor such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging device may be configured to image a specific field of view, or it may be composed of a 360-degree camera, a hemispherical camera, a stereo camera, a 360-degree stereo camera, etc. Furthermore, the imaging device may be any device that acquires imaging information that represents visual information, and may be a camera that generates imaging information by detecting visible light, an infrared camera that generates imaging information by detecting infrared light, a thermal camera that generates imaging information by detecting infrared light, a millimeter-wave imaging radar that generates imaging information by detecting reflected millimeter waves output, or a device configured to acquire imaging information by LiDER (Light Detection and Ranging).

[0015] The positioning device 10 may be configured to acquire one of the above-mentioned pieces of information, or it may be configured to acquire multiple pieces of this information. The positioning device 10 outputs the acquired information to the mobile device control device 100.

[0016] The moving device 20 moves the mobile body 1. For example, the moving device 20 has a plurality of wheels that support the storage unit and the blower 50, a drive source that drives one or more of these plurality of wheels, and a steering device that controls the direction of movement of the mobile body 1. The moving device 20 is configured to move the mobile body 1 in any direction by driving the plurality of wheels with the drive source and controlling the direction of movement of the mobile body 1 with the steering device. The drive source can be anything that drives the wheels, for example, a motor that operates by supplying electricity. The moving device can also be anything that is configured to move the mobile body, and may have a plurality of propellers that move the mobile body 1 in the air, and a drive source that drives these propellers. The moving device 20 is controlled based on a control signal from the mobile body control device 100.

[0017] The internal information acquisition device 30 acquires information obtained inside the mobile body 1. For example, the internal information acquisition device 30 acquires information such as information regarding the amount of movement by the mobile device 20, information regarding external forces acting on the mobile body 1, and information regarding luggage stored in the storage compartment. Specifically, the internal information acquisition device 30 has one or more of the following sensors: a rotation sensor for detecting the rotation speed of the wheels, an acceleration sensor for detecting the acceleration acting on the mobile body 1, an angular velocity sensor for detecting the angular velocity acting on the mobile body 1, a luggage sensor for detecting the presence or absence of luggage, a sensor for detecting whether or not luggage is stored in the storage compartment, and a sensor for detecting the opening and closing of the storage compartment door that is opened and closed when luggage is put in or taken out of the storage compartment. The internal information acquisition device 30 outputs the acquired information to the mobile body control device 100.

[0018] The blower 50 blows air from the mobile body 1 outwards. For example, the blower 50 has a rotatably supported fan and a drive source that rotates the fan, and the fan rotates due to the drive source, blowing air in a specific direction. The blower is not limited to the above, and may be a blower that compresses the intake air and sends it outwards, or it may be configured to blow air using a rotating rotor in addition to blowing air with a rotating fan, or it may be configured to blow air using a linear compressor, diaphragm pump, etc., but it is desirable that it is configured to have directionality in the airflow. The blower 50 is controlled based on a control signal from the mobile body control device 100.

[0019] As shown in Figure 2, the mobile device control unit 100 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a travel route setting unit 103, a travel control unit 104, a ventilation control unit 111, and a storage unit 114, and controls each component of the mobile device 1.

[0020] The positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on information from the positioning device 10. For example, the positioning information acquisition unit 101 acquires positioning information indicating the absolute position of the mobile object 1 and time information indicating the time based on the GNSS signal received by the positioning device 10. Alternatively, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on the difference in reception times of radio waves received by the positioning device 10 from a plurality of pre-installed antennas. Alternatively, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile object 1 based on the direction of the mobile object 1 relative to a plurality of antennas calculated based on the difference in reception times of radio waves received by the positioning device 10 from a plurality of pre-installed antennas, and information indicating the positions of these plurality of antennas that has been acquired in advance. Furthermore, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the mobile body 1 based on the distance from the multiple antennas to the mobile body 1, which is calculated based on the reception time of radio waves received by the positioning device 10 from the multiple antennas that have been installed in advance, and information indicating the positions of these multiple antennas that has been acquired in advance.

[0021] Furthermore, for example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on imaging information acquired by the positioning device 10 having an imaging device. Specifically, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on a specific image included in the imaging information and information indicating the position of the specific image that has been acquired in advance. For example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on an image showing the relative position between a specific piece of equipment included in the imaging information and the moving object 1, and information indicating the position of the specific piece of equipment that has been acquired in advance. For example, the positioning information acquisition unit 101 acquires positioning information indicating the position of the moving object 1 based on an image showing the relative position between a specific sign included in the imaging information and the moving object 1, and information indicating the position of the specific sign that has been acquired in advance. Such a specific sign may be one that is installed on the floor, road surface, wall surface, etc. for the purpose of positioning the moving object 1, or it may be a sign that is installed for other purposes, such as a traffic sign.

[0022] The destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1. For example, the destination information acquisition unit 102 acquires destination information indicating the destination of the luggage based on information indicating the location of user H1 acquired via other computers such as the central server S1 and the luggage management server S2 (see Figure 1). Alternatively, for example, the destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1 based on information indicating the location of user terminal T1, acquired via other computers such as the central server S1 and the luggage management server S2, or directly from user terminal T1. Alternatively, for example, the destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1 by reading destination information displayed on luggage stored in the storage compartment. Alternatively, for example, the destination information acquisition unit 102 acquires destination information indicating the destination of the mobile body 1 based on input operations by other users who are the source of the luggage.

[0023] The movement path setting unit 103 sets the movement path of the mobile body 1 based on the positioning information acquired by the positioning information acquisition unit 101 and the destination information acquired by the destination information acquisition unit 102. For example, the movement path setting unit 103 sets the movement path of the mobile body 1 by connecting the location where the mobile body 1 is located and the destination with a path indicated by the map information, based on the positioning information acquired by the positioning information acquisition unit 101, the destination information acquired by the destination information acquisition unit 102, and pre-acquired map information. Note that the movement path setting unit 103 is not limited to setting the entire movement path to the destination before the mobile body 1 starts moving, but may also be configured to set the movement path in stages over multiple steps, such as setting the movement path to any waypoints that the mobile body 1 will pass through on its way to the destination.

[0024] The movement control unit 104 controls the movement device 20 by outputting control signals to the movement device 20. For example, the movement control unit 104 controls the movement of the movement device 1 to move it to its destination based on the positioning information acquired by the positioning information acquisition unit 101 and the destination information acquired by the destination information acquisition unit 102. Alternatively, the movement control unit 104 autonomously controls the movement of the movement device 20 by controlling the movement device 20 to move the movement device 1 to its destination along the movement path set by the movement path setting unit 103. Specifically, the movement control unit 104 autonomously controls the movement of the movement device 20 by outputting control signals to the movement device 20 to control the drive source and steering device of the movement device 20 to move the movement device 20 to its destination along the movement path set by the movement path setting unit 103.

[0025] The airflow control unit 111 controls the operation of the air blower 50 by outputting control signals to the air blower 50. For example, the airflow control unit 111 controls the air blower 50 to start blowing air when the mobile body 1 has reached its destination. Specifically, the airflow control unit 111 controls the air blower 50 to start blowing air when the mobile body 1 has reached its destination. In other words, the airflow control unit 111 controls the air blower 50 to change from a state where the air blower 50 of the mobile body 1 is not blowing air to a state where the air blower 50 is blowing air when the mobile body 1 has reached its destination. Alternatively, for example, the airflow control unit 111 controls the air blower 50 to start blowing air based on a specific trigger when the mobile body 1 has reached its destination. Specifically, the air blower control unit 111 controls the air blower 50 to start blowing air based on information that user H1 can receive the package when the mobile body 1 has reached its destination. However, the air blower control unit is not limited to this and may be configured to control the air blower by other triggers, or to control the strength of the air blown by the air blower, or to control the direction of the air blown by the air blower.

[0026] The storage unit 114 stores information used in processing performed by the mobile device control device 100, and information indicating the results of processing performed by the mobile device control device 100. For example, the storage unit 114 stores destination information, information indicating a set travel route, information used to position the mobile device 1 based on information from the positioning device 10, map information of the area in which the mobile device 1 moves, information for identifying the user, information regarding the cargo being transported, and other information. The information stored in the storage unit 114 is referenced and read out from time to time by other components of the mobile device control device 100.

[0027] Next, the hardware configuration of the mobile control device 100 will be described with reference to Figures 3 and 4. Figure 3 is a diagram showing an example of the hardware configuration of the mobile control device 100, and Figure 4 is a diagram showing a different example of the hardware configuration of the mobile control device 100 from Figure 3. For example, as shown in Figure 3, the mobile control device 100 is configured as a computer having a processor 100a, memory 100b, and I / O port 100c, and is configured so that the processor 100a reads and executes a program stored in memory 100b. Memory 100b is composed of, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0028] Furthermore, as shown in Figure 4, for example, the mobile device control unit 100 is configured as a computer that executes programs, having a dedicated hardware processing circuit 100d and an I / O port 100c. The processing circuit 100d is composed of, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the mobile device control unit 100 is realized by these processors 100a or the dedicated hardware processing circuit 100d executing programs. The mobile device control unit 100 may also have hardware other than those described above, such as a hardware timer.

[0029] Next, with reference to Figures 2 and 5, the details of the processing performed by the mobile body control device 100 according to Embodiment 1 will be described. Figure 5 is a flowchart showing an example of the processing performed by the mobile body control device 100 according to Embodiment 1. The processing performed by the mobile body control device 100 according to Embodiment 1 shown in Figure 5 is the process of moving the mobile body 1 to its destination and then supplying air to the blower 50 when the mobile body 1 has reached its destination.

[0030] As shown in Figure 5, when the mobile device control unit 100 starts processing, it first acquires destination information (step ST01). In this process, the mobile device control unit 100 acquires destination information indicating the destination to which the mobile device 1 will be moved by the destination information acquisition unit 102. The destination information may be information indicating the latitude and longitude of the destination, information indicating the address of the destination, or coordinates indicating the destination in a specific coordinate system that has been set in advance.

[0031] When the mobile object control device 100 performs the processing in step ST01, it acquires positioning information (step ST02). In this process, the mobile object control device 100 acquires positioning information indicating the current position of the mobile object 1 based on the information from the positioning device 10. The positioning information may be information indicating the latitude and longitude of the current position of the mobile object 1, information indicating the address of the current position of the mobile object 1, or coordinates indicating the current position of the mobile object 1 in a specific coordinate system that has been set in advance.

[0032] When the mobile object control device 100 performs the processing in step ST02, it determines whether or not a travel path has been set (step ST03). In this process, the mobile object control device 100 determines whether or not a travel path for moving the mobile object 1 to the destination has been set, for example, whether or not the mobile object 1 is in the process of transporting cargo to the destination.

[0033] If a travel path has not been set in step ST03 (NO in step ST03), the mobile object control device 100 sets a travel path (step ST04). In this process, the mobile object control device 100 sets a travel path for the mobile object 1 to move from its current position to its destination, based on the destination information acquired in step ST01 and the positioning information acquired in step ST02.

[0034] When the process in step ST04 is completed, the mobile body control device 100 starts the movement of the mobile body 1 (step ST05). In this process, the mobile body control device 100 controls the moving device 20 to move the mobile body 1 along the movement path set in the process in step ST04, thereby starting the movement of the mobile body 1.

[0035] If a travel route has been set in step ST03 (YES in step ST03), and if step ST05 has been performed, the mobile object control device 100 determines whether or not the destination has been reached (step ST06). In this process, the mobile object control device 100 determines whether or not the mobile object 1 has reached the destination on the travel route set in step ST04, based on the positioning information acquired by the positioning information acquisition unit 101. In this process, the mobile object control device 100 may determine that the mobile object 1 has reached the destination not only when the destination on the travel route set in step ST04 and the current position of the mobile object 1 indicated by the positioning information exactly match, but also when the mobile object 1 is located in a position that can be considered as having reached the destination. For example, the mobile object control device 100 may determine that the mobile object 1 has reached its destination when the distance between the current position of the mobile object 1, indicated by the positioning information, and the destination on the travel route set in step ST04 falls below a preset threshold. Alternatively, the mobile object control device 100 may determine that the mobile object 1 has reached its destination when the current position of the mobile object 1, indicated by the positioning information, is near the destination on the travel route set in step ST04, and is a suitable location for handing over the transported cargo to user H1, for example, near the entrance of the building where user H1 resides, or near the entrance of user H1's room.

[0036] If the destination has not been reached in step ST06 (NO in step ST06), the mobile body control device 100 returns to step ST02. If the destination has been reached in step ST06 (YES in step ST06), the mobile body control device 100 terminates the movement of the mobile body 1 (step ST07). In this process, the mobile body control device 100 controls the mobile device 20 to stop the movement of the mobile body 1 based on the fact that the mobile body 1 has reached its destination.

[0037] When the mobile object control device 100 has completed the process in step ST07, it starts blowing air (step ST10). In this process, the mobile object control device 100 controls the blower 50 to start blowing air when the mobile object 1 has reached its destination. The mobile object control device 100 is configured to blow air using the blower 50 when the mobile object 1 has reached its destination, but for example, the mobile object control device 100 may be configured to start blowing air using the blower 50 before the mobile object 1 has reached its destination, for example, when the mobile object 1 has reached the site where user H1 is located, even though the mobile object 1 has not yet reached its destination.

[0038] The mobile device control device 100 terminates the airflow from the blower 50 when, for example, user H1 has finished receiving the package, or when the internal information acquisition device 30 detects information indicating that user H1 has touched the mobile device 1, specifically that user H1 has opened the door of the storage compartment.

[0039] As described above, the mobile body control device 100 according to Embodiment 1 includes a positioning information acquisition unit 101 that acquires positioning information of the mobile body 1, a destination information acquisition unit 102 that acquires destination information indicating the destination of the mobile body 1, a movement control unit 104 that controls the movement of the mobile body 1 so as to move the mobile body 1 loaded with luggage to its destination based on the positioning information acquired by the positioning information acquisition unit 101 and the destination information acquired by the destination information acquisition unit 102, and a blower control unit 111 that controls the blower 50 so as to blow air to the blower 50 of the mobile body 1 when the mobile body 1 has reached its destination.

[0040] With this configuration, the mobile object control device 100 makes it easier for user H1 to understand the position of the mobile object 1 than before, by allowing user H1 to estimate the position of the mobile object 1 located at the source of the airflow based on the direction of the airflow when the mobile object 1 has reached its destination. In particular, by receiving airflow from the air blower 50, users with insufficient vision or field of view can easily understand the position of the mobile object 1 based on the tactile sensation when receiving the airflow.

[0041] In Embodiment 1, the mobile object control device 100 is configured to make it easier for the user to understand the position of the mobile object 1 by blowing air with the blower device 50, but it is not limited to this. The mobile object control device may be configured to make it easier for the user to understand the position of the mobile object 1 by other configurations. For example, the mobile object control device may be configured to make it easier for the user to understand the position of the mobile object by controlling the mobile object to emit sound using an alarm device provided on the mobile object, in addition to blowing air with the blower device, or it may be configured to make it easier for the user to understand the position of the mobile object by controlling the mobile object to emit light using a light source provided on the mobile object, in addition to blowing air with the blower device.

[0042] Furthermore, the mobile device may be configured to make it easier for the user to perceive the device's location based on senses other than sight, by ensuring that the air blown out by the fan is at a different temperature or has a different smell from the surrounding air. For example, the mobile device can blow out air at a higher temperature than the surrounding air by configuring the air blown out by the fan to pass through the device's heat source. Alternatively, for example, the mobile device can blow out air with a different smell from the surrounding air by configuring the air blown out by the fan to be blown out together with a scented liquid or gas held inside the device.

[0043] Further, the movement control device 100 may be configured to determine whether to cause the blower device 50 of the moving body 1 to blow air when the moving body 1 has reached the destination, based on the identification information acquired in advance for identifying the user. For example, based on such identification information, it is determined whether the person at the destination requests blowing by the blower device 50, and when information indicating that the person at the destination requests blowing by the blower device 50 is included in the identification information, it may be configured to cause the blower device 50 to blow air.

[0044] Embodiment 2. Next, referring to FIGS. 6 and 7, the moving body 2 according to Embodiment 2 will be described. The moving body 2 according to Embodiment 2 has some different configurations from the moving body 1 according to Embodiment 1, but the other configurations are the same. For the same configurations as those in Embodiment 1, the same names and reference numerals as those in Embodiment 1 are given and the description is omitted.

[0045] As shown in FIG. 6, the moving body 2 according to Embodiment 2 includes a positioning device 10, a moving device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 52, a locking device 60, a communication device 70, and a movement control device 200.

[0046] The external information acquisition device 40 acquires information outside the moving body 2. For example, the external information acquisition device 40 has an imaging device (not shown) and acquires imaging information by imaging the surroundings of the moving body 2. Note that the details of the imaging device are the same as those of the imaging device included in the positioning device 10 in Embodiment 1, so the description is omitted. Also, for example, the external information acquisition device 40 has a distance measuring sensor (not shown) for acquiring information regarding the distance to an object around the moving body 2, and acquires information corresponding to the distance between the moving body 2 and the surrounding object. The distance measuring sensor is constituted by, for example, a LiDAR, a millimeter wave radar, an ultrasonic sensor, an infrared sensor, or the like. Also, for example, the external information acquisition device 40 has a sound sensor for detecting the sound around the moving body 2, and acquires information corresponding to the sound around the moving body 2.

[0047] Further, for example, the external information acquisition device 40 has a wind speed sensor for measuring the wind speed around the moving body 2 and acquires information according to the wind speed. Further, for example, the external information acquisition device 40 has a rainfall sensor for measuring the rainfall at the position where the moving body 2 is located and acquires information according to the rainfall. Note that the external information acquisition device 40 may be configured to acquire any one of these pieces of information, or may be configured to acquire a plurality of these pieces of information. Further, the external information acquisition device 40 may be configured independently of the positioning device 10, or may be configured to achieve the functions of the positioning device 10 and the external information acquisition device 40 with one configuration by sharing some configurations.

[0048] The blower device 52 has directivity and blows air from the moving body 2 toward a specific external direction. For example, the blower device 52 includes a fan rotatably supported, a drive source for rotating the fan, and a wind direction setting unit for setting the direction of the air blown by the fan. When the fan rotates by the drive source, the air is blown in the specific direction set by the wind direction setting unit. For example, the wind direction setting unit sets the direction of the air blown by changing the direction of the central axis of the fan to an arbitrary direction. Further, for example, the wind direction setting unit sets the direction of the air blown by changing the direction of a duct that guides the air blown from a fan disposed inside the moving body 2 to the outside of the moving body 2 to an arbitrary direction. Further, for example, the wind direction setting unit sets the direction of the air blown by changing the direction of a wind direction plate that guides the air blown from the fan to an arbitrary direction. The blower device 52 is controlled based on information from the movement control device 200.

[0049] The locking device 60 locks a storage unit that stores luggage inside. For example, the locking device 60 switches the storage unit between a locked state and an unlocked state. Specifically, the locking device 60 includes a deadbolt or a latch bolt that holds the door of the storage unit in a closed state, and an actuator that moves the deadbolt or the latch bolt. The locking device 60 switches the locked state and the unlocked state of the storage unit based on a control signal from the movement control device 200.

[0050] The communication device 70 communicates with an external device of the mobile body 2. For example, the communication device 70 has an antenna (not shown) for sending and receiving information, and an analog-to-digital converter that converts the analog information received by the antenna into digital information, and communicates with one or more of the central server S1, the luggage management server S2, and the user terminal T1 by short-range wireless communication or long-range wireless communication. The communication device 70 may be configured independently of the positioning device 10, or it may be configured to achieve the functions of both the positioning device 10 and the communication device 70 in a single configuration by sharing some of its components.

[0051] As shown in Figure 6, the mobile device control device 200 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 103, a movement control unit 104, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a specific body part detection unit 108, a person determination unit 109, a distance information acquisition unit 110, a fan control unit 121, a locking control unit 112, and a storage unit 114.

[0052] The imaging information acquisition unit 105 acquires imaging information of the surroundings of the moving object 2 based on information from the external information acquisition device 40.

[0053] The identification information acquisition unit 106 acquires identification information to identify user H1, who will receive the package at the destination of the mobile unit 2. For example, based on information from the external information acquisition device 40, the identification information acquisition unit 106 acquires one or more of the following as identification information: information indicating the outward appearance of user H1, information indicating the outward appearance of user H1, and information indicating the characteristics of user H1's voice. For example, information indicating the outward appearance of user H1 may include information indicating the outward appearance of the face, information indicating the outward appearance of the iris, information indicating the characteristics of the fingerprints, etc. Also, for example, based on information received via the communication device 70, the identification information acquisition unit 106 acquires information indicating the personal information of user H1 or a unique string of characters stored in the storage unit 114 or the central server S1 linked to the personal information of user H1 as identification information. Also, for example, based on information from the external information acquisition device 40, the identification information acquisition unit 106 acquires information indicating the characteristics of user H1's voice as identification information. The identification information acquisition unit 106 may be configured to acquire one of these pieces of information, or it may be configured to acquire multiple pieces of this information.

[0054] The person detection unit 107 detects people around the moving object 2 based on information from the external information acquisition device 40. For example, the person detection unit 107 detects people around the moving object 2 by extracting feature quantities from imaging information acquired by the imaging device of the external information acquisition device 40. In addition, by detecting people around the moving object 2, the person detection unit 107 obtains information regarding the position of those people relative to the moving object 2. For example, by detecting people around the moving object 2, the person detection unit 107 obtains information indicating the direction of those people relative to the moving object 2.

[0055] The specific body part detection unit 108 detects specific body parts of a person detected by the person detection unit 107. For example, the specific body part detection unit 108 detects specific body parts of a person detected by the person detection unit 107 based on imaging information from the external information acquisition device 40. Specifically, the specific body part detection unit 108 extracts features from the imaging information from the external information acquisition device 40 to detect one or more of the person's face, hands, or exposed skin as specific body parts of a person detected by the person detection unit 107. By detecting specific body parts of a person, the specific body part detection unit 108 obtains information regarding the position of those specific body parts relative to the moving object 2. For example, by detecting specific body parts of a person, the specific body part detection unit 108 obtains information indicating the direction of those specific body parts relative to the moving object 2.

[0056] The person determination unit 109 determines, based on the identification information acquired by the identification information acquisition unit 106, whether the person detected by the person detection unit 107 is user H1 who will receive the package at the destination of the mobile body 2. In Embodiment 2, user H1 who will receive the package at the destination of the mobile body 2 is also referred to as a "specific person". For example, the person determination unit 109 determines whether the person detected by the person detection unit 107 is a specific person by comparing the identification information indicating the external characteristics of the specific person acquired by the identification information acquisition unit 106 with the image information of people around the mobile body 2 acquired by the external information acquisition device 40. Alternatively, for example, the person determination unit 109 determines whether the person detected by the person detection unit 107 is a specific person by comparing the identification information acquired by the identification information acquisition unit 106 with information acquired from user terminals around the mobile body 2 via short-range wireless communication by the communication device 70.

[0057] The distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and surrounding objects. For example, the distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and a person detected by the person detection unit 107 based on information from the external information acquisition device 40. Specifically, the distance information acquisition unit 110 acquires distance information indicating the distance between the moving body 2 and a person detected by the person detection unit 107 based on information from the distance measuring sensor of the external information acquisition device 40. Alternatively, the unit may be configured to acquire distance information indicating the distance between the moving body 2 and surrounding objects based on imaging information acquired by the imaging information acquisition unit 105. For example, the distance information acquisition unit 110 may be configured to acquire distance information indicating the distance between the moving body 2 and a specific person by comparing the height of a specific person indicated by pre-acquired personal information of that specific person with the size of the specific person indicated by the imaging information, or it may be configured to acquire distance information indicating the distance between the moving body 2 and surrounding objects based on imaging information from a stereo camera of the external information acquisition device 40 acquired by the imaging information acquisition unit 105.

[0058] The airflow control unit 121 controls the operation of the airflow device 52 by outputting a control signal to the airflow device 52. For example, the airflow control unit 111 controls the airflow device 50 to blow air in a specific direction when the moving object 2 has reached its destination. For example, the airflow control unit 121 controls the airflow device 52 to blow air towards a person detected by the person detection unit 107 when the moving object 2 has reached its destination. Specifically, the airflow control unit 121 controls the airflow device 52 to blow air towards a person detected by the person detection unit 107 by outputting a control signal to the airflow device 52 to control the airflow direction setting unit of the airflow device 52.

[0059] The locking control unit 112 controls the locking device 60 by outputting a control signal to the locking device 60. In other words, the locking control unit 112 activates the locking device 60 by outputting a control signal to the locking device 60, switching between the locked and unlocked states of the storage compartment.

[0060] The hardware configuration of the mobile device control device 200 according to Embodiment 2 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0061] Next, with reference to Figures 6 and 7, the details of the processing performed by the mobile body control device 200 according to Embodiment 2 will be described. Figure 7 is a flowchart showing an example of the processing performed by the mobile body control device 200 according to Embodiment 2. The processing performed by the mobile body control device 200 according to Embodiment 2 shown in Figure 7 is the process of moving the mobile body 2 to the destination and then supplying air to the blower 52 when the mobile body 2 has reached the destination. Note that some of the processing performed by the mobile body control device 200 according to Embodiment 2 is the same as the processing performed by the mobile body control device 100 according to Embodiment 1, and the explanation of the processing that is the same as in Embodiment 1 will be omitted.

[0062] As shown in Figure 7, when the mobile device control unit 200 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 200 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 200 determines whether or not a travel route has been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 200 sets a travel route (step ST04). If the processing in step ST04 has been performed, the mobile device control unit 200 starts the movement of the mobile device 2 (step ST05). If the travel route has been set in the processing of step ST03 (YES in step ST03), and if the processing in step ST05 has been performed, the mobile device control unit 200 determines whether or not the destination has been reached (step ST06). If the destination has not been reached in the processing of step ST06 (NO in step ST06), the mobile device control unit 200 returns to step ST02. If the destination has been reached during the process in step ST06 (YES in step ST06), the mobile body control device 200 terminates the movement of the mobile body 2 (step ST07).

[0063] After performing the processing in step ST07, the mobile object control device 200 acquires image information (step ST08). In this process, the mobile object control device 200 acquires imaging information of the surroundings of the mobile object 2 based on information from the external information acquisition device 40. In addition to acquiring imaging information of the surroundings of the mobile object 2 after the processing in step ST07, the mobile object control device 200 may also be configured to acquire imaging information of the surroundings of the mobile object 2 before reaching the destination, including the state of moving along the travel path.

[0064] When the mobile object control device 200 performs the processing in step ST08, it determines whether or not it has detected a specific person (step ST09). In this process, for example, the mobile object control device 200 determines whether or not it has detected a specific person around the mobile object 2 based on the information acquired in the processing in step ST08. In other words, in this process, the mobile object control device 200 uses the person determination unit 109 to determine whether or not the person detected around the destination is a specific person, based on the comparison result between the detection result by the person detection unit 107, which is based on imaging information acquired by imaging the area around the mobile object 2 located at the destination, and the previously acquired identification information. The mobile object control device 200 may be configured to acquire information other than imaging information for identifying a specific person from the external information acquisition device 40 together with, or instead of, the processing in step ST08, or it may be configured to perform short-range wireless communication between the mobile object 2 and surrounding terminals, and to perform processing to determine whether or not it has detected a specific person around the mobile object 2 based on the comparison result between the information acquired from the surrounding terminals and the previously acquired identification information.

[0065] If the specified person is not detected in step ST09 (NO in step ST09), the mobile body control device 200 returns to step ST08 to acquire new imaging information and searches for the specified person around the mobile body 2. If the specified person is detected in step ST09 (YES in step ST09), the mobile body control device 200 starts blowing air (step ST10).

[0066] When the mobile object control device 200 performs the processing in step ST10, it determines whether or not it has detected a specific part of a specific person (step ST12). In this process, the mobile object control device 200 determines whether or not the specific part of a specific person has been detected by the specific part detection unit 108, based on the imaging information acquired in step ST08. In this process, for example, the mobile object control device 200 determines whether or not the face of a specific person has been detected by the specific part detection unit 108, based on the imaging information acquired in step ST08.

[0067] If a specific body part of a specific person is detected in step ST12 (YES in step ST12), the mobile body control device 200 adjusts the direction of the airflow toward the specific body part (step ST13). In this process, the mobile body control device 200 adjusts the direction of the airflow from the airflow device 52 so that air is blown toward the specific body part, based on the detection of a specific body part of a specific person in step ST12. If a specific body part of a specific person is not detected in step ST12 (NO in step ST12), the mobile body control device 200 may be configured to adjust the direction of the airflow toward any part of the specific person, for example, the upper end or center of the specific person, or it may be configured to continue blowing air without adjusting the direction of the airflow.

[0068] If the specific body part of the specific person is not detected in step ST12 (NO in step ST12), and if the process in step ST13 is performed, the mobile object control device 200 determines whether the distance between the mobile object 2 and the specific person is less than a preset first threshold (step ST16). In this process, the mobile object control device 200 determines whether the distance between the mobile object 2 and the specific person is less than a first threshold, which is a threshold indicating whether the distance is small enough for the specific person to receive the package. For example, the first threshold is set to 0.5m.

[0069] If, during the processing in step ST16, the distance between the moving object 2 and the specific person is not less than the first threshold (NO in step ST16), the moving object control device 200 returns the process to step ST12.

[0070] In step ST16, if the distance between the moving object 2 and the specific person is less than the first threshold (YES in step ST16), the moving object control device 200 unlocks the locking device 60 (step ST17). In this process, the moving object control device 200 controls the locking device 60 from the locked state to the unlocked state in order to allow the specific person to receive the package, based on the fact that the distance between the moving object 2 and the specific person is small enough for the specific person to receive the package.

[0071] When the mobile object control device 200 completes the process in step ST17, it terminates the airflow (step ST21). In this process, the mobile object control device 200 terminates the airflow from the air blower 52, assuming that the specific person is already aware of the location of the mobile object 2, based on the fact that the distance between the mobile object 2 and the specific person is small enough for the specific person to receive the package. When the mobile object control device 200 completes the process in step ST21, it terminates the process.

[0072] As described above, the mobile body control device 200 according to Embodiment 2 includes a person detection unit 107 for detecting people around the mobile body 2, and is configured to control the blower 52 to blow air towards a specific person detected by the person detection unit 107 when the mobile body 2 has reached its destination.

[0073] With this configuration, the mobile object control device 200 can receive airflow from the mobile object 2 regardless of the relative position between the specific person and the mobile object 2, making it easier for the specific person to understand the position of the mobile object 2 than in the conventional method.

[0074] Furthermore, the mobile body control device 200 according to Embodiment 2 includes an identification information acquisition unit 106 that acquires identification information for identifying a person detected by the person detection unit, and a person determination unit 109 that determines whether or not the person detected by the person detection unit 107 is a specific person based on the identification information acquired by the identification information acquisition unit 106. The device is configured to control the blower 52 to blow air toward the specific person when the mobile body 2 has reached its destination and the person detected by the person detection unit 107 is determined to be a specific person by the person determination unit 109.

[0075] With this configuration, the mobile object control device 200 suppresses the use of the blower 52 to blow air towards people other than the specific person in the vicinity of the destination when the mobile object 2 reaches the destination, making it easier for the specific person to ascertain the location of the mobile object 2.

[0076] Furthermore, the mobile body control device 200 according to the second embodiment includes a locking control unit 112 that controls a locking device 60 that locks a storage compartment for storing luggage inside the mobile body 2. When the mobile body 2 has reached its destination, if the person detected by the person detection unit 107 is determined to be a specific person by the person determination unit 109, the locking device 60 is configured to switch from a locked state to an unlocked state.

[0077] With this configuration, the mobile device control device 200 prevents the storage compartment from unlocking when the mobile device 2 has reached its destination and a specific person is not in the vicinity of the mobile device 2.

[0078] Furthermore, the mobile body control device 200 according to Embodiment 2 includes a specific body part detection unit 108 that detects a specific body part of a person detected by the person detection unit 107, and is configured to control the blower 52 to blow air towards the specific body part of the person detected by the person detection unit 107 and detected by the specific body part detection unit 108.

[0079] For example, the mobile device control device 200 according to Embodiment 2 is configured to detect the hand of a person detected by the person detection unit as a specific part.

[0080] With this configuration, the mobile device control unit 200 can pre-set specific areas that are easily stimulated by touch when exposed to airflow, such as the face, hands, or exposed skin, so that a specific person can feel the stimulation from the airflow more strongly, making it easier for that person to grasp the position of the mobile device 2.

[0081] Embodiment 3. Next, the mobile body 3 according to Embodiment 3 will be described with reference to Figures 6 and 8. The mobile body 3 according to Embodiment 3 differs from the mobile body 2 according to Embodiment 2 in the configuration of some functions of the air blower control unit, but the other configurations are the same, and the same names and reference numerals as in Embodiment 2 will be used and the explanation will be omitted.

[0082] As shown in Figure 6, the mobile body 3 according to Embodiment 3 includes a positioning device 10, a moving device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 52, a locking device 60, a communication device 70, and a mobile body control device 300. The mobile body control device 300 also includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a moving route setting unit 103, a moving control unit 104, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a specific part detection unit 108, a person determination unit 109, a distance information acquisition unit 110, a blower control unit 131, a locking control unit 112, and a storage unit 114.

[0083] The airflow control unit 131 controls the air blower 52 so that the airflow pattern changes based on the distance information acquired by the distance information acquisition unit 110. For example, the airflow control unit 131 controls the air blower 52 so that the strength of the airflow changes periodically based on the distance information acquired by the distance information acquisition unit 110. Specifically, the airflow control unit 131 controls the air blower 52 so that the period of the airflow strength changes according to the distance between the moving object 3 and the specific person, based on the distance information acquired by the distance information acquisition unit 110. In other words, the airflow control unit 131 controls the air blower 52 so that the strength of the airflow changes in a first period when the distance between the moving object 3 and the specific person is a first distance, and controls the air blower 52 so that the strength of the airflow changes in a second period when the distance between the moving object 3 and the specific person is a second distance.

[0084] Furthermore, for example, based on the distance information acquired by the distance information acquisition unit 110, the airflow control unit 131 controls the airflow device 52 so that the airflow strength changes periodically from a constant state to a state where the airflow strength changes periodically when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is greater than or equal to a preset second threshold to a state where it is less than the second threshold. For example, the second threshold is set to a value greater than the first threshold according to Embodiment 2.

[0085] Furthermore, for example, the airflow control unit 131 controls the airflow device 52 to change the strength of the airflow when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is above a preset second threshold to a state where it is below the second threshold, based on the distance information acquired by the distance information acquisition unit 110. Specifically, the airflow control unit 131 controls the airflow device 52 to increase the strength of the airflow when the distance between the moving object 3 and the specific person detected by the person detection unit 107 changes from a state where it is above a preset second threshold to a state where it is below the second threshold, based on the distance information acquired by the distance information acquisition unit 110.

[0086] The hardware configuration of the mobile device control device 300 according to Embodiment 3 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0087] Next, with reference to Figures 6 and 8, the details of the processing performed by the mobile body control device 300 according to Embodiment 3 will be described. Figure 8 is a flowchart showing an example of the processing performed by the mobile body control device 300 according to Embodiment 3. The processing performed by the mobile body control device 300 according to Embodiment 3 shown in Figure 8 is the process of moving the mobile body 3 to the destination and then supplying air to the blower 52 when the mobile body 3 has reached the destination. Note that some of the processing performed by the mobile body control device 300 according to Embodiment 3 is the same as the processing performed by the mobile body control device 300 according to Embodiment 2, and the explanation of the processing that is the same as in Embodiment 2 will be omitted.

[0088] As shown in Figure 8, when the mobile device control unit 300 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 300 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 300 determines whether or not a travel route has been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 300 sets a travel route (step ST04). If the processing in step ST04 has been performed, the mobile device control unit 300 starts the movement of the mobile device 3 (step ST05). If the travel route has been set in the processing of step ST03 (YES in step ST03), and if the processing in step ST05 has been performed, the mobile device control unit 300 determines whether or not the destination has been reached (step ST06). If the destination has not been reached in the processing of step ST06 (NO in step ST06), the mobile device control unit 300 returns to step ST02. If the destination has been reached during the process in step ST06 (YES in step ST06), the mobile body control device 300 terminates the movement of the mobile body 3 (step ST07).

[0089] When the mobile object control device 300 performs the processing in step ST07, it acquires image information (step ST08). When the mobile object control device 300 performs the processing in step ST08, it determines whether or not it has detected a specific person (step ST09). If the specific person is not detected in the processing of step ST09 (NO in step ST09), the mobile object control device 200 returns to step ST08, acquires new imaging information, and searches for the specific person around the mobile object 3.

[0090] If a specific person is detected during the process in step ST09 (YES in step ST09), the mobile device control unit 300 starts blowing air in the first mode (step ST11). In this process, the mobile device control unit 300 controls the blower 52 to start blowing air in the first mode, for example, by blowing air at a constant first strength.

[0091] When the mobile device control unit 300 performs the processing in step ST11, it determines whether or not it has detected a specific body part of a specific person (step ST12). If a specific body part of a specific person is detected in the processing of step ST12 (YES in step ST12), the mobile device control unit 200 adjusts the direction of the airflow toward the specific body part (step ST13).

[0092] If the specific body part of the specific person is not detected in step ST12 (NO in step ST12), and if the process in step ST13 is performed, the mobile body control device 300 determines whether the distance between the mobile body 3 and the specific person is less than the second threshold (step ST14). In this process, the mobile body control device 300 determines whether the distance between the mobile body 3 and the specific person is greater than the distance at which the specific person can receive the package, and less than the second threshold, which indicates whether the distance is small enough to feel a sufficiently strong breeze from the blower 52. For example, the second threshold is set to 1m.

[0093] In step ST14, if the distance between the moving object 3 and the specific person is less than the second threshold (YES in step ST14), the moving object control device 300 performs airflow in the second mode (step ST15). In this process, based on the fact that the distance between the moving object 3 and the specific person is less than the second threshold, the moving object control device 200 causes the air blower 52 to blow air in a different mode than when the distance between the moving object 3 and the specific person is greater than or equal to the second threshold, thereby making the specific person aware that the moving object 3 is located closer than the second threshold. For example, in this process, based on the fact that the distance between the moving object 3 and the specific person is less than the second threshold, the moving object control device 200 controls the air blower 52 to blow air in a second mode in which the strength of the airflow periodically changes between a first strength and a second strength that is less than the first strength.

[0094] When the mobile object control device 200 has completed the process in step ST15, it determines whether the distance between the mobile object 3 and the specific person is less than a first threshold (step ST16). If, in the process of step ST14, the distance between the mobile object 3 and the specific person was not less than a second threshold (NO in step ST14), and if, in the process of step ST16, the distance between the mobile object 3 and the specific person was not less than a first threshold (NO in step ST16), the mobile object control device 300 returns to step ST12. If, in the process of step ST16, the distance between the mobile object 3 and the specific person was less than a first threshold (YES in step ST16), the mobile object control device 300 unlocks the locking device 60 (step ST17). When the mobile object control device 300 has completed the process in step ST17, it terminates the airflow (step ST21). When the mobile object control device 300 has completed the process in step ST21, it terminates the process.

[0095] As described above, the mobile body control device 300 according to Embodiment 3 includes a distance information acquisition unit 110 that acquires distance information indicating the distance between the mobile body 3 and the person detected by the person detection unit 107, and the air blowing control unit 131 controls the air blowing device 52 so that the air blowing mode changes based on the distance information acquired by the distance information acquisition unit 110.

[0096] With this configuration, the mobile object control device 300 makes it possible for a specific person to perceive changes in the distance to the mobile object 3 based on their sense of touch, making it easier for that person to understand the position of the mobile object 3.

[0097] Furthermore, the mobile device control device 300 according to Embodiment 3 controls the blower so that the strength of the blower changes periodically based on the distance information acquired by the distance information acquisition unit.

[0098] For example, the mobile object control device 300 according to Embodiment 3 is configured to control the fan device so that when the distance between the mobile object and the person detected by the person detection unit changes from a state where the fan strength is constant to a state where the fan strength changes periodically, based on the distance information acquired by the distance information acquisition unit, the distance between the mobile object and the person detected by the person detection unit changes from a state where it is above a preset threshold to a state where it is below the threshold.

[0099] With this configuration, the mobile device control unit 300 makes it easier for a specific person to perceive changes in the airflow pattern compared to a case where the strength of the airflow changes according to distance, and makes it easier for a specific person to grasp the position of the mobile object 3.

[0100] Furthermore, the mobile object control device is not limited to one that changes the airflow mode of the fan based on the distance between the mobile object and a specific person. For example, the mobile object control device may be configured to change the airflow mode of the fan based on weather information acquired from an external information acquisition device. Specifically, the mobile object control device may be configured to change the airflow mode of the fan based on information indicating wind speed around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when the wind speed is greater than when it is less than a specific speed. Alternatively, the device may be configured to change the airflow mode of the fan based on information indicating wind speed and wind direction around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when the wind is blowing from the position of a specific person towards the position of the mobile object than when there is no wind or when the wind is blowing from the position of the mobile object towards the position of the specific person. Finally, the device may be configured to change the airflow mode of the fan based on information indicating rainfall around the mobile object acquired from an external information acquisition device, such that the airflow strength is greater when it is raining than when it is not raining.

[0101] Embodiment 4. Next, the mobile body 4 according to Embodiment 4 will be described with reference to Figures 9 to 11. The mobile body 4 according to Embodiment 4 differs from the mobile body 2 according to Embodiment 2 in its configuration regarding the function for setting a new movement path during movement, some functions of the air blower control unit, and the function for acquiring information about the cargo being transported. However, other configurations are the same, and for configurations similar to those in Embodiment 2, the same names and reference numerals as in Embodiment 2 will be used and their descriptions will be omitted.

[0102] As shown in Figure 9, the mobile body 4 according to Embodiment 4 includes a positioning device 10, a moving device 20, an internal information acquisition device 34, an external information acquisition device 40, a blower device 52, a locking device 60, a communication device 70, and a mobile body control device 400. The mobile body control device 400 also includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 143, a movement control unit 104, an imaging information acquisition unit 105, an identification information acquisition unit 106, a person detection unit 107, a specific body part detection unit 108, a person determination unit 109, a distance information acquisition unit 110, a blower control unit 141, a locking control unit 112, a luggage information acquisition unit 113, and a storage unit 114.

[0103] The internal information acquisition device 34 acquires information indicating whether or not luggage is stored in the storage compartment, in addition to the information acquired by the internal information acquisition device 30 according to Embodiment 1. For example, the internal information acquisition device 34 has an optical sensor, a weight sensor, a contact switch, etc., to acquire information indicating whether or not luggage is stored in the storage compartment.

[0104] The movement path setting unit 143 sets a new movement path based on the detection of a user other than the specific person who will receive the package at the destination of the movement body 4 while the movement body 4 is moving along the set movement path. Details of the function of the movement path setting unit 143 to set a new movement path will be described later. In Embodiment 4, a user other than the specific person who will receive the package at the destination of the movement body 4 is also called an "unintended person".

[0105] The airflow control unit 141 controls the air blower 52 to blow air towards an unintended person while the mobile body 4 is moving along a set movement path. Details of the function by which the airflow control unit 141 controls the air blower 52 to blow air towards an unintended person will be described later.

[0106] The hardware configuration of the mobile device control device 400 according to Embodiment 4 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0107] Next, with reference to Figures 9 to 11, the details of the processing performed by the mobile body control device 400 according to Embodiment 4 will be described. Figure 10 is a flowchart showing an example of the processing performed by the mobile body control device 400 according to Embodiment 4, and Figure 11 is a flowchart showing an example of the processing performed by the mobile body control device 400 according to Embodiment 4 that is different from the processing shown in Figure 10. The processing performed by the mobile body control device 400 according to Embodiment 4 shown in Figure 10 is the process of moving the mobile body 4 to the destination and then supplying air to the blower 52 when the mobile body 4 has reached the destination. Note that some of the processing performed by the mobile body control device 400 according to Embodiment 4 shown in Figure 10 is the same as the processing performed by the mobile body control device 300 according to Embodiment 3, and the explanation of the processing that is the same as in Embodiment 3 will be omitted.

[0108] As shown in Figure 10, when the mobile device control unit 400 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 400 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 400 determines whether or not a travel route has been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 400 sets a travel route (step ST04). If the processing in step ST04 has been performed, the mobile device control unit 400 starts the movement of the mobile device 4 (step ST05). If the travel route has been set in the processing of step ST03 (YES in step ST03), and if the processing in step ST05 has been performed, the mobile device control unit 400 determines whether or not the destination has been reached (step ST06). If the destination has not been reached in the processing of step ST06 (NO in step ST06), the mobile device control unit 400 returns to step ST02. If the destination has been reached during the process in step ST06 (YES in step ST06), the mobile body control device 400 terminates the movement of the mobile body 4 (step ST07).

[0109] When the mobile object control device 400 performs the processing in step ST07, it acquires image information (step ST08). When the mobile object control device 400 performs the processing in step ST08, it determines whether or not it has detected a specific person (step ST09). If the specific person is not detected in the processing of step ST09 (NO in step ST09), the mobile object control device 400 returns to step ST08 to acquire new imaging information and searches for the specific person around the mobile object 4. When the specific person is detected in the processing of step ST09 (YES in step ST09), the mobile object control device 400 starts blowing air in the first mode (step ST11). When the mobile object control device 400 performs the processing in step ST11, it determines whether or not it has detected a specific part of the specific person (step ST12). When a specific part of the specific person is detected in the processing of step ST12 (YES in step ST12), the mobile object control device 400 adjusts the direction of the airflow toward the specific part (step ST13).

[0110] If the specific body part of the specific person is not detected in the process of step ST12 (NO in step ST12), and if the process of step ST13 is performed, the mobile body control device 400 determines whether the distance between the mobile body 4 and the specific person is less than the first threshold (step ST16). If the distance between the mobile body 4 and the specific person is not less than the first threshold in the process of step ST16 (NO in step ST16), the mobile body control device 400 returns the process to step ST12. If the distance between the mobile body 4 and the specific person is less than the first threshold in the process of step ST16 (YES in step ST16), the mobile body control device 400 unlocks the locking device 60 (step ST17).

[0111] When the mobile device control unit 400 performs the processing in step ST17, it determines whether or not it has detected the position of the specific person's hand (step ST18). In this process, the mobile device control unit 400 determines whether or not it has detected the position of the specific person's hand using the specific body part detection unit 108. For example, in this process, the mobile device control unit 400 determines whether or not it has detected the position of the specific person's dominant hand using the specific body part detection unit 108, based on identification information previously acquired by the identification information acquisition unit 106.

[0112] If the position of a specific person's hand is detected during the process in step ST18 (YES in step ST18), the mobile device control unit 400 adjusts the direction of the airflow so that it is directed between the position of the specific person's hand and the position of the luggage (step ST19). In this process, the mobile device control unit 400 directs the airflow from the air blower 52 so that the central axis of the airflow is directed between the position of the specific person's hand and the position of the luggage, so that the specific person's hand is guided toward the position of the luggage by moving their hand toward the direction where they feel the airflow more strongly. For example, in this process, the mobile device control unit 400 controls the air blower 52 so that part of the airflow hits the specific person's hand and the central axis of the airflow is directed between the position of the specific person's hand and the position of the luggage.

[0113] If the position of the specific person's hand is not detected in step ST18 (NO in step ST18), and if the process in step ST19 is performed, the mobile device control unit 400 determines whether or not the luggage has been taken out (step ST20). In this process, the mobile device control unit 400 determines, based on information from the internal information acquisition device 34, whether or not the state in which the luggage stored in the storage compartment is detected has changed to a state in which it is not detected.

[0114] If no cargo is removed during the process in step ST20 (NO in step ST20), the mobile device control unit 400 returns the process to step ST18. If cargo is removed during the process in step ST20 (YES in step ST20), the mobile device control unit 400 terminates the airflow (step ST21). After performing the process in step ST21, the mobile device control unit 200 terminates the process.

[0115] Next, the processes performed by the mobile object control device 400 according to Embodiment 4 shown in Figure 11 will be described. The processes performed by the mobile object control device 400 according to Embodiment 4 shown in Figure 11 are processes for moving the mobile object 4 while ensuring a safe distance from people around the mobile object 4 when moving along a predetermined travel path. For example, the mobile object control device 400 performs the processes from step ST01 to step ST07 of the process shown in Figure 11 after starting the transport of the cargo, and after arriving at the destination, it performs the processes from step ST08 to step ST21 of the process shown in Figure 10. Note that some of the processes shown in Figure 11 performed by the mobile object control device 400 according to Embodiment 4 are the same as the processes shown in Figure 10 performed by the mobile object control device 400 according to Embodiment 4, and the explanation of the processes that are the same as those in Figure 10 will be omitted.

[0116] As shown in Figure 11, when the mobile device control unit 400 starts processing, it first acquires destination information (step ST01). After performing the processing in step ST01, the mobile device control unit 400 acquires positioning information (step ST02). After performing the processing in step ST02, the mobile device control unit 400 determines whether or not a travel route has already been set (step ST03). If the travel route has not been set in the processing of step ST03 (NO in step ST03), the mobile device control unit 400 sets a travel route (step ST04). If the processing in step ST04 has been performed, the mobile device control unit 400 starts the movement of the mobile device 4 (step ST05).

[0117] If a movement path has been set in step ST03 (YES in step ST03), and if the process in step ST05 has been performed, the mobile object control device 400 determines whether or not a person has been detected (step ST23). In this process, the mobile object control device 400 determines whether or not an unintended person other than the specific person has been detected by the person detection unit 107 while moving along the set movement path.

[0118] If an unauthorized person is detected during the processing in step ST23 (YES in step ST23), the mobile object control device 400 determines whether the distance between the detected unauthorized person and the mobile object 4 is less than a preset third threshold (step ST24). In this process, the mobile object control device 400 determines whether the distance between the unauthorized person and the mobile object 4 is less than a preset third threshold based on the distance information acquired by the distance information acquisition unit 110 and the detection result by the person detection unit 107. The third threshold is the distance between the mobile object 4 and the unauthorized person at which there is a risk of the mobile object 4 approaching or coming into contact with the unauthorized person if the mobile object 4 continues to move along the set path, and is set to, for example, 2m.

[0119] In step ST24, if the distance between the unintended person and the moving object 4 is less than the third threshold (YES in step ST24), the moving object control device 400 determines whether the distance between the unintended person and the movement path is less than the fourth threshold (step ST25). In this process, the moving object control device 400 determines whether the distance between the unintended person and the movement path downstream of the moving object 4 is less than the fourth threshold, based on the movement path set by the movement path setting unit 143 and the detection result by the person detection unit 107. The fourth threshold is the distance between the movement path and the person at which there is a risk of the moving object 4 and the unintended person approaching or coming into contact if the moving object 4 continues to move along the set path, and is set to, for example, 1 m.

[0120] In step ST25, if the distance between the unintended person and the movement path is less than the fourth threshold (YES in step ST25), the mobile object control device 400 temporarily stops the movement of the mobile object 4 (step ST26). In this process, the mobile object control device 400 temporarily stops the movement of the mobile object 4 to avoid the distance between the mobile object 4 and the unintended person becoming too small.

[0121] When the mobile object control device 400 has completed the process in step ST26, it starts blowing air towards the detected unintended person (step ST27). In this process, the mobile object control device 400 controls the blower 52 to blow air towards the unintended person. In this process, the unintended person can more easily recognize that they are approaching the mobile object 4 by receiving air from the blower 52.

[0122] When the mobile object control device 400 performs the processing in step ST27, it determines whether the change in distance between the unintended person and the mobile object 4 is less than a preset fifth threshold (step ST28). In this process, the mobile object control device 400 calculates the change in distance between the unintended person and the mobile object 4 over a specific period and determines whether the change in distance between the unintended person and the mobile object 4 is less than the fifth threshold. For example, in this process, with the mobile object 4 stationary, the mobile object control device 400 calculates the change in distance between the unintended person and the mobile object 4 per unit time based on the distance information acquired by the distance information acquisition unit 110 and determines whether the change in distance between the unintended person and the mobile object 4 per unit time is less than the fifth threshold. For example, the fifth threshold is the amount of change in distance at which the unintended person can be considered not to be moving. For example, the fifth threshold as the amount of change in distance between the unintended person and the mobile object 4 per unit time is set to a specific value of 0.1 m / s or less.

[0123] In step ST28, if the change in distance between the unintended person and the moving object 4 is less than the fifth threshold (YES in step ST28), the moving object control device 400 sets a new movement path such that the distance between the unintended person and the movement path is greater than or equal to the fourth threshold (step ST29). For example, in this process, while the unintended person is not moving, the moving object control device 400 sets a new movement path for the moving object 4 that can maintain a safe distance from the unintended person, based on positioning information acquired by the positioning information acquisition unit 101, destination information acquired by the destination information acquisition unit 102, information indicating the direction of the unintended person relative to the moving object 4 acquired by the person detection unit 107, distance information indicating the distance between the unintended person and the moving object 4 acquired by the distance information acquisition unit 110, and map information acquired by the communication device 70.

[0124] When the mobile body control device 400 has completed the process in step ST29, it restarts the movement of the mobile body 4 while blowing air towards the unintended person (step ST30). In this process, the mobile body control device 400 restarts the movement of the mobile body 4 along the new movement path set by the movement path setting unit 143, and adjusts the direction of the air blown by the blower 52 so that the air is blown towards the unintended person whose position relative to the mobile body 4 is changing, based on the information obtained by the person detection unit 107 that indicates the direction of the unintended person relative to the mobile body 4.

[0125] In step ST28, if the change in distance between the unintended person and the moving object 4 is not less than the fifth threshold (NO in step ST28), and if step ST30 is performed, the moving object control device 400 determines whether the distance between the unintended person and the moving object 4 is less than the third threshold (step ST31). In this process, the moving object control device 400 determines whether the distance between the moving object 4 and the unintended person is such that, if the moving object 4 continues to move along the newly set path, there is a risk that the moving object 4 and the unintended person will be in close proximity or come into contact.

[0126] In step ST31, if the distance between the unintended person and the moving object 4 is less than the third threshold (YES in step ST31), the moving object control device 400 determines whether the distance between the person and the movement path is less than the fourth threshold (step ST32). In this process, the moving object control device 400 determines whether, if the moving object 4 continues to move along the newly set path, the distance between the new movement path and the unintended person is such that the moving object 4 and the unintended person are likely to be in close proximity or in contact. In step ST32, if the distance between the unintended person and the movement path is less than the fourth threshold (YES in step ST32), the moving object control device 400 returns to step ST31.

[0127] In step ST31, if the distance between the unintended person and the moving body 4 is not less than the third threshold (NO in step ST31), and in step ST32, if the distance between the unintended person and the movement path is not less than the fourth threshold (NO in step ST32), the moving body control device 400 terminates the airflow (step ST33). In this process, the moving body control device 400 terminates the airflow directed towards the unintended person, assuming that there is no risk of the moving body 4 and the unintended person coming into close proximity or contact if the moving body 4 continues to move along the newly set path.

[0128] If the mobile object control device 400 has completed the process in step ST33, it determines whether or not the destination has been reached (step ST06). If the destination has not been reached in the process of step ST06 (NO in step ST06), if no unauthorized person has been detected in the process of step ST23 (NO in step ST23), if the distance between the unauthorized person and the mobile object 4 is not less than the third threshold in the process of step ST24 (NO in step ST24), or if the distance between the unauthorized person and the travel path is not less than the fourth threshold in the process of step ST25 (NO in step ST25), the mobile object control device 400 returns to step ST02. If the destination has been reached in the process of step ST06 (YES in step ST06), the mobile object control device 400 terminates the movement of the mobile object 4 (step ST07). If the mobile object control device 400 has completed the process in step ST07, it terminates the process.

[0129] As described above, the mobile body control device 400 according to Embodiment 4 controls the blower device 52 so that when the mobile body 4 has reached its destination, the central axis of the airflow is positioned between the hand detected by the specific body part detection unit 108 and the mobile body. For example, when the mobile body 4 has reached its destination, the mobile body control device 400 controls the blower device 52 so that a portion of the airflow from the blower device 52 hits the hand detected by the specific body part detection unit 108, and the central axis of the airflow is positioned between the hand detected by the specific body part detection unit 108 and the mobile body 4.

[0130] With this configuration, the mobile device control unit 400 can guide a specific person's hand to the mobile device 4 by having the person move their hand towards the direction where the strength of the airflow hitting their hand increases, making it easier for the specific person to understand the position of the mobile device 4.

[0131] Furthermore, the mobile body control device 400 according to Embodiment 4 is configured to stop the movement of the mobile body 4 and control the blower 52 to blow air toward the unwanted person if the person detection unit 107 detects an unwanted person whose distance from the mobile body 4 is less than a preset threshold while the mobile body 4 has not yet reached its destination.

[0132] With this configuration, the mobile object control device 400 can make it easier for unauthorized persons to grasp the position of the mobile object 4, thereby preventing unauthorized persons from approaching or coming into contact with the mobile object 4.

[0133] Furthermore, the mobile body control device 400 according to Embodiment 4 includes a movement path setting unit 143 that sets a movement path for the mobile body 4 based on positioning information acquired by the positioning information acquisition unit 101 and destination information acquired by the destination information acquisition unit 102. If the mobile body 4 has not yet reached its destination and the person detection unit 107 detects an unintended person whose distance from the movement path is less than a preset threshold, the device sets a new movement path for the mobile body 4 so that the distance between the movement path and the unintended person is greater than or equal to a preset threshold. The device controls the movement of the mobile body 4 so that it moves along the new movement path set by the movement path setting unit 143, and controls the blower device 52 to blow air towards the unintended person while the mobile body 4 is moving, changing the direction of the blower in accordance with the change in the position of the unintended person relative to the mobile body 4.

[0134] With this configuration, the mobile object control device 400 can make it easier for unauthorized persons to grasp the position of the mobile object 4, thereby preventing unauthorized persons from approaching or coming into contact with the mobile object 4.

[0135] Embodiment 5. Next, the mobile body 5 according to Embodiment 5 will be described with reference to Figures 11 and 12. The mobile body 5 according to Embodiment 5 differs from the mobile body 4 according to Embodiment 4 in that it does not transport cargo, but other components are the same, and components that are the same as in Embodiment 4 will be given the same names and reference numerals as in Embodiment 4 and will not be described.

[0136] As shown in Figure 12, the mobile body 5 according to Embodiment 5 includes a positioning device 10, a moving device 20, an internal information acquisition device 30, an external information acquisition device 40, a blower device 52, a communication device 70, and a mobile body control device 500. The mobile body control device 500 includes a positioning information acquisition unit 101, a destination information acquisition unit 102, a movement route setting unit 143, a movement control unit 104, an imaging information acquisition unit 105, a person detection unit 107, a specific body part detection unit 108, a distance information acquisition unit 110, a blower control unit 141, and a storage unit 114. Details of the internal information acquisition device 30 according to Embodiment 5 are the same as those of the internal information acquisition device 30 according to Embodiment 1, so a description is omitted.

[0137] The mobile body 5, for example, moves autonomously within a specific area or facility, and collects information from its surroundings using the external information acquisition device 40. Furthermore, the mobile body 5, for example, moves autonomously within a specific area or facility, and provides information to people or devices in its vicinity. Specifically, the mobile body 5, by moving autonomously within a specific area or facility, provides information to people in its vicinity through images displayed on a display device, such as a liquid crystal display device (not shown).

[0138] The mobile body 5 moves along a predetermined route while maintaining a safe distance from people around it, for example, by performing the processing shown in Figure 11. The mobile body 5 may also be configured to update its destination and route as needed based on information obtained from the communication device 70 or the external information acquisition device 40.

[0139] The hardware configuration of the mobile device control device 500 according to Embodiment 5 is the same as that of the mobile device control device 100 according to Embodiment 1, so its description will be omitted.

[0140] As described above, the mobile body control device 500 according to Embodiment 5 includes a positioning information acquisition unit that acquires positioning information of a mobile body, a destination information acquisition unit that acquires destination information indicating the destination of the mobile body, a movement control unit that controls the movement of the mobile body to move it to its destination based on the positioning information acquired by the positioning information acquisition unit and the destination information acquired by the destination information acquisition unit, a person detection unit that detects people around the mobile body, and a blower control unit that controls the blower of the mobile body to blow air towards the person detected by the person detection unit.

[0141] With this configuration, the mobile object control device 500 makes it easier for people around the mobile object 5 to understand its position by having them receive airflow from the mobile object 5 and inferring the position of the mobile object 5 located at the source of the airflow based on the direction of the airflow. In particular, by having the airflow from the air blower 50 be received on the face, hands, or other specific parts of the skin that are exposed, people with poor eyesight or field of vision, people who are intently looking at a smartphone or book, or other people who are not paying attention to their surroundings can easily understand the position of the mobile object 5 based on the tactile sensation when they receive the airflow.

[0142] Furthermore, the mobile body control device 500 according to Embodiment 5 includes a movement path setting unit that sets a movement path for the mobile body based on positioning information acquired by the positioning information acquisition unit and destination information acquired by the destination information acquisition unit. If the mobile body has not yet reached its destination and the person detection unit detects a person whose distance from the movement path is less than a preset threshold, the device sets a new movement path for the mobile body so that the distance between the movement path and the person is greater than or equal to a preset threshold. The device controls the movement of the mobile body so that it moves along the new movement path set by the movement path setting unit, and controls the blower to blow air towards the person while the mobile body is moving, changing the direction of the blower in accordance with the change in the person's position relative to the mobile body.

[0143] With this configuration, the mobile object control device 500 can make it easier for people around the mobile object 5 to understand its position, thereby preventing people from approaching or coming into contact with the mobile object 5.

[0144] In any of the embodiments described above, the mobile device control unit may comprise some or all of the other components of the information processing system, or some of the components of the mobile device control unit may be provided on an external device of the mobile device that is communicatively connected to the mobile device control unit.

[0145] Furthermore, in any of the embodiments described above, the mobile body is not limited to one that transports cargo. The mobile body only needs to be one that moves autonomously controlled by a mobile body control device, and may be a mobile body used for purposes other than transporting cargo.

[0146] Furthermore, this disclosure allows for free combination of each embodiment, modification of any component of each embodiment, or omission of any component in each embodiment.

[0147] The mobile device control device described herein can be used, for example, to control a mobile device that transports cargo to a destination.

[0148] 1 Mobile body, 2 Mobile body, 3 Mobile body, 4 Mobile body, 5 Mobile body, 10 Positioning device, 20 Mobile device, 30 Internal information acquisition device, 34 Internal information acquisition device, 40 External information acquisition device, 50 Blower device, 52 Blower device, 60 Locking device, 70 Communication device, 100 Mobile body control device, 101 Positioning information acquisition unit, 102 Destination information acquisition unit, 103 Movement route setting unit, 104 Movement control unit, 105 Image information acquisition unit, 106 Identification information acquisition unit, 107 Person detection unit, 108 Specific part detection unit, 109 Person determination unit, 110 Distance information acquisition unit, 111 Blower control unit, 112 Locking control unit, 113 Luggage information acquisition unit, 114 Storage unit, 121 Blower control unit, 131 Blower control unit, 141 Blower control unit, 143 Movement route setting unit, 200 Mobile device control unit, 300 Mobile device control unit, 400 Mobile device control unit, 500 Mobile device control unit, H1 User, L1 Ordered item, P1 Movement route, S1 Central server, S2 Luggage management server, T1 User terminal.

Claims

1. A mobile body control device comprising: a positioning information acquisition unit that acquires positioning information of a mobile body; a destination information acquisition unit that acquires destination information indicating the destination of the mobile body; a movement control unit that controls the movement of the mobile body so as to move the mobile body loaded with luggage to the destination based on the positioning information acquired by the positioning information acquisition unit and the destination information acquired by the destination information acquisition unit; and a blower control unit that controls the blower so as to blow air onto the blower of the mobile body when the mobile body has reached the destination.

2. The mobile body control device according to claim 1, further comprising a person detection unit for detecting a person in the vicinity of the mobile body, wherein the air blower control unit controls the air blower to blow air toward the person detected by the person detection unit when the mobile body has reached the destination.

3. The mobile body control device according to claim 2, comprising: an identification information acquisition unit that acquires identification information for identifying a person detected by the person detection unit; and a person determination unit that determines whether or not the person detected by the person detection unit is a specific person based on the identification information acquired by the identification information acquisition unit, wherein the blower control unit controls the blower to blow air toward the specific person when the mobile body has reached the destination and the person detected by the person detection unit is determined to be the specific person by the person determination unit.

4. The mobile body control device according to claim 3, further comprising a locking control unit that controls a locking device for locking a storage compartment for storing the luggage inside the mobile body, wherein the locking control unit switches the locking device from a locked state to an unlocked state when the mobile body has reached the destination and the person detected by the person detection unit is determined to be the specific person by the person determination unit.

5. A mobile body control device according to any one of claims 2 to 4, comprising a specific body part detection unit for detecting a specific body part of a person detected by the person detection unit, wherein the air blowing control unit controls the air blowing device to blow air toward the specific body part of the person detected by the person detection unit and the specific body part detection unit.

6. The mobile body control device according to claim 5, characterized in that the specific part detection unit detects the hand of a person detected by the person detection unit as a specific part.

7. The mobile body control device according to claim 6, characterized in that the air blowing control unit controls the air blowing device so that, when the mobile body has reached the destination, the central axis of the air blowing is located between the hand detected by the specific part detection unit and the mobile body.

8. A mobile body control device according to any one of claims 2 to 7, comprising a distance information acquisition unit that acquires distance information indicating the distance between the mobile body and a person detected by the person detection unit, wherein the air blowing control unit controls the air blowing device so that the air blowing mode changes based on the distance information acquired by the distance information acquisition unit.

9. The mobile body control device according to claim 8, characterized in that the air blowing control unit controls the air blowing device so that the strength of the air blowing changes periodically based on the distance information acquired by the distance information acquisition unit.

10. The mobile body control device according to claim 9, characterized in that the air blowing control unit controls the air blowing device so that the air blowing strength changes periodically from a constant state to a state in which the air blowing strength changes periodically when the distance between the mobile body and the person detected by the person detection unit changes from a state in which the distance between the mobile body and the person detected by the person detection unit is greater than or equal to a preset threshold to a state in which 11. The mobile body control device according to any one of claims 8 to 10, characterized in that the movement control unit stops the movement of the mobile body when the person detection unit detects an unintended person whose distance from the mobile body is less than a preset threshold while the mobile body has not reached the destination, and the air blowing control unit controls the air blowing device to blow air towards the unintended person.

12. A mobile body control device according to any one of claims 8 to 10, comprising a movement path setting unit that sets a movement path for the mobile body based on positioning information acquired by the positioning information acquisition unit and destination information acquired by the destination information acquisition unit, wherein the movement path setting unit sets a new movement path for the mobile body such that the distance between the movement path and the non-target person is equal to or greater than the preset threshold when the person detection unit detects a non-target person whose distance from the movement path is less than a preset threshold when the mobile body has not reached the destination, the movement control unit controls the movement of the mobile body so that the mobile body moves along the new movement path set by the movement path setting unit, and the air blowing control unit controls the air blowing device so that it blows air toward the non-target person while the mobile body is moving, changing the direction of the air blowing in accordance with the change in the position of the non-target person relative to the mobile body.

13. A method for controlling a mobile body performed by an apparatus comprising a positioning information acquisition unit, a destination information acquisition unit, a movement control unit, and a blower control unit, the method comprising: a step of the positioning information acquisition unit acquiring positioning information of the mobile body; a step of the destination information acquisition unit acquiring destination information indicating the destination of the mobile body; a step of the movement control unit controlling the movement of the mobile body loaded with cargo to move to the destination based on the positioning information acquired by the positioning information acquisition unit and the destination information acquired by the destination information acquisition unit; and a step of the blower control unit controlling the blower to blow air onto the mobile body when the mobile body has reached the destination.

Images