Assistance device and assistance method

Abstract

In delivery by an autonomous mobile delivery robot device, an assistance device is provided that enables safer delivery by the delivery robot device with a sufficient deterrent effect on criminal acts or nuisances. The assistance device according to the present disclosure comprises an identification unit and a request information transmission unit. On the basis of the detection result of detecting surrounding terminal devices, which are mobile terminal devices (4) present around an autonomous mobile delivery robot device (1), the identification unit identifies a mobile terminal device (4) carried by an assistance-provider candidate, who is a pedestrian to be requested to provide monitoring assistance for the delivery robot device (1). The request information transmission unit transmits, to the mobile terminal device (4) carried by the assistance-provider candidate, request information for requesting the monitoring assistance.

Description

Support Device and Support Method

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

[0002] Patent Document 1 describes an unmanned delivery system that performs delivery operations previously carried out manually by an autonomous mobile machine and a server system that operates in association with it. The above unmanned delivery system includes a user terminal for a user to issue a delivery request, a delivery item management means for determining the feasibility of delivery based on the delivery request, and a delivery control means for generating, recording, and issuing a delivery order. Further, the above unmanned delivery system includes an autonomous mobile machine that accommodates user-specified luggage, takes out the specified luggage when the delivery order and the user authentication key match, and issues a delivery completion notice, and a remote monitoring means for determining the quality of the autonomous mobile machine based on its mechanical information.

[0003] Japanese Patent Application Laid-Open No. 2018-58656

[0004] However, in the unmanned delivery system described in Patent Document 1, it is possible to detect abnormalities by determining the quality of the mechanical state of the autonomous mobile machine based on information about mechanical components (such as power units) by the self-diagnostic function of the autonomous mobile machine, but it is not possible to determine whether the abnormality is caused by the act of a third party. Also, when performing delivery with an autonomous mobile type delivery robot device such as an automatic mobile machine, there is a possibility that the device may be stolen by a third party. Further, when performing delivery with an autonomous mobile type delivery robot device, there is also a possibility of receiving various nuisance acts such as changing the direction of the device and obstructing the progress of the device from a third party.

[0005] Therefore, when performing delivery with an autonomous mobile type delivery robot device, it is desired to develop a technology for performing delivery by the delivery robot device more safely with a sufficient deterrent effect against criminal acts and nuisance acts.

[0006] The support device according to this disclosure includes an identification unit that identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of a request for monitoring support for the delivery robot device, based on a detection result that detects a peripheral terminal device, which is a mobile terminal device, located in the vicinity of the autonomous mobile delivery robot device, and a request information transmission unit that transmits request information for the monitoring support to the mobile terminal device held by the support candidate.

[0007] The support method relating to this disclosure involves a support device detecting a peripheral terminal device, which is a mobile terminal device located around an autonomous mobile delivery robot device, and based on the detection result, identifying a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the request for monitoring support for the delivery robot device, and transmitting request information for the monitoring support to the mobile terminal device held by the support candidate.

[0008] According to this disclosure, when using autonomous mobile delivery robots for deliveries, it becomes possible to make deliveries by delivery robots safer, with a sufficient deterrent effect against criminal and disruptive behavior.

[0009] This is a block diagram showing an example configuration of a support request system according to Embodiment 1. This is a schematic front view showing an example of a delivery robot device in the support request system of Figure 1. This is a schematic diagram showing an example of the surrounding environment of a delivery robot device to explain an example of the process of identifying a mobile terminal device to which request information will be sent in the support request system of Figure 1. This is a schematic diagram showing another example of the surrounding environment of a delivery robot device to explain an example of the process of identifying a mobile terminal device to which request information will be sent in the support request system of Figure 1. This is a flowchart illustrating an example of the support request process performed in the support request system of Figure 1. This is a block diagram showing an example configuration of a support request system according to Embodiment 2. This is a flowchart illustrating an example of the support request process performed in the support request system of Figure 1 as an example of a support request system according to Embodiment 3.

[0010] The following describes embodiments of the invention, but the invention claimed is not limited to these embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential for solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate.

[0011] <Embodiment 1> (Outline Configuration Example of the Support Request System) An example configuration of the support request system according to Embodiment 1 will be described using Figures 1 and 2. Figure 1 is a block diagram showing an example configuration of the support request system according to Embodiment 1. Figure 2 is a schematic front view showing an example of a delivery robot device in the support request system of Figure 1.

[0012] The support request system according to this embodiment is a system for requesting support for delivery by an autonomous mobile delivery robot device 1, and can be referred to as an automated delivery system or incorporated into an automated delivery system. An autonomous delivery robot device such as the delivery robot device 1 can also be referred to as an automated delivery robot. The delivery robot device 1 can refer to a robot that delivers various packages and goods to, for example, logistics centers or retail stores. The delivery robot device 1 can refer to a robot that meets certain size and structure requirements to be able to travel on public roads as a "remotely operated small vehicle" under the Road Traffic Act.

[0013] In this embodiment, support includes at least monitoring support for the delivery robot device 1. Monitoring can refer to watching over or accompanying the delivery robot device 1. Watching over means confirming the delivery robot device 1 from a distance. Accompanying means a pedestrian moving together with the delivery robot device 1.

[0014] Therefore, those who provide this support are basically people who can move at the same speed as the delivery robot device 1 or who can monitor for a certain period of time, and pedestrians fall into this category. However, people who are running, such as jogging, can also be considered pedestrians. Pedestrians can also be called passersby. In addition, people who are standing still on a bicycle or who have dismounted from a bicycle can also be considered pedestrians. Furthermore, in the above support request system, cyclists may also be eligible to provide support, but it is preferable to have a configuration that allows for support from pedestrians as well.

[0015] The support request system according to this embodiment can be configured to include a delivery robot device 1 and a server device 3, as illustrated in the support request system 100 of Figure 1. Although not shown, the support request system 100 can include multiple delivery robot devices 1, and support requests can be made to any of the delivery robot devices 1. In the following description, the support request system 100 will be described as a system that also includes one or more mobile terminal devices 4. Thus, the system can also be referred to as a support request system that includes not only the delivery robot device 1 and the server device 3 but also the mobile terminal devices 4.

[0016] The delivery robot device 1 is configured to store transported items, i.e., objects to be delivered, and at least a part of its movement is controlled by the server device 3, including specifying the destination, specifying intermediate points and destinations, specifying the route, and remote movement control. In other words, the delivery robot device 1 only needs to be a device that operates autonomously for at least some of its movement control, such as avoiding obstacles.

[0017] The mobile terminal device 4 is a portable information terminal device carried by a user who may be moving around the vicinity of the delivery robot device 1, and can be exemplified by a mobile phone or smartphone. The mobile terminal device 4 can be said to be a computer, or to include a computer.

[0018] Server device 3 is configured to communicate with delivery robot device 1 and also with mobile terminal device 4. While the method of communication is not specified, since delivery robot device 1 and mobile terminal device 4 are mobile, server device 3 will communicate wirelessly with a mobile communication system in either case. Of course, this communication may include wired communication in some parts of the communication path. The following describes individual configuration examples for delivery robot device 1, mobile terminal device 4, and server device 3.

[0019] (Delivery Robot Device 1) The delivery robot device 1 may include a control unit 10, a communication unit 16, a drive unit 17, a GNSS receiver 18, an imaging unit 19, and a display unit 20. GNSS stands for Global Navigation Satellite System. In addition, although not shown, the delivery robot device 1 may also include a storage unit for storing various information and an input unit for turning the power on and off and inputting other operation details. For example, the delivery robot device 1 may be equipped with the control unit 10, the communication unit 16, the GNSS receiver 18, the display unit 20, the storage unit, and the input unit as an information terminal device. This information terminal device can be called a computer, or it can be said to include a computer.

[0020] The control unit 10 controls the entire delivery robot device 1. The control unit 10 may include a drive control unit 12 and a location information acquisition unit 13, which are responsible for the main functions of movement and location information acquisition in the delivery robot device 1, respectively. The control unit 10 may also include a detection processing unit 14, a communication control unit 11, and a display control unit 15, which are responsible for the main functions of detection of the mobile terminal device 4 in the delivery robot device 1, communication with the server device 3 and the mobile terminal device 4, and display on the display unit 20, respectively.

[0021] The control unit 10 may be implemented by, for example, a processor such as a CPU (Central Processing Unit), working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the delivery robot device 1. The control unit 10 may also be implemented using a programmable integrated circuit, such as an FPGA (field-programmable gate array) or a microcomputer.

[0022] Furthermore, the storage unit (not shown) is a storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive) that stores various information used in the delivery robot device 1. This storage unit can store information to be displayed on the display unit 20, information indicating the detection conditions of the detection processing unit 14, and location information acquired by the location information acquisition unit 13 from the GNSS receiving unit 18. This storage unit stores and updates information according to the control of the control unit 10.

[0023] The communication unit 16 performs wireless communication with external devices such as the server device 3 and the mobile terminal device 4. The communication unit 16 may be equipped with one or more types of communication interfaces for performing such wireless communication. The communication control unit 11 controls communication with external devices via the communication unit 16.

[0024] Let's take an example of the communication unit 16. For instance, the communication unit 16 is equipped with a first communication interface for connecting to a mobile communication system, which allows it to communicate wirelessly with a server device 3 and a mobile terminal device 4 via that mobile communication system.

[0025] Furthermore, the communication unit 16 may be equipped with a second communication interface that performs wireless communication in accordance with the Wi-Fi (registered trademark; hereinafter the same) standard. This allows the communication unit 16 to perform wireless communication with the server device 3 and the mobile terminal device 4 via its second communication interface and an access point installed nearby. This access point may include a free access point.

[0026] Furthermore, this second communication interface can be an interface capable of NAN communication, that is, Wi-Fi Aware communication, which can be realized by the Wi-Fi Aware function defined by the Wi-Fi Alliance. NAN stands for Neighbor Awareness Networking. Wi-Fi is the name of a wireless LAN (Local Area Network) that uses the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard or its derivative standards. Wi-Fi Aware communication enables the transmission and reception of information between the delivery robot device 1 and the mobile terminal device 4 located in its vicinity. This transmission and reception of information can be performed without performing NAN pairing.

[0027] Furthermore, the communication unit 16 may be equipped with a third communication interface that performs wireless communication in accordance with the Bluetooth (registered trademark; hereinafter the same) standard or its derivative standards, or wireless communication in accordance with other types of short-range wireless communication standards. This allows the communication unit 16 to perform short-range wireless communication after pairing with the mobile terminal device 4 via its third communication interface.

[0028] The drive unit 17 may include, for example, a plurality of wheels 17a and motors that drive those wheels 17a. The drive unit 17 drives the wheels 17a under the control of the drive control unit 12, thereby enabling the delivery robot device 1 to move.

[0029] The GNSS receiving unit 18 is a receiver for GNSS, receiving location information including latitude and longitude information from GNSS and time information at the time of acquisition, and passing it to the location information acquisition unit 13. As a result, the location information acquisition unit 13 can acquire the location information and time information. The location information acquisition unit 13 passes the acquired location information and time information to the drive control unit 12 for use in drive control, for example, or to the communication control unit 11 to transmit it to the server device 3 via the communication unit 16. Based on this location information and time information, the server device 3 sends a command for drive control back to the delivery robot device 1. The drive control unit 12 can then control the drive unit 17 according to this command.

[0030] Furthermore, the location information acquisition unit 13 can be configured to acquire location information of mobile terminal devices 4 located around the delivery robot device 1 via the communication unit 16. Hereinafter, the location information of the mobile terminal devices 4 will be referred to as the first location information, and the location information of the delivery robot device 1 acquired by the GNSS receiving unit 18 will be referred to as the second location information.

[0031] For example, the mobile terminal device 4 can be configured to include a GNSS receiver, and the location information acquisition unit 13 can acquire the first location information obtained by the GNSS receiver via the communication unit 16. More specifically, for example, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4 in its vicinity via Wi-Fi Aware communication. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, by means of a mobile communication system.

[0032] Alternatively, Wi-Fi Aware can include distance measurement with peer devices using the IEEE 802.11mc protocol. Therefore, the delivery robot device 1 can measure the distance to at least the mobile terminal device 4 within a communication range as first position information, and can determine whether or not the mobile terminal device 4 is within a predetermined distance from itself. The determination of whether or not it is within a predetermined distance refers to the determination of whether or not the mobile terminal device 4 is located in the vicinity of the delivery robot device 1, that is, whether or not it is a peripheral terminal device.

[0033] Alternatively, the location information acquisition unit 13 may measure the distance and direction of the mobile terminal device 4 located around the delivery robot device 1 via the third communication interface of the communication unit 16. In this case, the location information acquisition unit 13 can calculate the first location information of the mobile terminal device 4 using the measurement results and the second location information obtained from the GNSS receiving unit 18.

[0034] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information from a detected peripheral terminal device.

[0035] The detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are located around the delivery robot device 1 via the communication control unit 11 and the communication unit 16. In other words, the detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are located within a predetermined distance of the delivery robot device 1 via the communication control unit 11 and the communication unit 16. The delivery robot device 1 can determine whether a mobile terminal device 4 is located within a predetermined distance from itself or outside that predetermined distance based on the distance measurement results described above, or based on the difference in position between the acquired first position information and second position information.

[0036] As illustrated by the detection processing unit 14, communication control unit 11, and communication unit 16, the delivery robot device 1 may be equipped with a detection unit for detecting the above-mentioned peripheral terminal devices. The detection processing unit 14 transmits the detection results of the peripheral terminal devices to the server device 3 via the communication control unit 11 and the communication unit 16.

[0037] Furthermore, regarding the mobile terminal device 4 owned by a user who has registered (as described later), the server device 3 can acquire its first and second location information, and can be configured to determine whether or not it is a mobile terminal device 4 located within a predetermined distance. Therefore, the detection processing unit 14 may perform detection processing for users who have not registered, while the detection processing unit provided on the server device 3 side may perform detection processing for registered users.

[0038] Let me add some details about the detection process for peripheral terminal devices. The location information acquisition unit 13 can acquire first location information when a peripheral terminal device, which is the source device for acquisition, is present around the delivery robot device 1. Therefore, the detection process for peripheral terminal devices can be performed by the communication unit 16 receiving a beacon signal from the communication unit of the peripheral terminal device, and the detection processing unit 14 detecting that it has been received via the communication control unit 11. It should be noted that the detection processing unit 14 can be included in the location information acquisition unit 13, or the location information acquisition unit 13 can be included in the detection processing unit 14.

[0039] Here, the area surrounding the delivery robot device 1 can refer to the range within which its radio waves can reach, and although this range may vary depending on factors such as the surrounding terrain and the presence of buildings, it can refer to a predetermined distance within which the radio waves can reach. Therefore, when the delivery robot device 1 performs detection directly, it can basically detect surrounding terminal devices based on radio waves received by a second or third communication interface other than radio waves transmitted via the mobile communication system.

[0040] Furthermore, the location information acquisition unit 13 may, via the communication control unit 11 and the communication unit 16, acquire not only the first location information but also route information indicating the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device detected by the detection processing unit 14. For convenience, the route information indicating the planned travel route will be referred to as the first route information, and the route information indicating the planned delivery route of the delivery robot device 1 will be referred to as the second route information. The first route information is the route information set in the peripheral terminal device.

[0041] For example, through Wi-Fi Aware communication, the position information acquisition unit 13 can receive the first path information from the peripheral terminal information of the mobile terminal device 4 existing in its vicinity. Of course, if user registration described later has been performed, the position information acquisition unit 13 can receive the first path information from the mobile terminal device 4 or further from the mobile terminal device 4 via the server device 3 through the mobile communication system or the like.

[0042] In this way, the position information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires the first position information and the first path information from the detected peripheral terminal device.

[0043] Also, the imaging unit 19 can include a camera that images the traveling direction in front of the delivery robot device 1, and cameras that image the rear, left, and right of the delivery robot device 1. The imaging unit 19 may include an omnidirectional camera. Further, the imaging unit 19 may include a two-dimensional or three-dimensional optical sensor such as LiDAR (registered trademark; the same shall apply hereinafter). As in these examples, the imaging unit 19 can acquire a surrounding image that images the periphery of the delivery robot device 1.

[0044] Although not shown, the imaging unit 19 can include an analysis unit that analyzes the captured image, or the control unit 10 can include such an analysis unit. The analysis unit determines obstacles and the like from the captured image of the surrounding situation. The determination result is passed to the drive control unit 12, for example, for use in drive control for obstacle avoidance and the like. Also, the analysis unit can analyze the congestion situation of the surrounding people. In that case, the analysis result may be passed to the communication control unit 11 and transmitted to the server device 3 via the communication unit 16. The server device 3 can return an instruction for drive control to the delivery robot device 1 based on this analysis result or use it for determination by the determination unit 35 described later. The drive control unit 12 can control the drive unit 17 according to the returned instruction.

[0045] The display unit 20 may be configured by a display device such as a liquid crystal panel, an organic electroluminescence panel, or the like. The display control unit 15 controls the display on the display unit 20.

[0046] The display control unit 15 can control the display unit 20 to display the following access image. This access image is an image including information indicating the current position and current time of the delivery robot device 1 indicated by the second position information and access information for accessing the delivery robot device 1. The access image can be, for example, an image showing a two-dimensional code such as the QR code (registered trademark; the same applies hereinafter) 21 illustrated in FIG. 2, or an image showing a one-dimensional code such as a barcode (registered trademark). Since the access image includes the current time, it is displayed while being updated in real time.

[0047] In this example, a person who has visually recognized the access image can capture the access image with the imaging unit provided in the portable terminal device 4 possessed, read the access image, and access based on the access information. Then, when there is an access based on this access information, the detection processing unit 14 of the delivery robot device 1 can detect the portable terminal device 4 as a peripheral terminal device and transmit the detection result to the server device 3 via the communication control unit 11 and the communication unit 16.

[0048] Note that the access information included in the access image may be access information for accessing the server device 3. In that case, the detection processing unit 14 can detect it as a peripheral terminal device by receiving information indicating that there has been an access from the server device 3 via the communication unit 16 and the communication control unit 11. However, in this case, if the server device 3 has a function of detecting based on the access information in the detection processing unit 14, such transmission and reception of information are not necessary.

[0049] (Portable Terminal Device 4) Although the configuration example of the portable terminal device 4 is omitted, for example, among the parts illustrated as the configuration of the delivery robot device 1 in FIG. 1, it can have the configuration of a general computer with an input unit and a storage unit added, excluding the drive control unit 12, the detection processing unit 14, and the drive unit 17.

[0050] Therefore, the control unit of the mobile terminal device 4 can also be realized by, for example, a processor, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the mobile terminal device 4. This program may include, for example, a program that executes communication processing with the communication destination device among the delivery robot device 1 and the server device 3, and processing for generating information to be transmitted. This control unit may also be realized using a programmable integrated circuit, such as an FPGA or a microcomputer.

[0051] Furthermore, the mobile terminal device 4 can be configured to display images on its display unit for route guidance, or navigation, to the user of the mobile terminal device 4, based on map data stored in its memory unit and first location information acquired by the GNSS receiver unit. This allows the user of the mobile terminal device 4 to travel to their destination while confirming the planned route to the destination on a map that includes their current location. As described above, the delivery robot device 1 can acquire this first route information indicating the planned route from the mobile terminal device 4.

[0052] Furthermore, in the example where the display unit 20 displays the access image, the owner of the mobile terminal device 4 captures this access image with the imaging unit provided in the mobile terminal device 4. As a result, the mobile terminal device 4 extracts access information from the access image, prompts the user to access the destination indicated by the access information, accepts the operation, or automatically accesses the destination. In this case, the owner is assumed to be walking around the delivery robot device 1, or to be standing still on a bicycle or to have dismounted from a bicycle, and can therefore be considered a candidate to request monitoring assistance. A person who is standing still on a bicycle or to have dismounted from a bicycle can also be considered a pedestrian.

[0053] (Server device 3) Server device 3 is composed of a server computer and may include a control unit 30, a communication unit 36, and a storage unit 37. Although server device 3 is described as a single device, server device 3 can also be constructed as a server system with functions distributed among multiple devices. Server device 3 is one example of the configuration of the support device according to this embodiment.

[0054] The control unit 30 controls the entire server device 3. The control unit 30 may include a communication control unit 11 and a robot control unit 32, which are responsible for the main functions of sending and receiving information with the delivery robot device 1 and controlling the drive of the delivery robot device 1, respectively. The control unit 30 may also include an identification unit 33, a request processing unit 34, and a determination unit 35, which are responsible for the main functions of identifying the mobile terminal device 4 held by the support candidate, controlling the transmission of request information to the mobile terminal device 4 and the reception of its response, and determining whether monitoring support is appropriate, respectively.

[0055] The control unit 30 may be implemented, for example, by a processor such as a CPU, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the server device 3. Alternatively, the control unit 30 may be implemented using an integrated circuit that can be programmed by the user, such as an FPGA or a microcomputer.

[0056] The communication unit 36 ​​performs wireless communication with external devices such as the delivery robot device 1 and the mobile terminal device 4. The communication unit 36 ​​may be equipped with a communication interface for performing such wireless communication. For example, the communication unit 36 ​​may be equipped with a communication interface that connects to a mobile communication system in order to communicate with the delivery robot device 1 and the mobile terminal device 4. The communication control unit 31 controls communication with external devices via the communication unit 36.

[0057] The storage unit 37 is a storage device such as an SSD or HDD that stores various information used by the server device 3. The storage unit 37 can store user information 37a, which indicates a user of the support request system 100, as one type of information to be stored. User information 37a is information registered in advance about users who may be candidates for support, and may include the user's name or ID, contact information for the mobile terminal device 4 used by the user, device identification number, telephone number, and other access information. In addition, user information 37a may be registered automatically or with the user's consent for users who have received support once. The storage unit 37 stores and updates information according to the control of the control unit 30.

[0058] The identification unit 33 identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for monitoring support of the delivery robot device 1, based on the detection results from the detection processing unit 14. Whether or not the person is a pedestrian can be determined, for example, by whether or not the rate of change of the first position information received from the mobile terminal device 4 is below a predetermined speed, or by whether or not the person is moving on a sidewalk.

[0059] Here, the identification in the identification unit 33 may be limited to one mobile terminal device 4, or it may be performed under the condition that it is within a predetermined number of devices, or there may be no limit on the number of devices. It is expected that the number of support candidates who make monitoring requests will increase in proportion to the number of devices, and that the number of people who accept the requests will also increase. Furthermore, support candidates are not limited to people walking on the sidewalk or other people moving toward a certain destination, but may also include, for example, construction workers or shop staff who stop or wander around along the delivery route of the delivery robot device 1. In other words, support candidates are not limited to people who can monitor continuously, but may also be people who can monitor intermittently.

[0060] In a simpler example, the identification unit 33 identifies the mobile terminal device 4 detected by the detection processing unit 14 as being within a predetermined distance of the delivery robot device 1 as the mobile terminal device 4 possessed by the support candidate.

[0061] Alternatively, the identification unit 33 identifies a portable terminal device 4, that is, a peripheral terminal device, that meets predetermined conditions, as being located within a predetermined distance of the delivery robot device 1, as indicated by the detection results from the detection processing unit 14, and identifies it as the portable terminal device 4 possessed by the support candidate. Various examples of the above predetermined conditions are described below.

[0062] The above-mentioned predetermined conditions may be conditions relating to the first location information and first route information of the peripheral terminal device. In other words, the identification unit 33 may identify the mobile terminal device 4 held by the support candidate based on the detection result from the detection processing unit 14, the first location information and first route information, the second location information of the delivery robot device 1, and the second route information indicating the planned delivery route of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device that is moving in the same direction or along the same route as the mobile terminal device 4 held by the support candidate.

[0063] Such specific examples will be explained using Figures 3 and 4. Figures 3 and 4 are schematic diagrams showing one example and another example of the situation around the delivery robot device 1, respectively, to explain an example of the process of identifying the mobile terminal device to which the request information will be sent in the support request system 100. In the situation 50 shown in Figure 3 and the situation 60 shown in Figure 4, the detection processing unit 14 detects the mobile terminal device 4 within a circle 1c with a predetermined radius centered on the delivery robot device 1. In situations 50 and 60, the owners Ua, Ub, Uc and the delivery robot device 1 are all moving on sidewalk 52 of the sidewalks 52, 53, and 54 of the roadway 51, and their directions of movement are indicated by the arrows.

[0064] In the scenario 50 shown in Figure 3, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 50, the owner Ua of the mobile terminal device 4a is walking towards the delivery robot device 1 from behind, and the owner Ub of the mobile terminal device 4b is approaching from the front of the delivery robot device 1 in the opposite direction. In this case, the identification unit 33 identifies the mobile terminal device 4a, which is moving in the same direction as the support candidate, rather than the mobile terminal device 4b, which is moving in the opposite direction. In other words, in this case, the support candidate is owner Ua, not owner Ub.

[0065] In the scenario 60 shown in Figure 4, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 60, the owner Ua of the mobile terminal device 4a and the owner Uc of the mobile terminal device 4c are walking towards the delivery robot device 1 from behind, and owner Ua is closer to the delivery robot device 1 than owner Uc. However, the planned walking route 4ar indicated by the first route information obtained from the mobile terminal device 4a then shows that they will cross the pedestrian crossing 55 and move away from the delivery robot device 1. In this case, the identification unit 33 identifies the mobile terminal device 4c, which is moving in the same direction, rather than the closer mobile terminal device 4a, as the mobile terminal device possessed by the support candidate. In other words, in this case, the support candidate is owner Uc, not owner Ua.

[0066] Furthermore, the above-mentioned predetermined conditions may be conditions relating to the first location information of the peripheral terminal device, excluding the conditions relating to the first route information. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the detection result from the detection processing unit 14, the first location information, and the second location information of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device, or a predetermined number of peripheral terminal devices in order of proximity, or a peripheral terminal device located within a predetermined distance shorter than the predetermined distance at the time of detection, as the mobile terminal device 4 possessed by the support candidate.

[0067] Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate if the walking speed, which is the rate of change of the first position information, differs from the movement speed of the delivery robot device 1, which is the rate of change of the second position information, within a predetermined range. Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate, which is the peripheral terminal device whose walking speed, which is the rate of change of the first position information, is closest to the movement speed of the delivery robot device 1, which is the rate of change of the second position information, or a predetermined number of peripheral terminal devices in order of proximity.

[0068] Furthermore, in the example of displaying an access image, the above-mentioned predetermined conditions may include the condition that the mobile terminal device 4 is the one that made the access based on that access image. In this case, the identification unit 33 may identify a peripheral terminal device, which is a mobile terminal device 4 located around the delivery robot device 1 that accessed the support request system 100 based on the access information, as the mobile terminal device 4 possessed by the support candidate. Of course, even in this case, the identification unit 33 may also take into account conditions based on location information, or location information and route information and a limit on the number of devices, or one or more of these, when making the identification.

[0069] Furthermore, the above-mentioned predetermined conditions may also include conditions regarding whether or not a user is registered. In other words, the identification unit 33 may, based on the detection results in the detection processing unit 14, refer to the user information 37a and identify peripheral terminal devices that have been registered as users as the mobile terminal devices 4 possessed by the support candidate, prioritizing them over peripheral terminal devices that have not been registered as users. A mobile terminal device 4 that has not been registered as a user means that it is a mobile terminal device possessed by an owner unrelated to the service requested in the support request system 100.

[0070] Alternatively, the detection processing unit 14 may access the server device 3 and refer to user information 37a to detect peripheral terminal devices targeting mobile terminal devices 4 that have been registered as users. In this case, if the detection processing unit 14 is unable to detect any peripheral terminal devices, it may detect peripheral terminal devices targeting mobile terminal devices 4 that have not been registered as users. For mobile terminal devices 4 that have not been registered as users, the delivery robot device 1 may request temporary user registration using an image from the display unit 20, or request temporary user registration using voice from an audio output device (not shown).

[0071] The request processing unit 34 performs a process to request the communication control unit 31 to transmit request information via the communication unit 36. In this way, the server device 3 can be equipped with a request information transmission unit that transmits the above request information. The request information is information for requesting monitoring support from the mobile terminal device 4 held by the support candidate. For example, if the first route information partially overlaps with the second route information from the current location, the request information may include information requesting monitoring only for the overlapping route. As in this example, the request information may include the content of the request, and may also include information such as the estimated distance and estimated time.

[0072] If the destination for the request information is a user-registered mobile terminal device 4, the destination may also be a mobile terminal device 4 included in the user information 37a. In this case, the request information transmission unit will be exemplified by the request processing unit 34, the communication control unit 31, and the communication unit 36. However, even if the destination for the request information is a user-registered mobile terminal device 4, the request processing unit 34 may request the delivery robot device 1 to transmit the request information to that mobile terminal device 4 via Wi-Fi Aware communication.

[0073] If the destination for the request information is a mobile terminal device 4 that has not been registered as a user, the destination is set to the delivery robot device 1, and the communication control unit 31 is requested to send the request information, specifying the final destination. Upon receiving this request, the communication control unit 31 transmits the request information to the delivery robot device 1 via the communication unit 36. The delivery robot device 1, having received the request information, transmits the request information via the communication unit 16 to the mobile terminal device 4 that corresponds to the final destination among the mobile terminal devices 4 detected by the detection processing unit 14. This transmission can be performed via Wi-Fi Aware communication. In this case, the request information transmission unit is exemplified by the request processing unit 34, the communication control unit 31, the communication unit 36, the communication control unit 11, and the communication unit 16.

[0074] Furthermore, the request processing unit 34 also performs the process of receiving agreement information indicating agreement to monitoring support from the mobile terminal device 4 as a response to the request information, via the communication control unit 31 and the communication unit 36. In this way, the server device 3 can be equipped with an agreement information receiving unit that receives the agreement information. The reception path for the agreement information is the reverse of the transmission path for the request information, and can be made to differ depending on whether or not the user is registered, similar to the transmission path for the request information.

[0075] However, for example, the request information may include access information to the server device 3 for performing support after user registration. This allows the request processing unit 34 to receive agreement information from the mobile terminal device 4 via the communication control unit 31 and the communication unit 36, without going through the delivery robot device 1, either by accessing the device or by having the user select an agreement button after accessing it.

[0076] Furthermore, in the example of displaying an access image, the request processing unit 34 may transmit agreement information or information indicating that an agreement has been reached to the delivery robot device 1 via the communication control unit 31 and the communication unit 36. The display control unit 15 may then erase the access image on the display unit 20 when it receives agreement information or information indicating that an agreement has been reached via the communication unit 16 and the communication control unit 11, that is, when an agreement has been obtained from the support candidate. This prevents the reading of the access image for making a support request, thus avoiding unnecessary requests.

[0077] Furthermore, when the request processing unit 34 receives agreement information, it may prompt the owner of the mobile terminal device 4 to register as a user if they are not already registered, and then have them register. Also, when the request processing unit 34 receives agreement information and the user is already registered or has registered, it may provide an incentive such as points that can be used for a predetermined service. The incentive to be provided can be managed, for example, in association with user information 37a, or it may be notified to the system providing the predetermined service along with the user's information.

[0078] Furthermore, incentives may be awarded upon completion of the assistance, rather than upon agreement to the request. In this case, the incentive may be set higher depending on the content of the assistance, such as the time spent on assistance or the distance walked. Request information may also include information such as the distance, time, and content of the assistance to be provided. In this case as well, incentives can be awarded after the completion of the assistance, or they may be awarded when the agreement information is received.

[0079] Furthermore, in the example where an access image is displayed, the incentive may be awarded only based on accesses related to the access image. The incentive may also be awarded with a limit on the number of accesses. Additionally, when displaying an access image, it may be indicated simultaneously that there is a benefit for which an incentive will be awarded, or this may be announced via voice from an audio output device (not shown).

[0080] Alternatively, instead of displaying an access image, a voice request for assistance can be made from an audio output device (not shown). In this case, the mobile terminal device 4 of a pedestrian who stops, attracted by the voice, becomes easier to detect as a peripheral terminal device.

[0081] Furthermore, after the agreement is reached, the mobile terminal device 4 of the holder who has reached the agreement can communicate with the server device 3 or the delivery robot device 1 via a mobile communication system or Wi-Fi access point, or via Bluetooth communication after pairing is established. Therefore, the mobile terminal device 4 can also report the progress and results of monitoring the delivery status to the server device 3 or the delivery robot device 1. In addition, in examples where access images are displayed or audio announcements are made, it is advisable to clear the display or stop the audio announcements once such communication becomes possible.

[0082] Even if a report is made to the delivery robot device 1, the delivery robot device 1 can send the monitoring results to the server device 3, which can then manage the monitoring results. In this way, the server device 3 can also function as a monitoring center for monitoring delivery status.

[0083] Next, the determination unit 35 will be described. Note that the support request system 100 does not necessarily have to include the determination unit 35.

[0084] The determination unit 35 determines whether monitoring support for the delivery robot device 1 is necessary, based on the delivery environment of the delivery robot device 1, indicated by the location information of the delivery robot device 1, or by the location information of the delivery robot device 1 and route information indicating the planned delivery route of the delivery robot device 1. The determination unit 35 may also determine the number of monitoring requesters, which is a predetermined number or a predetermined percentage more than the number of monitors required, based on the delivery environment, and communicate that number to the identification unit 33.

[0085] For example, the determination unit 35 determines that surveillance support is necessary, or that three or more surveillance requesters are necessary, if the delivery environment includes a crime prevention area along the planned delivery route, or if the time of day falls within the nighttime period. The determination unit 35 also determines that surveillance support is necessary, or that four or more surveillance requesters are necessary, if the delivery environment includes a busy commercial district along the planned delivery route, or if the time of day includes a busy commercial district and falls within the nighttime period. Furthermore, the determination unit 35 determines that surveillance support is unnecessary, or that one surveillance requester is sufficient, if there is a police box or police station along the planned delivery route.

[0086] Alternatively, the determination unit 35 may determine whether or not monitoring support for the delivery robot device 1 is necessary based on the surrounding image captured by the imaging unit 19. The determination unit 35 can receive the surrounding image from the delivery robot device 1 via the communication control unit 31 and the communication unit 36. Of course, the determination unit 35 may also make a determination based on the delivery environment and the surrounding image. Furthermore, the determination unit 35 may also determine the number of monitoring requesters, which is a predetermined number or a predetermined percentage more than the required number of monitors, based on the surrounding image, and transmit that number to the identification unit 33.

[0087] For example, the determination unit 35 determines that if the delivery environment has fewer than a predetermined number of people along the planned transport route, monitoring support is necessary, or that three or more people requesting monitoring are necessary. For example, the determination unit 35 determines that if the delivery environment has fewer than a predetermined number of workers in the area along the planned transport route, monitoring support is necessary, or that three or more people requesting monitoring are necessary.

[0088] The detection processing unit 14 may stop the detection process if monitoring support is not required, based on the determination result from the determination unit 35 received from the server device 3 via the communication control unit 11 and the communication unit 16. Alternatively, the identification unit 33 may stop the identification process if monitoring support is not required, based on the determination result from the determination unit 35.

[0089] Furthermore, in the example where access images are displayed, the display control unit 15 may clear the display of the access images if it determines that monitoring support is not necessary. Also, in the example where audio notification is provided, the notification may be stopped if it is determined that monitoring support is not necessary.

[0090] Furthermore, the determination unit 35 may determine not only whether monitoring support is necessary, but also the content of the necessary monitoring, that is, the content of the requested monitoring task, based on at least one of the delivery environment and the surrounding image. The determined content can be included in the request information and communicated to the monitoring candidate.

[0091] For example, the determination unit 35 can determine whether the number of pedestrians around the delivery robot device 1 is less than a predetermined number, based on the surrounding image and the detection results from the detection processing unit 14. This determination result can be reflected in determining whether or not monitoring support is necessary and in what form, as described above, but it may also be reflected in the planned delivery route of the delivery robot device 1, for example. If the number of pedestrians around the device is less than a predetermined number, the determination unit 35 passes the determination result to the robot control unit 32, which can then change the planned delivery route to a route with more pedestrian traffic.

[0092] Furthermore, if the number of pedestrians in the vicinity is less than a predetermined number, the determination unit 35 passes the determination result to the detection processing unit 14, which can then increase the predetermined distance of the detection range to broaden the area of ​​the support request, increase the number of monitoring candidates, and call in people from further away. The increase or decrease in the detection range can be performed, for example, by increasing or decreasing the output of radio waves or by increasing or decreasing the threshold for detecting radio waves. For a mobile terminal device 4 that has been registered as a user, the increase or decrease in the detection range can be performed, for example, by increasing or decreasing a predetermined distance between the first location information and the second location information.

[0093] Conversely, if the determination unit 35 determines that the number of pedestrians in the vicinity is greater than a predetermined number, it can pass the determination result to the detection processing unit 14, which can then reduce the predetermined distance of the detection range to narrow the area of ​​the assistance request, thereby reducing the number of monitoring candidates and calling only from nearby areas. Alternatively, if the determination unit 35 determines that the number of pedestrians in the vicinity is greater than a predetermined number, it can pass the determination result to the display control unit 15, which can then delete the access image.

[0094] (Example of processing in the support request system 100) Next, an example of support request processing performed in the support request system 100 will be explained using Figure 5. Figure 5 is a flowchart illustrating an example of support request processing performed in the support request system 100 shown in Figure 1. Here, only a general example of processing is given, but the various examples described above can be applied to the configuration of the support request system 100.

[0095] First, in the delivery robot device 1, the detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are present in the surrounding area (step S11). Next, the location information acquisition unit 13 acquires first location information and first route information from the detected peripheral terminal devices (step S12). The location information acquisition unit 13 also acquires second location information and second route information for the delivery robot device 1 (step S13). The order of steps S12 and S13 does not matter. The information acquired in steps S12 and S13 is transmitted by the communication control unit 11 to the server device 3 via the communication unit 16.

[0096] Upon receiving this information, the server device 3 has a special unit 33 that identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian requesting monitoring assistance from the delivery robot device 1, based on the first and second location information and the first and second route information (step S14). The special unit 33 then passes the information of the identified mobile terminal device 4 to the request processing unit 34.

[0097] The request processing unit 34 transmits request information to the mobile terminal device 4 held by the support candidate to request monitoring support (step S15). Next, the request processing unit 34 determines whether or not it has received agreement information in response to this transmission (step S16), and terminates the process if it has not received it. If the answer in step S16 is YES, that is, if agreement information has been received, the request processing unit 34 receives a support report from the identified mobile terminal device 4 and stores it in the storage unit 37 (step S17), and terminates the process.

[0098] (Effects of Embodiment 1) As described above, in this embodiment, when delivery is performed by an autonomous mobile delivery robot device, monitoring assistance is requested from people in the vicinity, thus providing a sufficient deterrent effect against criminal and nuisance acts, making it possible to perform deliveries by the delivery robot device more safely.

[0099] To illustrate its effectiveness, let's consider a comparative example. The autonomous mobile delivery robot device in the comparative example has, for example, a function to detect and warn of impacts and tilts, and a function to photograph the surroundings with a camera and detect suspicious persons using a learning model. Furthermore, this delivery robot device has a function to notify a remote monitoring center or the police as needed. These functions deter criminal acts such as theft and nuisance acts such as vandalism in the delivery robot device in the comparative example. However, these functions alone are ultimately limited to remote monitoring, and therefore the deterrent effect is not sufficient for an autonomous mobile delivery robot device that performs deliveries without a human driver. In contrast, in this embodiment, close-range monitoring by pedestrians along the planned delivery route can be performed, thereby improving the deterrent effect.

[0100] Furthermore, in the comparative example delivery robot device, the deterrent effect is slightly increased by providing a warning function that sounds a buzzer or displays a warning light when theft by a suspicious person is detected, or by applying an electric current to prevent contact. However, this does not match the deterrent effect of proximity monitoring by pedestrians, as in this embodiment. In addition, in the comparative example delivery robot device, it is possible to select a delivery route that is less likely to be stolen by referring to past theft data, but since it will travel along a fixed selected route, it does not match the deterrent effect of proximity monitoring by pedestrians.

[0101] Furthermore, in this embodiment, as such a delivery service becomes established, the psychological effect of an unspecified number of passersby monitoring the delivery robot device 1 can reduce theft, vandalism, and other crimes against the delivery robot device 1 or the items it carries.

[0102] Furthermore, in this embodiment, if the delivery robot device 1 is configured to display an access image such as a QR code, a service can be provided in which an incentive is given for reading the access image or for reading it and providing monitoring support. If such a service is established, or if deliveries are made while providing notifications, it will not only be possible to reduce theft and vandalism due to the psychological effect described above, but the probability of the person requesting monitoring agreeing to the request will also increase, thereby improving the monitoring effect. In addition, since the act of taking pictures will be performed on the delivery robot device 1, it can be said that a psychological effect of deterring theft and vandalism will also be obtained as a result. Moreover, even if the service that provides incentives is stopped, the psychological effect of refraining from theft will continue for criminals who are unaware that it has been stopped.

[0103] In this embodiment, if the delivery robot device 1 is configured to display access images such as QR codes, the costs incurred by operators such as transportation companies for its introduction and operation will mainly consist of the display device or the display device and incentives. Therefore, such costs can be kept lower than the amount of damage caused by theft or the resulting loss of customers. Furthermore, by including location information and time information in the access image displayed in real time, this information can be included in the access information from passersby such as pedestrians. As a result, even in environments where the delivery robot device 1 cannot receive GNSS signals or does not have communication functions, the system accessed based on that access information can determine the location and time of the delivery robot device 1 at a given point in time.

[0104] <Embodiment 2> The support request system according to Embodiment 2 will be explained using Figure 6, focusing on the differences from Embodiment 1, but various examples described in Embodiment 1 can be applied. Figure 6 is a block diagram showing one example configuration of the support request system according to Embodiment 2.

[0105] The support request system according to this embodiment can be configured to include a delivery robot device 1a and a server device 3a, as illustrated in the support request system 100a in Figure 6. In this embodiment as well, the support request system 100a will be described as a system that also includes a mobile terminal device 4.

[0106] The support request system 100a differs from Embodiment 1 in that, in the support request system 100 of Figure 1, the functions of the identification unit 33, request processing unit 34, and determination unit 35 of the server device 3 are mainly located on the delivery robot device 1a side. In other words, the support request system 100a differs from Embodiment 1 in that the server device 3a does not have the identification unit 33, request processing unit 34, and determination unit 35 in its control unit 30a, while the delivery robot device 1a has a control unit 10a that includes the identification unit 33a, request processing unit 34a, and determination unit 35a. Thus, the delivery robot device 1a has one example of the configuration of the support device according to this embodiment. In other words, the support device may be incorporated into the delivery robot device as in this embodiment.

[0107] In this embodiment, the server device 3a basically controls the movement of the delivery robot device 1a, manages users, and manages monitoring reports, but the delivery robot device 1a handles all other processing.

[0108] For example, the detection processing unit 14 performs the process of detecting peripheral terminal devices, such as mobile terminal devices 4, that are present around the delivery robot device 1a. In this embodiment, the delivery robot device 1a can basically perform this detection without going through the server device 3a at all. Of course, for user-registered mobile terminal devices 4, this detection can also be performed by communicating with the server device 3a via a mobile communication system or the like.

[0109] The identification unit 33a receives the detection result from the detection processing unit 14 and, based on the detection result, identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for monitoring support of the delivery robot device 1a. The request processing unit 34a transmits request information to the mobile terminal device 4 held by the support candidate via the communication control unit 11 and the communication unit 16. The request processing unit 34a can also perform processing such as receiving agreement information in the same manner as in Embodiment 1. An example of the support request processing in this embodiment will be omitted as it mainly differs from Embodiment 1 in terms of the information communication path, but the explanation of Embodiment 1 can be used as a reference.

[0110] According to this embodiment, compared to the server device 3 of Embodiment 1, the processing load on the server device 3a can be reduced, and the processing can be distributed to the delivery robot device 1a.

[0111] <Embodiment 3> (Outline Configuration Example of the Support Request System) An example configuration of the support request system according to Embodiment 3 will be described using Figures 1 and 2. Figure 1 is also a block diagram showing an example configuration of the support request system according to Embodiment 3. Figure 2 is an outline front view showing an example of a delivery robot device in the support request system of Figure 1. The support request system and its components according to this embodiment can be configured based on the configurations described in Embodiments 1 and 2, but they can also be configured independently of the configurations described in Embodiments 1 and 2.

[0112] The support request system according to this embodiment is a system for requesting support for delivery by an autonomous mobile delivery robot device 1, and can be referred to as an automated delivery system or incorporated into an automated delivery system. An autonomous delivery robot device such as the delivery robot device 1 can also be referred to as an automated delivery robot. The delivery robot device 1 can refer to a robot that delivers various packages and goods to, for example, logistics centers or retail stores. The delivery robot device 1 can refer to a robot that meets certain size and structure requirements to be able to travel on public roads as a "remotely operated small vehicle" under the Road Traffic Act.

[0113] In this embodiment, support includes at least monitoring support for the delivery robot device 1. Monitoring can refer to watching over or accompanying the delivery robot device 1. Watching over means confirming the delivery robot device 1 from a distance. Accompanying means a pedestrian moving together with the delivery robot device 1.

[0114] Therefore, those who provide this support are basically people who can move at the same speed as the delivery robot device 1 or who can monitor for a certain period of time, and pedestrians fall into this category. However, people who are running, such as jogging, can also be considered pedestrians. Pedestrians can also be called passersby. In addition, people who are standing still on a bicycle or who have dismounted from a bicycle can also be considered pedestrians. Furthermore, in the above support request system, cyclists may also be eligible to provide support, but it is preferable to have a configuration that allows for support from pedestrians as well.

[0115] The support request system according to this embodiment can be configured to include a delivery robot device 1 and a server device 3, as illustrated in the support request system 100 of Figure 1. Although not shown, the support request system 100 can include multiple delivery robot devices 1, and support requests can be made to any of the delivery robot devices 1. In the following description, the support request system 100 will be described as a system that also includes one or more mobile terminal devices 4. Thus, the system can also be referred to as a support request system that includes not only the delivery robot device 1 and the server device 3 but also the mobile terminal devices 4.

[0116] The delivery robot device 1 is configured to store transported items, i.e., objects to be delivered, and at least a part of its movement is controlled by the server device 3, including specifying the destination, specifying intermediate points and destinations, specifying the route, and remote movement control. In other words, the delivery robot device 1 only needs to be a device that operates autonomously for at least some of its movement control, such as avoiding obstacles.

[0117] The mobile terminal device 4 is a portable information terminal device carried by a user who may be moving around the vicinity of the delivery robot device 1, and can be exemplified by a mobile phone or smartphone. The mobile terminal device 4 can be said to be a computer, or to include a computer.

[0118] Server device 3 is configured to communicate with delivery robot device 1 and also with mobile terminal device 4. While the method of communication is not specified, since delivery robot device 1 and mobile terminal device 4 are mobile, server device 3 will communicate wirelessly with a mobile communication system in either case. Of course, this communication may include wired communication in some parts of the communication path. The following describes individual configuration examples for delivery robot device 1, mobile terminal device 4, and server device 3.

[0119] (Delivery Robot Device 1) The delivery robot device 1 may include a control unit 10, a communication unit 16, a drive unit 17, a GNSS receiver 18, an imaging unit 19, and a display unit 20. GNSS stands for Global Navigation Satellite System. In addition, although not shown, the delivery robot device 1 may also include a storage unit for storing various information and an input unit for turning the power on and off and inputting other operation details. For example, the delivery robot device 1 may be equipped with the control unit 10, the communication unit 16, the GNSS receiver 18, the display unit 20, the storage unit, and the input unit as an information terminal device. This information terminal device can be called a computer, or it can be said to include a computer.

[0120] The control unit 10 controls the entire delivery robot device 1. The control unit 10 may include a drive control unit 12 and a location information acquisition unit 13, which are responsible for the main functions of movement and location information acquisition in the delivery robot device 1, respectively. The control unit 10 may also include a detection processing unit 14, a communication control unit 11, and a display control unit 15, which are responsible for the main functions of detection of the mobile terminal device 4 in the delivery robot device 1, communication with the server device 3 and the mobile terminal device 4, and display on the display unit 20, respectively.

[0121] The control unit 10 may be implemented by, for example, a processor such as a CPU (Central Processing Unit), working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the delivery robot device 1. The control unit 10 may also be implemented using a programmable integrated circuit, such as an FPGA (field-programmable gate array) or a microcomputer.

[0122] Furthermore, the storage unit (not shown) is a storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive) that stores various information used in the delivery robot device 1. This storage unit can store information to be displayed on the display unit 20, information indicating the detection conditions of the detection processing unit 14, and location information acquired by the location information acquisition unit 13 from the GNSS receiving unit 18. This storage unit stores and updates information according to the control of the control unit 10.

[0123] The communication unit 16 performs wireless communication with external devices such as the server device 3 and the mobile terminal device 4. The communication unit 16 may be equipped with one or more types of communication interfaces for performing such wireless communication. The communication control unit 11 controls communication with external devices via the communication unit 16.

[0124] Let's take an example of the communication unit 16. For instance, the communication unit 16 is equipped with a first communication interface for connecting to a mobile communication system, which allows it to communicate wirelessly with a server device 3 and a mobile terminal device 4 via that mobile communication system.

[0125] Furthermore, the communication unit 16 may be equipped with a second communication interface that performs wireless communication in accordance with the Wi-Fi (registered trademark; hereinafter the same) standard. This allows the communication unit 16 to perform wireless communication with the server device 3 and the mobile terminal device 4 via its second communication interface and an access point installed nearby. This access point may include a free access point.

[0126] Furthermore, this second communication interface can be an interface capable of NAN communication, that is, Wi-Fi Aware communication, which can be realized by the Wi-Fi Aware function defined by the Wi-Fi Alliance. NAN stands for Neighbor Awareness Networking. Wi-Fi is the name of a wireless LAN (Local Area Network) that uses the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard or its derivative standards. Wi-Fi Aware communication enables the transmission and reception of information between the delivery robot device 1 and the mobile terminal device 4 located in its vicinity. This transmission and reception of information can be performed without performing NAN pairing.

[0127] Furthermore, the communication unit 16 may be equipped with a third communication interface that performs wireless communication in accordance with the Bluetooth (registered trademark; hereinafter the same) standard or its derivative standards, or wireless communication in accordance with other types of short-range wireless communication standards. This allows the communication unit 16 to perform short-range wireless communication after pairing with the mobile terminal device 4 via its third communication interface.

[0128] The drive unit 17 may include, for example, a plurality of wheels 17a and motors that drive those wheels 17a. The drive unit 17 drives the wheels 17a under the control of the drive control unit 12, thereby enabling the delivery robot device 1 to move.

[0129] The GNSS receiving unit 18 is a receiver for GNSS, receiving location information including latitude and longitude information from GNSS and time information at the time of acquisition, and passing it to the location information acquisition unit 13. As a result, the location information acquisition unit 13 can acquire the location information and time information. The location information acquisition unit 13 passes the acquired location information and time information to the drive control unit 12 for use in drive control, for example, or to the communication control unit 11 to transmit it to the server device 3 via the communication unit 16. Based on this location information and time information, the server device 3 sends a command for drive control back to the delivery robot device 1. The drive control unit 12 can then control the drive unit 17 according to this command.

[0130] Furthermore, the location information acquisition unit 13 can be configured to acquire location information of mobile terminal devices 4 located around the delivery robot device 1 via the communication unit 16. Hereinafter, the location information of the mobile terminal devices 4 will be referred to as the first location information, and the location information of the delivery robot device 1 acquired by the GNSS receiving unit 18 will be referred to as the second location information.

[0131] For example, the mobile terminal device 4 can be configured to include a GNSS receiver, and the location information acquisition unit 13 can acquire the first location information obtained by the GNSS receiver via the communication unit 16. More specifically, for example, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4 in its vicinity via Wi-Fi Aware communication. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, by means of a mobile communication system.

[0132] Alternatively, Wi-Fi Aware can include distance measurement with peer devices using the IEEE 802.11mc protocol. Therefore, the delivery robot device 1 can measure the distance to at least the mobile terminal device 4 within a communication range as first position information, and can determine whether or not the mobile terminal device 4 is within a predetermined distance from itself. The determination of whether or not it is within a predetermined distance refers to the determination of whether or not the mobile terminal device 4 is located in the vicinity of the delivery robot device 1, that is, whether or not it is a peripheral terminal device.

[0133] Alternatively, the location information acquisition unit 13 may measure the distance and direction of the mobile terminal device 4 located around the delivery robot device 1 via the third communication interface of the communication unit 16. In this case, the location information acquisition unit 13 can calculate the first location information of the mobile terminal device 4 using the measurement results and the second location information obtained from the GNSS receiving unit 18.

[0134] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information from a detected peripheral terminal device.

[0135] The detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are located around the delivery robot device 1 via the communication control unit 11 and the communication unit 16. In other words, the detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are located within a predetermined distance of the delivery robot device 1 via the communication control unit 11 and the communication unit 16. The delivery robot device 1 can determine whether a mobile terminal device 4 is located within a predetermined distance from itself or outside that predetermined distance based on the distance measurement results described above, or based on the difference in position between the acquired first position information and second position information.

[0136] As illustrated by the detection processing unit 14, communication control unit 11, and communication unit 16, the delivery robot device 1 may be equipped with a detection unit for detecting the above-mentioned peripheral terminal devices. The detection processing unit 14 transmits the detection results of the peripheral terminal devices to the server device 3 via the communication control unit 11 and the communication unit 16.

[0137] Furthermore, regarding the mobile terminal device 4 owned by a user who has registered (as described later), the server device 3 can acquire its first and second location information, and can be configured to determine whether or not it is a mobile terminal device 4 located within a predetermined distance. Therefore, the detection processing unit 14 may perform detection processing for users who have not registered, while the detection processing unit provided on the server device 3 side may perform detection processing for registered users.

[0138] Let me add some details about the detection process for peripheral terminal devices. The location information acquisition unit 13 can acquire first location information when a peripheral terminal device, which is the source device for acquisition, is present around the delivery robot device 1. Therefore, the detection process for peripheral terminal devices can be performed by the communication unit 16 receiving a beacon signal from the communication unit of the peripheral terminal device, and the detection processing unit 14 detecting that it has been received via the communication control unit 11. It should be noted that the detection processing unit 14 can be included in the location information acquisition unit 13, or the location information acquisition unit 13 can be included in the detection processing unit 14.

[0139] Here, the area surrounding the delivery robot device 1 can refer to the range within which its radio waves can reach, and although this range may vary depending on factors such as the surrounding terrain and the presence of buildings, it can refer to a predetermined distance within which the radio waves can reach. Therefore, when the delivery robot device 1 performs detection directly, it can basically detect surrounding terminal devices based on radio waves received by a second or third communication interface other than radio waves transmitted via the mobile communication system.

[0140] Furthermore, the location information acquisition unit 13 may, via the communication control unit 11 and the communication unit 16, acquire not only the first location information but also route information indicating the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device detected by the detection processing unit 14. For convenience, the route information indicating the planned travel route will be referred to as the first route information, and the route information indicating the planned delivery route of the delivery robot device 1 will be referred to as the second route information. The first route information is the route information set in the peripheral terminal device.

[0141] For example, via Wi-Fi Aware communication, the location information acquisition unit 13 can receive first route information from surrounding terminal information, which is a mobile terminal device 4 located in its vicinity. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can also receive first route information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, through a mobile communication system.

[0142] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information and first route information from detected peripheral terminal devices.

[0143] Furthermore, the imaging unit 19 may include a camera that images the direction of travel, which is the front of the delivery robot device 1, and cameras that image the rear and left and right sides of the delivery robot device 1. The imaging unit 19 may also include an omnidirectional camera. In addition, the imaging unit 19 may include a two-dimensional or three-dimensional optical sensor such as LiDAR (registered trademark; the same applies hereinafter). As in these examples, the imaging unit 19 can acquire a surrounding image that captures the area around the delivery robot device 1.

[0144] Although not shown in the diagram, the imaging unit 19 may include an analysis unit for analyzing the captured images, or the control unit 10 may include such an analysis unit. The analysis unit determines the presence of obstacles and other objects from the captured images of the surrounding environment. The determination result is passed to the drive control unit 12 for use in drive control, for example, to avoid obstacles. The analysis unit can also analyze the crowding situation of people in the surrounding area, in which case the analysis result is passed to the communication control unit 11 and transmitted to the server device 3 via the communication unit 16. Based on this analysis result, the server device 3 can send a command for drive control back to the delivery robot device 1 or use it for determination in the determination unit 35, which will be described later. The drive control unit 12 can control the drive unit 17 according to the returned command.

[0145] The display unit 20 may be composed of a display device such as a liquid crystal panel or an organic electroluminescent panel. The display control unit 15 controls the display on the display unit 20.

[0146] The display control unit 15 can control the display unit 20 to display an access image as follows. This access image is an image that includes information indicating the current location and current time of the delivery robot device 1 as indicated by the second location information, and access information for accessing the delivery robot device 1. The access image can be, for example, an image showing a two-dimensional code such as a QR code (registered trademark; the same applies hereinafter) 21 as illustrated in Figure 2, or an image showing a one-dimensional code such as a barcode (registered trademark). Since the access image includes the current time, it is displayed while being updated in real time.

[0147] Anyone who sees the access image can capture it using the imaging unit on their portable terminal device 4, thereby reading the access image and accessing the system based on the access information. The delivery robot device 1 then detects the portable terminal device 4 as a peripheral terminal device upon receiving this access information and can transmit the detection result to the server device 3 via the communication control unit 11 and the communication unit 16.

[0148] The access information included in the access image may be access information for accessing the server device 3. In that case, the detection processing unit 14 can detect the device as a peripheral terminal by receiving information indicating that an access has occurred from the server device 3 via the communication unit 16 and the communication control unit 11. However, in this case, if the server device 3 is equipped with a function for detection based on access information in the detection processing unit 14, the sending and receiving of such information will not be necessary.

[0149] (Mobile Terminal Device 4) Although the configuration example of the mobile terminal device 4 is omitted, it can have a general computer configuration, for example, by removing the drive control unit 12, detection processing unit 14, and drive unit 17 from the parts shown as the configuration of the delivery robot device 1 in Figure 1, and adding an input unit and a storage unit.

[0150] Therefore, the control unit of the mobile terminal device 4 can also be realized by, for example, a processor, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the mobile terminal device 4. This program may include, for example, a program that executes communication processing with the communication destination device among the delivery robot device 1 and the server device 3, and processing for generating information to be transmitted. This control unit may also be realized using a programmable integrated circuit, such as an FPGA or a microcomputer.

[0151] Furthermore, the mobile terminal device 4 can be configured to display images on its display unit for route guidance, or navigation, to the user of the mobile terminal device 4, based on map data stored in its memory unit and first location information acquired by the GNSS receiver unit. This allows the user of the mobile terminal device 4 to travel to their destination while confirming the planned route to the destination on a map that includes their current location. As described above, the delivery robot device 1 can acquire this first route information indicating the planned route from the mobile terminal device 4.

[0152] Furthermore, in the example where the display unit 20 displays the access image, the owner of the mobile terminal device 4 captures this access image with the imaging unit provided in the mobile terminal device 4. As a result, the mobile terminal device 4 extracts access information from the access image, prompts the user to access the destination indicated by the access information, accepts the operation, or automatically accesses the destination. In this case, the owner is assumed to be walking around the delivery robot device 1, or to be standing still on a bicycle or to have dismounted from a bicycle, and can therefore be considered a candidate to request monitoring assistance. A person who is standing still on a bicycle or to have dismounted from a bicycle can also be considered a pedestrian.

[0153] (Server device 3) Server device 3 is composed of a server computer and may include a control unit 30, a communication unit 36, and a storage unit 37. Although server device 3 is described as a single device, server device 3 can also be constructed as a server system with functions distributed among multiple devices. Server device 3 is one example of the configuration of the support device according to this embodiment.

[0154] The control unit 30 controls the entire server device 3. The control unit 30 may include a communication control unit 11 and a robot control unit 32, which are responsible for the main functions of sending and receiving information with the delivery robot device 1 and controlling the drive of the delivery robot device 1, respectively. The control unit 30 may also include an identification unit 33, a request processing unit 34, and a determination unit 35, which are responsible for the main functions of identifying the mobile terminal device 4 held by the support candidate, controlling the transmission of request information to the mobile terminal device 4 and the reception of its response, and determining whether monitoring support is appropriate, respectively.

[0155] The control unit 30 may be implemented, for example, by a processor such as a CPU, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the server device 3. Alternatively, the control unit 30 may be implemented using an integrated circuit that can be programmed by the user, such as an FPGA or a microcomputer.

[0156] The communication unit 36 ​​performs wireless communication with external devices such as the delivery robot device 1 and the mobile terminal device 4. The communication unit 36 ​​may be equipped with a communication interface for performing such wireless communication. For example, the communication unit 36 ​​may be equipped with a communication interface that connects to a mobile communication system in order to communicate with the delivery robot device 1 and the mobile terminal device 4. The communication control unit 31 controls communication with external devices via the communication unit 36.

[0157] The storage unit 37 is a storage device such as an SSD or HDD that stores various information used by the server device 3. The storage unit 37 can store user information 37a, which indicates a user of the support request system 100, as one type of information to be stored. User information 37a is information registered in advance about users who may be candidates for support, and may include the user's name or ID, contact information for the mobile terminal device 4 used by the user, device identification number, telephone number, and other access information. In addition, user information 37a may be registered automatically or with the user's consent for users who have received support once. The storage unit 37 stores and updates information according to the control of the control unit 30.

[0158] The identification unit 33 identifies a peripheral terminal device, which is a mobile terminal device 4 located around the delivery robot device 1 that accessed the delivery robot device 1 or the server device 3 based on access information, as a mobile terminal device possessed by a support candidate. A support candidate refers to a pedestrian who requests monitoring support for the delivery robot device 1. In this embodiment, if the identification unit 33 identifies the accessed mobile terminal device 4 as the mobile terminal device 4 possessed by the support requester, the detection processing unit 14 may not be necessary.

[0159] On the other hand, the identification unit 33 may also take into account the detection results from the detection processing unit 14 and identify the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for monitoring support of the delivery robot device 1, from among the accessed peripheral terminal devices. Whether or not someone is a pedestrian can be determined, for example, by whether or not the speed of change of the first position information received from the mobile terminal device 4 is below a predetermined speed, or by whether or not they are moving on a sidewalk, but it may also be determined simply by the fact that they accessed the device.

[0160] Here, the identification in the identification unit 33 may be limited to one mobile terminal device 4, or it may be performed under the condition that it is within a predetermined number of devices, or there may be no limit on the number of devices. It is expected that the number of support candidates who make monitoring requests will increase in proportion to the number of devices, and that the number of people who accept the requests will also increase. Furthermore, support candidates are not limited to people walking on the sidewalk or other people moving toward a certain destination, but may also include, for example, construction workers or shop staff who stop or wander around along the delivery route of the delivery robot device 1. In other words, support candidates are not limited to people who can monitor continuously, but may also be people who can monitor intermittently.

[0161] An example of identification that also takes into account the detection results from the detection processing unit 14 is given. The identification unit 33 identifies the mobile terminal device 4, that is, the peripheral terminal device, which has been detected as being within a predetermined distance of the delivery robot device 1 due to access, as the mobile terminal device 4 possessed by the support candidate, provided that it meets predetermined conditions. Various examples of the above predetermined conditions are described below.

[0162] To elaborate, in this embodiment, in order to display the access image, the identification unit 33 includes the condition that the mobile terminal device 4 performed the access based on the access image in addition to the predetermined conditions mentioned above.

[0163] The above-mentioned predetermined conditions may include conditions relating to the first location information and first route information of the peripheral terminal device. The first location information may be the location information of the delivery robot device 1 included in the access information. However, the first location information may be location information obtained by any of the other methods described above, instead of using the location information of the delivery robot device 1 included in the access information. Furthermore, when using location information obtained by any of the other methods described above as the first location information, the location information at the time of detection may be used, or location information obtained a predetermined period before or after the access time, such as a few seconds or a few seconds before. Since the pedestrian may have slightly shifted their route in order to capture the access image, identification based on the position before the shift can be performed by using the location information of the mobile terminal device 4 before and after the predetermined period.

[0164] In other words, the identification unit 33 may identify the mobile terminal device 4 held by the support candidate based on the detection result from the detection processing unit 14, the first position information, the first route information, the second position information of the delivery robot device 1, and the second route information indicating the planned delivery route of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device that is moving in the same direction or along the same route as the mobile terminal device 4 held by the support candidate.

[0165] Such specific examples will be explained using Figures 3 and 4. Figures 3 and 4 are schematic diagrams showing one example and another example of the situation around the delivery robot device 1, respectively, to explain an example of the process of identifying the mobile terminal device to which the request information will be sent in the support request system 100. In the situation 50 shown in Figure 3 and the situation 60 shown in Figure 4, the detection processing unit 14 detects the mobile terminal device 4 within a circle 1c with a predetermined radius centered on the delivery robot device 1. In situations 50 and 60, the owners Ua, Ub, Uc and the delivery robot device 1 are all moving on sidewalk 52 of the sidewalks 52, 53, and 54 of the roadway 51, and their directions of movement are indicated by the arrows.

[0166] In the scenario 50 shown in Figure 3, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 50, the owner Ua of the mobile terminal device 4a is walking towards the delivery robot device 1 from behind, and the owner Ub of the mobile terminal device 4b is approaching from the front of the delivery robot device 1 in the opposite direction. After this, let's assume that both owners Ua and Ub read the access image and access it. In this case, the identification unit 33 identifies the mobile terminal device 4a, which is moving in the same direction as the support candidate, rather than the mobile terminal device 4b, which is moving in the opposite direction. In other words, in this case, the support candidate is owner Ua, not owner Ub.

[0167] In the scenario 60 shown in Figure 4, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 60, the owner Ua of the mobile terminal device 4a and the owner Uc of the mobile terminal device 4c are walking towards the delivery robot device 1 from behind, with owner Ua being closer to the delivery robot device 1 than owner Uc. Suppose that both owners Ua and Ub then access the access image. However, the planned walking route 4ar indicated by the first route information obtained from the mobile terminal device 4a then shows that they will cross the pedestrian crossing 55 and move away from the delivery robot device 1. In this case, the identification unit 33 identifies the mobile terminal device 4c, which is moving in the same direction, rather than the closer mobile terminal device 4a, as the mobile terminal device possessed by the support candidate. In other words, in this case, the support candidate is owner Uc, not owner Ua.

[0168] Furthermore, the above-mentioned predetermined conditions may also include conditions relating to the first location information of the peripheral terminal device, excluding the conditions relating to the first route information. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the detection result from the detection processing unit 14, the first location information, and the second location information of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device, or a predetermined number of peripheral terminal devices in order of proximity, or a peripheral terminal device located within a predetermined distance shorter than the predetermined distance at the time of detection, as the mobile terminal device 4 possessed by the support candidate. In this example, the first location information used is the location information before and after the predetermined period of access described above.

[0169] Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate if the walking speed, which is the rate of change of the first position information, differs from the movement speed of the delivery robot device 1, which is the rate of change of the second position information, within a predetermined range. Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate, which is the peripheral terminal device whose walking speed, which is the rate of change of the first position information, is closest to the movement speed of the delivery robot device 1, which is the rate of change of the second position information, or a predetermined number of peripheral terminal devices in order of proximity.

[0170] Furthermore, the above-mentioned predetermined conditions may also include conditions regarding whether or not a user is registered. In other words, the identification unit 33 may, based on the detection results in the detection processing unit 14, refer to the user information 37a and identify peripheral terminal devices that have been registered as users as the mobile terminal devices 4 possessed by the support candidate, prioritizing them over peripheral terminal devices that have not been registered as users. A mobile terminal device 4 that has not been registered as a user means that it is a mobile terminal device possessed by an owner unrelated to the service requested in the support request system 100.

[0171] Alternatively, the detection processing unit 14 may access the server device 3 and refer to user information 37a to detect peripheral terminal devices targeting mobile terminal devices 4 that have been registered as users. In this case, if the detection processing unit 14 is unable to detect any peripheral terminal devices, it may detect peripheral terminal devices targeting mobile terminal devices 4 that have not been registered as users. For mobile terminal devices 4 that have not been registered as users, the delivery robot device 1 may request temporary user registration using an image from the display unit 20, or request temporary user registration using voice from an audio output device (not shown).

[0172] The request processing unit 34 performs a process to request the communication control unit 31 to transmit request information via the communication unit 36. In this way, the server device 3 can be equipped with a request information transmission unit that transmits the above request information. The request information is information for requesting monitoring support from the mobile terminal device 4 held by the support candidate. For example, if the first route information partially overlaps with the second route information from the current location, the request information may include information requesting monitoring only for the overlapping route. As in this example, the request information may include the content of the request, and may also include information such as the estimated distance and estimated time.

[0173] If the destination of the request information is a user-registered mobile terminal device 4, the destination may also be the mobile terminal device 4 included in the user information 37a. In this case, the request information transmission unit will be exemplified by the request processing unit 34, the communication control unit 31, and the communication unit 36. However, even if the destination of the request information is a user-registered mobile terminal device 4, the request processing unit 34 may simply transmit the request information to the mobile terminal device 4 that accessed it. Alternatively, the request processing unit 34 may request the delivery robot device 1 to transmit the request information to its mobile terminal device 4 via Wi-Fi Aware communication.

[0174] If the destination of the request information is a mobile terminal device 4 that has not been registered as a user, the request processing unit 34 may simply send the request information to the mobile terminal device 4 that accessed it. Alternatively, the request processing unit 34 may specify the delivery robot device 1 as the destination and request the communication control unit 31 to send the request information, specifying the final destination. Upon receiving this request, the communication control unit 31 transmits the request information to the delivery robot device 1 via the communication unit 36. The delivery robot device 1, having received the request information, has the communication control unit 11 transmit the request information to the mobile terminal device 4 that corresponds to the final destination among the mobile terminal devices 4 detected by the detection processing unit 14, via the communication unit 16. This transmission can be performed via Wi-Fi Aware communication. In this case, the request information transmission unit is exemplified by the request processing unit 34, the communication control unit 31, the communication unit 36, the communication control unit 11, and the communication unit 16.

[0175] Furthermore, the request processing unit 34 also performs the process of receiving agreement information indicating agreement to monitoring support from the mobile terminal device 4 as a response to the request information, via the communication control unit 31 and the communication unit 36. In this way, the server device 3 can be equipped with an agreement information receiving unit that receives the above agreement information. The reception path for the agreement information is the reverse of the transmission path for the request information, and may differ depending on whether or not user registration has been performed, similar to the transmission path for the request information.

[0176] However, for example, the request information may include access information to the server device 3 for performing support after user registration. This allows the request processing unit 34 to receive agreement information from the mobile terminal device 4 via the communication control unit 31 and the communication unit 36, without going through the delivery robot device 1, either by accessing the device or by having the user select an agreement button after accessing it.

[0177] Furthermore, in this embodiment, in order to display the access image, the request processing unit 34 may transmit agreement information or information indicating that an agreement has been reached to the delivery robot device 1 via the communication control unit 31 and the communication unit 36. Then, when the display control unit 15 receives the agreement information or information indicating that an agreement has been reached via the communication unit 16 and the communication control unit 11, that is, when an agreement has been reached from the support candidate, it may erase the access image on the display unit 20. This prevents the reading of the access image for making a support request, thus avoiding unnecessary requests.

[0178] Furthermore, when the request processing unit 34 receives agreement information, it may prompt the owner of the mobile terminal device 4 to register as a user if they are not already registered, and then have them register. Also, when the request processing unit 34 receives agreement information and the user is already registered or has registered, it may provide an incentive such as points that can be used for a predetermined service. The incentive to be provided can be managed, for example, in association with user information 37a, or it may be notified to the system providing the predetermined service along with the user's information.

[0179] Furthermore, incentives may be awarded upon completion of the assistance, rather than upon agreement to the request. In this case, the incentive may be set higher depending on the content of the assistance, such as the time spent on assistance or the distance walked. Request information may also include information such as the distance, time, and content of the assistance to be provided. In this case as well, incentives can be awarded after the completion of the assistance, or they may be awarded when the agreement information is received.

[0180] Furthermore, in this embodiment, since an access image is displayed, the incentive may be granted only based on accesses that are based on the access image. However, it is assumed that user registration has been made at the time of or before the access. In addition, the incentive may be granted with an upper limit on the number of accesses. When displaying the access image, it may also be possible to simultaneously display that there is a benefit for which an incentive will be granted, or to notify the user by voice from an audio output device (not shown).

[0181] In addition to displaying access images, it is also possible to request assistance via voice from an audio output device (not shown). In this case, the mobile terminal device 4 of a pedestrian who stops, attracted by the voice, becomes easier to detect as a peripheral terminal device.

[0182] Furthermore, after the agreement is reached, the mobile terminal device 4 of the holder who has reached an agreement can communicate with the server device 3 or the delivery robot device 1 via a mobile communication system or Wi-Fi access point, or via Bluetooth communication after pairing is established. Therefore, the mobile terminal device 4 can also report the progress and results of monitoring the delivery status to the server device 3 or the delivery robot device 1. It is also advisable to clear the display of the access image once such communication becomes possible, and in cases where voice notification is provided, it is advisable to stop the voice notification.

[0183] Even if a report is made to the delivery robot device 1, the delivery robot device 1 can send the monitoring results to the server device 3, which can then manage the monitoring results. In this way, the server device 3 can also function as a monitoring center for monitoring delivery status.

[0184] Next, the determination unit 35 will be described. Note that the support request system 100 does not necessarily have to include the determination unit 35.

[0185] The determination unit 35 determines whether monitoring support for the delivery robot device 1 is necessary, based on the delivery environment of the delivery robot device 1, indicated by the location information of the delivery robot device 1, or by the location information of the delivery robot device 1 and route information indicating the planned delivery route of the delivery robot device 1. The determination unit 35 may also determine the number of monitoring requesters, which is a predetermined number or a predetermined percentage more than the number of monitors required, based on the delivery environment, and communicate that number to the identification unit 33.

[0186] For example, the determination unit 35 determines that surveillance support is necessary, or that three or more surveillance requesters are necessary, if the delivery environment includes a crime prevention area along the planned delivery route, or if the time of day falls within the nighttime period. The determination unit 35 also determines that surveillance support is necessary, or that four or more surveillance requesters are necessary, if the delivery environment includes a busy commercial district along the planned delivery route, or if the time of day includes a busy commercial district and falls within the nighttime period. Furthermore, the determination unit 35 determines that surveillance support is unnecessary, or that one surveillance requester is sufficient, if there is a police box or police station along the planned delivery route.

[0187] Alternatively, the determination unit 35 may determine whether or not monitoring support for the delivery robot device 1 is necessary based on the surrounding image captured by the imaging unit 19. The determination unit 35 can receive the surrounding image from the delivery robot device 1 via the communication control unit 31 and the communication unit 36. Of course, the determination unit 35 may also make a determination based on the delivery environment and the surrounding image. Furthermore, the determination unit 35 may also determine the number of monitoring requesters, which is a predetermined number or a predetermined percentage more than the required number of monitors, based on the surrounding image, and transmit that number to the identification unit 33.

[0188] For example, the determination unit 35 determines that if the delivery environment has fewer than a predetermined number of people along the planned transport route, monitoring support is necessary, or that three or more people requesting monitoring are necessary. For example, the determination unit 35 determines that if the delivery environment has fewer than a predetermined number of workers in the area along the planned transport route, monitoring support is necessary, or that three or more people requesting monitoring are necessary.

[0189] The detection processing unit 14 may stop the detection process if monitoring support is not required, based on the determination result from the determination unit 35 received from the server device 3 via the communication control unit 11 and the communication unit 16. Alternatively, the identification unit 33 may stop the identification process if monitoring support is not required, based on the determination result from the determination unit 35.

[0190] Furthermore, in this embodiment, since access images are displayed, the display control unit 15 may clear the display of the access images when it is determined that monitoring support is not necessary. Also, in the example where voice notification is provided, the notification may be stopped when it is determined that monitoring support is not necessary.

[0191] Furthermore, the determination unit 35 may determine not only whether monitoring support is necessary, but also the content of the necessary monitoring, that is, the content of the requested monitoring task, based on at least one of the delivery environment and the surrounding image. The determined content can be included in the request information and communicated to the monitoring candidate.

[0192] For example, the determination unit 35 can determine whether the number of pedestrians around the delivery robot device 1 is less than a predetermined number, based on the surrounding image and the detection results from the detection processing unit 14. This determination result can be reflected in determining whether or not monitoring support is necessary and in what form, as described above, but it may also be reflected in the planned delivery route of the delivery robot device 1, for example. If the number of pedestrians around the device is less than a predetermined number, the determination unit 35 passes the determination result to the robot control unit 32, which can then change the planned delivery route to a route with more pedestrian traffic.

[0193] Furthermore, if the number of pedestrians in the vicinity is less than a predetermined number, the determination unit 35 passes the determination result to the detection processing unit 14, which can then increase the predetermined distance of the detection range to broaden the area of ​​the support request, increase the number of monitoring candidates, and call in people from further away. The increase or decrease in the detection range can be performed, for example, by increasing or decreasing the output of radio waves or by increasing or decreasing the threshold for detecting radio waves. For a mobile terminal device 4 that has been registered as a user, the increase or decrease in the detection range can be performed, for example, by increasing or decreasing a predetermined distance between the first location information and the second location information.

[0194] Conversely, if the determination unit 35 determines that the number of pedestrians in the vicinity is greater than a predetermined number, it can pass the determination result to the detection processing unit 14, which can then reduce the predetermined distance of the detection range to narrow the area of ​​the assistance request, thereby reducing the number of monitoring candidates and calling only from nearby areas. Alternatively, if the determination unit 35 determines that the number of pedestrians in the vicinity is greater than a predetermined number, it can pass the determination result to the display control unit 15, which can then delete the access image.

[0195] (Example of processing in the support request system 100) Next, an example of support request processing performed in the support request system 100, which is an example of the support request system according to Embodiment 3, will be described using Figure 7. Figure 7 is a flowchart illustrating an example of support request processing performed in the support request system 100 of Figure 1, which is an example of the support request system according to Embodiment 3. Here, only a general example of processing is given, but the various examples described above can be applied to the configuration of the support request system 100 according to this embodiment.

[0196] First, in the delivery robot device 1, the display control unit 15 acquires second location information and the current time from the location information acquisition unit 13, generates an access image including the second location information and the current time, and displays it on the display unit 20 (step S31).

[0197] Next, the detection processing unit 14 detects peripheral terminal devices, which are mobile terminal devices 4, that are present in the vicinity based on the access from the access image (step S32). The delivery robot device 1 can perform this detection if it receives information from the server device 3 indicating that the access destination was the server device 3.

[0198] Next, the location information acquisition unit 13 acquires first location information and first route information from the detected peripheral terminal device (step S33). Note that the acquisition of the first location information and first route information in step S33 can also be performed at the time of access in step S32. The location information acquisition unit 13 also acquires second location information and second route information of the delivery robot device 1 (step S34). This second location information may be the same as that acquired in step S31. The order of steps S33 and S34 does not matter. The information acquired in steps S33 and S34 is transmitted by the communication control unit 11 to the server device 3 via the communication unit 16.

[0199] Upon receiving this information, the server device 3 uses the identification unit 33 to identify the mobile terminal device 4 held by the support candidate, who is a pedestrian requesting monitoring assistance for the delivery robot device 1, based on the first and second location information and the first and second route information (step S35). In step S35, the peripheral terminal device detected in step S32 may be identified as the mobile terminal device 4 held by the support candidate; in this case, the processing in steps S33 to S34 is unnecessary. The identification unit 33 then passes the information of the identified mobile terminal device 4 to the request processing unit 34.

[0200] The request processing unit 34 transmits request information to the mobile terminal device 4 held by the support candidate to request monitoring support (step S36). Next, the request processing unit 34 determines whether or not it has received agreement information in response to this transmission (step S37), and terminates the process if it has not received it. If the answer in step S37 is YES, that is, if agreement information has been received, the request processing unit 34 requests the delivery robot device 1 to delete the access image via the communication control unit 31 and the communication unit 36, and the display control unit 15, upon receiving the request, deletes the access image on the display unit 20 (step S38). Next, the request processing unit 34 receives a support report from the identified mobile terminal device 4 and stores it in the storage unit 37 (step S39), and terminates the process. The order of steps S38 and S39 does not matter.

[0201] (Effects of Embodiment 3) As described above, in this embodiment, when delivery is performed by an autonomous mobile delivery robot device, monitoring assistance is requested from people in the vicinity, thus providing a sufficient deterrent effect against criminal and nuisance acts, making it possible to perform deliveries by the delivery robot device more safely.

[0202] To illustrate its effectiveness, let's consider a comparative example. The autonomous mobile delivery robot device in the comparative example has, for example, a function to detect and warn of impacts and tilts, and a function to photograph the surroundings with a camera and detect suspicious persons using a learning model. Furthermore, this delivery robot device has a function to notify a remote monitoring center or the police as needed. These functions deter criminal acts such as theft and nuisance acts such as vandalism in the delivery robot device in the comparative example. However, these functions alone are ultimately limited to remote monitoring, and therefore the deterrent effect is not sufficient for an autonomous mobile delivery robot device that performs deliveries without a human driver. In contrast, in this embodiment, close-range monitoring by pedestrians along the planned delivery route can be performed, thereby improving the deterrent effect.

[0203] Furthermore, in the comparative example delivery robot device, the deterrent effect is slightly increased by providing a warning function that sounds a buzzer or displays a warning light when theft by a suspicious person is detected, or by applying an electric current to prevent contact. However, this does not match the deterrent effect of proximity monitoring by pedestrians, as in this embodiment. In addition, in the comparative example delivery robot device, it is possible to select a delivery route that is less likely to be stolen by referring to past theft data, but since it will travel along a fixed selected route, it does not match the deterrent effect of proximity monitoring by pedestrians.

[0204] Furthermore, in this embodiment, as such a delivery service becomes established, the psychological effect of an unspecified number of passersby monitoring the delivery robot device 1 can reduce theft, vandalism, and other crimes against the delivery robot device 1 or the items it carries.

[0205] In particular, in this embodiment, the delivery robot device 1 is configured to display an access image such as a QR code, so a service can be provided in which an incentive is given for reading the access image or for reading it and providing monitoring support. If such a service is established, or if deliveries are made while providing notifications, it will not only be possible to reduce theft and vandalism due to the psychological effect described above, but it will also be possible to improve the monitoring effect by increasing the probability that the person requesting monitoring will agree to the request. Furthermore, since the act of taking pictures will be performed on the delivery robot device 1, it can be said that a psychological effect of deterring theft and vandalism will be obtained as a result. Moreover, even if the service that provides incentives is stopped, the psychological effect of refraining from theft will continue for criminals who are unaware that it has been stopped.

[0206] Furthermore, in this embodiment, since the delivery robot device 1 is configured to display access images such as QR codes, the costs incurred by operators such as transportation companies for its introduction and operation mainly consist of the display device or the display device and incentives. Therefore, such costs can be kept lower than the amount of damage caused by theft or the resulting loss of customers. In addition, by including location information and time information in the access image displayed in real time, this information can be included in the access information from passersby such as pedestrians. As a result, even in environments where the delivery robot device 1 cannot receive GNSS signals or does not have communication functions, the system accessed based on that access information can determine the location and time of the delivery robot device 1 at a given point in time.

[0207] <Embodiment 4> The support request system according to Embodiment 4 will be explained using Figure 6, focusing on the differences from Embodiment 3, but various examples described in Embodiment 3 can be applied. Figure 6 is also a block diagram showing one example configuration of the support request system according to Embodiment 4.

[0208] The support request system according to this embodiment can be configured to include a delivery robot device 1a and a server device 3a, as illustrated in the support request system 100a in Figure 6. In this embodiment as well, the support request system 100a will be described as a system that also includes a mobile terminal device 4.

[0209] The support request system 100a differs from Embodiment 3 in that, in the support request system 100 of Figure 1, the functions of the identification unit 33, request processing unit 34, and determination unit 35 in the server device 3 are mainly located on the delivery robot device 1a side. In other words, the support request system 100a differs from Embodiment 3 in that the server device 3a does not have the identification unit 33, request processing unit 34, and determination unit 35 in its control unit 30a, while the delivery robot device 1a has a control unit 10a that includes the identification unit 33a, request processing unit 34a, and determination unit 35a. Thus, the delivery robot device 1a has one example of the configuration of the support device according to this embodiment. In other words, the support device may be incorporated into the delivery robot device as in this embodiment.

[0210] In this embodiment, the server device 3a basically controls the movement of the delivery robot device 1a, manages users, and manages monitoring reports, but the delivery robot device 1a handles all other processing.

[0211] For example, the detection processing unit 14 performs the process of detecting peripheral terminal devices, such as mobile terminal devices 4, that are present around the delivery robot device 1a. In this embodiment, the delivery robot device 1a can basically perform this detection without going through the server device 3a at all. Of course, for user-registered mobile terminal devices 4, this detection can also be performed by communicating with the server device 3a via a mobile communication system or the like.

[0212] The identification unit 33a receives the access result and the detection result from the detection processing unit 14, and based on these results, identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for monitoring support of the delivery robot device 1a. The request processing unit 34a transmits request information to the mobile terminal device 4 held by the support candidate via the communication control unit 11 and the communication unit 16. The request processing unit 34a can also perform processing such as receiving agreement information in the same manner as in Embodiment 3. An example of the support request processing in this embodiment will be omitted as it mainly differs from Embodiment 3 in the communication path of information, but the explanation of Embodiment 3 can be used as a reference.

[0213] According to this embodiment, compared to the server device 3 of Embodiment 3, the processing load on the server device 3a can be reduced, and the processing can be distributed to the delivery robot device 1a.

[0214] <Alternative Examples, etc.> Some or all of the processing in each of the above-described devices—server device 3, server device 3a, delivery robot device 1, delivery robot device 1a, and mobile terminal device 4—can be implemented as a computer program, as described as a control program. The above-described program includes a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments when loaded into a computer. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium, including electrically, optically, acoustically, or otherwise propagating signals.

[0215] This disclosure is not limited to the embodiments described above, and modifications can be made as appropriate without departing from the spirit of the invention. For example, the shape and configuration of the delivery robot device are not limited to those exemplified, and only those that can accommodate the transported object to be delivered and are capable of autonomous movement are acceptable. Furthermore, while embodiments 1 and 3 describe examples in which the server device 3 is equipped with the identification unit, request processing unit, and determination unit, and embodiments 2 and 4 describe examples in which the delivery robot device 1a is equipped with these units, the method of distributing processing is not limited to these, and the server device and the delivery robot device may perform the processing in cooperation.

[0216] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A support device comprising: an identification unit that identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of a request for monitoring support of the delivery robot device, based on a detection result of detecting a peripheral terminal device which is a mobile terminal device present in the vicinity of an autonomous mobile delivery robot device; and a request information transmission unit that transmits request information for the monitoring support to the mobile terminal device held by the support candidate. (Note 2) The support device according to Note 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the detection result, the first location information, and second location information, which is the location information of the delivery robot device. (Note 3) The support device according to Note 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, and first route information, which is the planned travel route of the owner of the peripheral terminal device, from the peripheral terminal device indicated by the detection result, wherein the identification unit identifies the mobile terminal device possessed by the support candidate based on the detection result, the first location information, the first route information, second location information, which is the location information of the delivery robot device, and second route information, which is the planned delivery route of the delivery robot device. (Note 4) The support device according to any one of Notes 1 to 3, wherein the identification unit identifies the mobile terminal device possessed by the support candidate, prioritizing peripheral terminal devices that have been registered as users with the support device over peripheral terminal devices that have not been registered as users with the support device, based on the detection result, or, if detection is not possible, using the result of detecting the peripheral terminal device targeting mobile terminal devices that have been registered as users with the support device, and if detection is not possible, using the result of detecting the peripheral terminal device targeting mobile terminal devices that have not been registered as users with the support device.(Note 5) The delivery robot device includes a display unit that displays an access image including information indicating the current location and time of the delivery robot device and access information for accessing the support device, the identification unit obtains a peripheral terminal device, which is a mobile terminal device located around the delivery robot device that has accessed the support device based on the access information as a detection result, and identifies the peripheral terminal device indicated by the detection result as a mobile terminal device held by a support candidate, which is a pedestrian who is the target of requesting monitoring support for the delivery robot device, the support device includes an agreement information receiving unit that receives agreement information indicating agreement to the monitoring support from the mobile terminal device as a response to the request information, and a display control unit that erases the access image on the display unit when the agreement information is received, the support device according to any one of Notes 1 to 4. (Note 6) The support device according to Note 5, comprising a determination unit that determines whether or not monitoring support is necessary for the delivery robot device based on the delivery environment of the delivery robot device indicated by the location information of the delivery robot device, or indicated by the location information of the delivery robot device and route information indicating the planned delivery route of the delivery robot device, and the display control unit that erases the access image on the display unit when it is determined that monitoring support is not necessary. (Note 7) The support device according to Note 5, comprising an imaging unit that acquires an ambient image taken of the area around the delivery robot device, comprising a determination unit that determines whether or not monitoring support is necessary for the delivery robot device based on the ambient image, and the display control unit that erases the access image on the display unit when it is determined that monitoring support is not necessary. (Note 8) The support device according to any one of Notes 5 to 7, comprising an identification unit that identifies the peripheral terminal device that has been registered as a user with the support device as a portable terminal device possessed by the support candidate, with priority given to the peripheral terminal device that has not been registered as a user with the support device.(Note 9) A support method comprising: a support device detecting a peripheral terminal device which is a mobile terminal device located around an autonomous mobile delivery robot device, identifying a mobile terminal device held by a support candidate who is a pedestrian who is the target of requesting monitoring support for the delivery robot device, and transmitting request information for the monitoring support to the mobile terminal device held by the support candidate. (Note 10) The support method according to Note 9, wherein the support device displays an access image on a display unit provided on the delivery robot device, including information indicating the current location and time of the delivery robot device and access information for accessing the support request device, obtains a peripheral terminal device which is a mobile terminal device located around the delivery robot device that accessed the support device based on the access information as a detection result, identifies the peripheral terminal device indicated by the detection result as a mobile terminal device held by a support candidate who is a pedestrian who is the target of requesting monitoring support for the delivery robot device, receives agreement information indicating agreement to the monitoring support from the mobile terminal device as a response to the request information, and erases the access image on the display unit when the agreement information is received. (Note 11) A support device comprising: an autonomous mobile delivery robot device having a display unit that displays an access image including information indicating the current location and time of the delivery robot device and access information for accessing the support device; an identification unit that identifies a peripheral terminal device, which is a mobile terminal device located around the delivery robot device that has accessed the support device based on the access information, as a mobile terminal device held by a support candidate, which is a pedestrian who is the target of requesting monitoring support for the delivery robot device; a request information transmission unit that transmits request information to the mobile terminal device held by the support candidate to request the monitoring support; an agreement information receiving unit that receives agreement information from the mobile terminal device indicating agreement to the monitoring support as a response to the request information; and a display control unit that erases the access image on the display unit when the agreement information is received.(Note 12) The support device according to Note 11, comprising a determination unit that determines whether or not monitoring support is necessary for the delivery robot device based on the delivery environment of the delivery robot device indicated by the location information of the delivery robot device, or indicated by the location information of the delivery robot device and route information indicating the planned delivery route of the delivery robot device, and the display control unit that erases the access image on the display unit when it is determined that monitoring support is not necessary. (Note 13) The support device according to Note 11, comprising an imaging unit that acquires an ambient image taken of the area around the delivery robot device, comprising a determination unit that determines whether or not monitoring support is necessary for the delivery robot device based on the ambient image, and the display control unit that erases the access image on the display unit when it is determined that monitoring support is not necessary. (Note 14) The support device according to any one of Notes 11 to 13, comprising an identification unit that identifies the peripheral terminal device that has been registered as a user with the support device as a portable terminal device possessed by the support candidate, with priority given to the peripheral terminal device that has not been registered as a user with the support device. (Note 15) A support method comprising: a support device causing a display unit provided on an autonomous mobile delivery robot device to display an access image including information indicating the current location and time of the delivery robot device and access information for accessing the support device; identifying a peripheral terminal device, which is a mobile terminal device located around the delivery robot device that has accessed the support device based on the access information, as a mobile terminal device held by a support candidate, who is a pedestrian who is the target of requesting monitoring support for the delivery robot device; transmitting request information to the mobile terminal device held by the support candidate to request the monitoring support; receiving agreement information from the mobile terminal device indicating agreement to the monitoring support as a response to the request information; and, upon receiving the agreement information, erasing the access image on the display unit.

[0217] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 8 that are dependent on Appendice 1 may also be dependent on Appendice 9 in the same manner as those described in Appendices 2 to 8. Some or all of the elements (e.g., configuration and function) described in Appendices 12 to 14 that are dependent on Appendice 11 may also be dependent on Appendice 15 in the same manner as those described in Appendices 12 to 14. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0218] This application claims priority based on Japanese Patent Application No. 2024-166287 and Japanese Patent Application No. 2024-166288, both filed on September 25, 2024, and incorporates all of their disclosures herein.

[0219] The configuration described herein can be used to support autonomous mobile delivery robotic devices.

[0220] 1, 1a Delivery robot device 1r Delivery route 3, 3a Server device 4, 4a, 4b, 4c Mobile terminal device 4ar Walking route 10, 10a, 30, 30a Control unit 11, 31 Communication control unit 12 Drive control unit 13 Location information acquisition unit 14 Detection processing unit 15 Display control unit 16, 36 Communication unit 17 Drive unit 17a Wheel 18 GNSS receiver unit 19 Imaging unit 20 Display unit 21 QR code 32 Robot control unit 33 Identification unit 34 Request processing unit 35, 35a Judgment unit 37 Storage unit 37a User information 50, 60 Status

Claims

1. A support device comprising: an identification unit that identifies a mobile terminal device, which is a portable terminal device, that is in the vicinity of an autonomous mobile delivery robot device, based on the detection result of detecting such a peripheral terminal device, which is a portable terminal device, that is in the vicinity of the delivery robot device; and a request information transmission unit that transmits request information to the portable terminal device held by the support candidate to request the monitoring support.

2. The support device according to claim 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the detection result, the first location information, and second location information, which is the location information of the delivery robot device.

3. The support device according to claim 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, and first route information, which is the planned travel route of the owner of the peripheral terminal device, from the peripheral terminal device indicated by the detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the detection result, the first location information and the first route information, second location information, which is the location information of the delivery robot device, and second route information, which is the planned delivery route of the delivery robot device.

4. The support device according to any one of claims 1 to 3, wherein the identification unit, based on the detection result, identifies the peripheral terminal device that has been registered as a user with the support device as a mobile terminal device possessed by the support candidate, with priority given to the peripheral terminal device that has not been registered as a user with the support device, or, as the detection result, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have been registered as a user with the support device, and if detection is not possible, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have not been registered as a user with the support device.

5. The delivery robot device includes a display unit that displays an access image including information indicating the current location and time of the delivery robot device and access information for accessing the support device, the identification unit obtains a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, that has accessed the support device based on the access information as a detection result, and identifies the peripheral terminal device indicated by the detection result as a mobile terminal device held by a support candidate, which is a pedestrian who is the target of requesting monitoring support for the delivery robot device, the support device according to any one of claims 1 to 4, the support device includes an agreement information receiving unit that receives agreement information indicating agreement to the monitoring support from the mobile terminal device as a response to the request information, and a display control unit that erases the access image on the display unit when the agreement information is received, 6. The support device comprises a determination unit that determines whether or not monitoring support is necessary for the delivery robot device based on the delivery environment of the delivery robot device, which is indicated by the location information of the delivery robot device, or by the location information of the delivery robot device and route information indicating the planned delivery route of the delivery robot device, and the display control unit erases the access image on the display unit when it is determined that monitoring support is not necessary, the support device according to claim 5.

7. The support device according to claim 5, wherein the delivery robot device includes an imaging unit that acquires an ambient image of the area surrounding the delivery robot device, the support device includes a determination unit that determines whether or not the monitoring support for the delivery robot device is necessary based on the ambient image, and the display control unit erases the access image on the display unit if it is determined that the monitoring support is not necessary.

8. The support device according to any one of claims 5 to 7, wherein the identifying unit identifies the peripheral terminal device that has been registered as a user with the support device as a portable terminal device possessed by the support candidate, with priority given to the peripheral terminal device that has not been registered as a user with the support device.

9. A support method comprising: a support device detecting a peripheral terminal device, which is a mobile terminal device present in the vicinity of an autonomous mobile delivery robot device, based on the detection result, identifying a mobile terminal device held by a support candidate, who is a pedestrian who is the target of a request for monitoring support of the delivery robot device, and transmitting request information for the monitoring support to the mobile terminal device held by the support candidate.

10. The support method according to claim 9, wherein the support device displays an access image on a display unit provided on the delivery robot device, which includes information indicating the current location and time of the delivery robot device and access information for accessing the support device; as a detection result, obtains a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, that has accessed the support device based on the access information; identifies the peripheral terminal device indicated by the detection result as a mobile terminal device held by a support candidate, which is a pedestrian who is the target of requesting monitoring support for the delivery robot device; receives agreement information from the mobile terminal device indicating agreement to the monitoring support as a response to the request information; and, upon receiving the agreement information, erases the access image on the display unit.

Images